Micro-angle positioning control system and mechanical equipment comprising same

Abstract

The invention provides a micro-angle positioning control system and mechanical equipment comprising the same, relates to the technical field of mechanical equipment, and solves the technical problems of difficulty in positioning a tiny bulge of a disc product and high identification error rate. The micro-angle positioning control system comprises a feeding mechanism, a jacking mechanism, a rotary clamping mechanism, an angle sensing mechanism, a limiting material receiving mechanism and a transferring mechanism. The jacking mechanism is movably arranged on a conveying line of the feeding mechanism; the rotary clamping mechanism is arranged above the jacking mechanism; the angle sensing mechanism is arranged beside the rotary clamping mechanism; the limiting material receiving mechanism is movably arranged beside the rotary clamping mechanism; and the transferring mechanism is arranged beside the limiting material receiving mechanism. The mechanical arm is used for completing angle positioning of products, it is guaranteed that angle deviation of parts does not occur in the grabbing and transplanting process, and meanwhile the mechanical arm can adapt to compatibility of products of multiple sizes and varieties.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a micro-angle positioning control system and mechanical equipment comprising the same. Background Art

[0002] Disc products that require angular positioning during machining are difficult to position due to small differences in their outer circles, resulting in the following technical problems in production: 1. When there are tiny protrusions on the outer edge of a dome-shaped product, and the product's protruding shovel needs to be assembled at a fixed angle during assembly, automatic recognition and positioning are required during assembly. Existing ordinary photoelectric sensors have difficulty capturing tiny protrusions or have a high probability of recognition errors. 2. After the product is positioned, if there is no limit during unloading and rotation, angle deviation will occur during the subsequent rotation. At the same time, during the grasping and transplanting process, due to the influence of the centering degree, the three claws of the gripper will contact the product at different times, and there is a certain probability of angle deviation, which will cause the assembly of the positioned product to have angle deviation again. 3. There are many production models, and the corresponding external dimensions will also change a lot. For example, conventional mechanisms and tooling will have to switch frequently, affecting production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a micro-angle positioning control system and a mechanical device containing the same, so as to solve the technical problems existing in the prior art that small protrusions of disc products are difficult to locate and have a high recognition error rate.

[0004] To achieve the above objectives, the present invention provides the following technical solutions: The present invention provides a micro-angle positioning control system, comprising a feeding mechanism, a lifting mechanism, a rotary clamping mechanism, an angle sensing mechanism, a position limiting material receiving mechanism and a transfer mechanism; wherein: The lifting mechanism is movably arranged on the conveying route of the feeding mechanism; The rotary clamping mechanism is arranged above the lifting mechanism; The angle sensing mechanism is arranged beside the rotating clamping mechanism; The position-limiting material receiving mechanism is movably arranged beside the rotating clamping mechanism; The transfer mechanism is arranged beside the position-limiting material receiving mechanism.

[0005] The micro-angle positioning control system of the present invention lifts the product conveyed in the feeding mechanism to the position of the rotary clamping mechanism through the lifting mechanism, clamps and rotates the lifted product by the rotary clamping mechanism, and senses the micro-boss on the product by the angle sensing mechanism during the rotation process, thereby completing the angular positioning of the product. The lifting mechanism descends during the rotation positioning process to wait for the next product to be lifted. After the angle positioning is completed, the product limiting material receiving mechanism will move to the bottom of the rotary clamping mechanism for product limiting acceptance. The accepted product is moved to the specified position by the limiting material receiving mechanism, and then clamped and transported to the next process by the transfer mechanism. The entire system can perform part angular positioning, and ensure that the parts do not have angular deviation during the grasping and transplanting process through the limiting material receiving mechanism. At the same time, it can adapt to the compatibility of products of multiple sizes and varieties, solve the problems of small change sensing positioning and its positioning accuracy, solve the problem of angular deviation in the grasping and transplanting process, and solve the problem of compatibility of multiple varieties and sizes of production models.

[0006] On the basis of the above technical solution, the present invention can also be improved as follows.

[0007] As a further improvement of the present invention, the lifting mechanism includes a lifting cylinder, a lifting buffer module, and a tray; wherein: The lifting cylinder is connected to the tray through the lifting buffer module and can drive the tray to rise and fall vertically.

[0008] As a further improvement of the present invention, the jacking buffer module includes a cylinder base, a jacking base, an elastic member, and a guide sleeve; wherein: The cylinder body of the jacking cylinder is installed on the cylinder base, and the piston rod is connected to the jacking base; The tray is fixed on the jacking base; The elastic member and the guide sleeve are installed between the cylinder base and the jacking base.

[0009] As a further improvement of the present invention, the rotary clamping mechanism includes a rotary motor, a driving wheel, a driven wheel, a rotary base, a clamping cylinder, a clamping claw, and an in-position sensor; wherein: The rotating motor is fixed on the rotating base; The transmission wheel is mounted on the rotating motor; The driven wheel is fixed on the rotating base and is in driving connection with the driving wheel; The clamping cylinder is connected to the driven wheel and can rotate horizontally under the drive of the driven wheel; The clamping claw is connected to the clamping cylinder; The in-position sensor is arranged beside the clamping claw and is located on the lifting route of the lifting mechanism.

[0010] As a further improvement of the present invention, the angle sensing mechanism includes a sensing base, a spring, a lever, a substrate, a rotating shaft, and a contact sensor; wherein: One end of the lever is rotatably connected to the base plate via the rotating shaft; One end of the spring is connected to the sensing base, and the other end of the spring is connected to the other end of the lever; The contact sensor is mounted on the sensing base and is arranged corresponding to the end of the lever.

[0011] The present invention uses a lever-type angle sensing mechanism to magnify and identify the tiny protrusions on the outer edge of the product, which is convenient for angle positioning. The product is rotated by a rotating clamping mechanism and the lever-type angle sensing mechanism is used to position the protrusions on the outer edge of the product, thereby improving positioning accuracy and precision. The sensing base and the lever are connected by a spring, so that the entire angle sensing mechanism can automatically adjust with the size of the product, ensuring compatibility with the production of products of different sizes without the need to switch tooling.

[0012] As a further improvement of the present invention, the cross section of the lever is a Z-shaped structure.

[0013] As a further improvement of the present invention, the position-limiting material receiving mechanism includes a rotary drive cylinder, a transverse cylinder, a fixed plate, a material receiving base, a transverse base, a position-limiting material receiving fixture, a rack, and a rotating gear; wherein: The rotary drive cylinder is mounted on the fixed plate; The rack is connected to the rotary drive cylinder; The rotating gear is rotatably mounted on the fixed plate and connected to the material receiving base; The rack is meshingly connected with the rotating gear; The transverse movement cylinder is installed on the material receiving base and is in transmission connection with the transverse movement base; The transverse moving base is slidably arranged on the top of the material receiving base; The position-limiting material joining tool is installed on the transverse movement base.

[0014] As a further improvement of the present invention, the position-limiting material receiving tooling includes a material receiving seat and a position-limiting block; wherein: There are several limit blocks, and all of the limit blocks are evenly arranged along the circumferential direction of the material receiving seat to enclose a limit groove for placing products.

[0015] As a further improvement of the present invention, each set of the limit blocks includes a mounting seat and two limit columns; wherein: The mounting seat is fixed on the material receiving seat; The two limiting columns are spaced apart and arranged on both sides of the mounting seat, and the distance between the two limiting columns is adapted to the width of the micro boss on the product.

[0016] The product's micro-boss is placed in the groove between the limiting columns and is restricted on both sides of the groove between the limiting columns. The product cannot rotate. When the limiting material receiving mechanism rotates 90 degrees in the opposite direction, it ensures that the product angle does not deflect during the rotation of the mechanism. Finally, it is clamped by the lifting and clamping mechanism of the transplanting mechanism and is restricted by the limiting columns. During the clamping process, the position of the product's micro-boss is restricted in the groove between the limiting columns and will not deflect, thereby realizing angle limitation in the entire product's material picking and unloading process.

[0017] As a further improvement of the present invention, the transfer mechanism includes a fixed frame, a transverse servo mechanism, and a lifting and clamping mechanism; wherein: The transverse movement servo mechanism is installed on the fixed frame; The lifting and clamping mechanism is installed on the transverse movement servo mechanism.

[0018] The products placed in the limited material receiving fixture with angle correction and positioning are grabbed by the transplanting mechanism to ensure that the product angle does not deviate.

[0019] The present invention provides a mechanical device, comprising the micro-angle positioning control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 1 is a schematic diagram of the three-dimensional structure of the micro-angle positioning control system of the present invention (I); Figure 2 Schematic diagram of the three-dimensional structure of the micro-angle positioning control system of the present invention (II); Figure 3 3D schematic diagram of the micro-angle positioning control system of the present invention (III); Figure 4 Schematic diagram of the three-dimensional structure of the micro-angle positioning control system of the present invention (four); Figure 5 This is a front view of the micro-angle positioning control system of the present invention; Figure 6 It is a side view of the micro-angle positioning control system of the present invention; Figure 7 1. It is a top view of the micro-angle positioning control system of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the jacking mechanism in the micro-angle positioning control system of the present invention; Figure 9 1 is a schematic diagram of the three-dimensional structure of the rotary clamping mechanism in the micro-angle positioning control system of the present invention (I); Figure 10 Schematic diagram of the three-dimensional structure of the rotary clamping mechanism in the micro-angle positioning control system of the present invention (II); Figure 11 Schematic diagram of the three-dimensional structure of the rotary clamping mechanism in the micro-angle positioning control system of the present invention (3); Figure 12 Schematic diagram of the three-dimensional structure of the rotary clamping mechanism in the micro-angle positioning control system of the present invention (four); Figure 13 This is a front view of the rotary clamping mechanism in the micro-angle positioning control system of the present invention; Figure 14 It is a side view of the rotary clamping mechanism in the micro-angle positioning control system of the present invention; Figure 15 It is a top view of the rotary clamping mechanism in the micro-angle positioning control system of the present invention; Figure 16 It is a bottom view of the rotary clamping mechanism in the micro-angle positioning control system of the present invention; Figure 17 It is a schematic diagram of the three-dimensional structure of the angle sensing mechanism in the micro-angle positioning control system of the present invention; Figure 18 It is a top view of the angle sensing mechanism in the micro-angle positioning control system of the present invention; Figure 19 It is a schematic diagram of the three-dimensional structure of the position-limiting material receiving mechanism in the micro-angle positioning control system of the present invention; Figure 20 It is a schematic diagram of the three-dimensional structure of the position-limiting material receiving tool in the position-limiting material receiving mechanism in the micro-angle positioning control system of the present invention; Figure 21 It is a top view of the position-limiting material receiving tooling in the position-limiting material receiving mechanism in the micro-angle positioning control system of the present invention; Figure 22 This is a front view of the position-limiting material receiving tooling in the position-limiting material receiving mechanism in the micro-angle positioning control system of the present invention; Figure 23 It is the moving route map of the position-limiting material receiving mechanism in the micro-angle positioning control system of the present invention; Figure 24 It is a front view of the transfer mechanism in the micro-angle positioning control system of the present invention.

[0022] In the figure 1, the feeding mechanism; 2. Lifting mechanism; 21. Lifting cylinder; 22. First base; 23. Second base; 24. Third base; 25. Fourth base; 26. Tray; 27. Lifting buffer spring; 28. Guide sleeve; 3. Rotating clamping mechanism; 31. Rotating motor; 32. Driving wheel; 33. Driven wheel; 34. Rotating base; 35. Clamping cylinder; 36. Clamping claw; 37. In-position sensor; 4. Angle sensing mechanism; 41. Mounting plate; 42. Inductive buffer spring; 43. Inductive base; 44. Spring; 45. Rotating shaft; 46. Base plate; 47. Lever; 48. Contact sensor; 5. Limiting material receiving mechanism; 51. Fixed plate; 52. Rotary drive cylinder; 53. Rack; 54. Rotating gear; 55. Transverse base; 56. Transverse cylinder; 57. Material receiving base; 58. Position limiting material receiving fixture; 581, material receiving seat; 582, mounting seat; 583, limiting column; 584, guide slope; 6. Transfer mechanism; 61. Fixed frame; 62. Transverse servo mechanism; 63. Lifting and clamping mechanism; 100. Products; 200. Micro boss. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0024] like Figure 1-Figure 24 As shown, the present invention provides a micro-angle positioning control system, which mainly includes six parts: a feeding mechanism 1, a lifting mechanism 2, a rotary clamping mechanism 3, an angle sensing mechanism 4, a position limiting material receiving mechanism 5 and a transfer mechanism 6; wherein: The lifting mechanism 2 is movably arranged on the conveying route of the feeding mechanism 1, and is used to lift the product 100 conveyed by the feeding mechanism 1. It should be noted that the feeding mechanism 1 can adopt a conveyor line or a feeding robot, and the specific form is not limited. When the product 100 enters the position of the lifting mechanism 2, the lifting mechanism 2 rises to lift the product 100. The rotary clamping mechanism 3 is arranged above the lifting mechanism 2; when the rotary clamping mechanism 3 detects that the product 100 has been lifted into place, the rotary clamping mechanism 3 operates to clamp the product 100, and rotates after the clamping is completed, while the lifting mechanism 2 descends to prepare for lifting again; The angle sensing mechanism 4 is disposed beside the rotating clamping mechanism 3. When the product 100 is rotated by the rotating clamping mechanism 3, the angle sensing mechanism 4 senses the micro-boss 200, thereby determining the direction of the product 100 and performing positioning. The position-limiting material receiving mechanism 5 is movably arranged beside the rotating clamping mechanism 3; after completing the positioning, the position-limiting material receiving mechanism 5 moves from the original position to the bottom of the rotating clamping mechanism 3, receives the product 100 that has completed the direction positioning, and then returns to the original position; The transfer mechanism 6 is arranged beside the position-limiting material receiving mechanism 5. After the position-limiting material receiving mechanism 5 returns to its original position, the transfer mechanism 6 moves above the position-limiting material receiving mechanism 5 to transfer and transport the product 100 to the next process.

[0025] The micro-angle positioning control system of the present invention uses the lifting mechanism 2 to lift the product 100 conveyed in the feeding mechanism 1 to the position of the rotating clamping mechanism 3, and uses the rotating clamping mechanism 3 to clamp and rotate the lifted product 100. During the rotation process, the angle sensing mechanism 4 is used to sense the micro-boss 200 on the product 100, thereby completing the angle positioning of the product 100. During the rotation positioning process, the lifting mechanism 2 descends to wait for the next product 100 to be lifted. After the angle positioning is completed, the limiting receiving mechanism 5 of the product 100 will move to the rotating clamping mechanism. Below the mechanism 3, the product 100 is received in a limited manner. The received product 100 is moved to the specified position by the limited material receiving mechanism 5, and then clamped and transported to the next process by the transfer mechanism 6. The entire system can perform part angle positioning, and through the limited material receiving mechanism 5, it can ensure that the parts do not have angle deviation during the grasping and transplanting process. At the same time, it can adapt to the compatibility of multiple sizes and varieties of products 100, solve the problems of slight change sensing positioning and its positioning accuracy, solve the problem of angle deviation in the grasping and transplanting process, and solve the problem of compatibility of multiple varieties and sizes of production models.

[0026] like Figure 8 As shown, as an optional embodiment of the present invention, the jacking mechanism 2 includes a jacking cylinder 21, a jacking buffer module, and a tray 26; wherein: The lifting cylinder 21 is connected to the tray 26 through the lifting buffer module, and can drive the tray 26 to rise and fall vertically.

[0027] Furthermore, the lifting buffer module includes a cylinder base, a lifting base, an elastic member, and a guide sleeve 28; wherein: The cylinder body of the jacking cylinder 21 is installed on the cylinder base, and the piston rod is connected to the jacking base; The tray 26 is fixed on the jacking base; The elastic member and the guide sleeve 28 are installed between the cylinder base and the jacking base.

[0028] In this embodiment, considering the strength and stability of the equipment, the cylinder base is composed of a first base 22 and a second base 23, and the lifting base is composed of a third base 24 and a fourth base 25; The cylinder body of the lifting cylinder 21 is fixed to the bottom of the first base 22; the piston rod of the lifting cylinder 21 passes through the second base 23 and is connected to the third base 24; a guide sleeve 28 is provided between the first base 22 and the second base 23; the tray 26 is fixed to the third base 24, and the top passes through the fourth base 25; the fourth base 25 is fixed to the workbench; a guide sleeve 28 is provided between the third base 24 and the fourth base 25; In this embodiment, the elastic member is a lifting buffer spring 27, and the lifting base and the cylinder base are connected by the lifting buffer spring 27, so that the height can be freely adjusted to meet the needs of products of various heights.

[0029] When the product 100 enters the lifting tray 26 of the lifting mechanism 2, the tray 26 and the product 100 are lifted up by the lifting cylinder 21, and then the inner circle of the product 100 is supported by the clamping claws 36 of the rotating clamping mechanism 3. The lifting mechanism 2 descends and returns to its original position, and the angle sensing mechanism 4 moves forward and contacts the outer circle of the product 100. The angle positioning of the product is completed by the angle sensing mechanism 4, and the material is received by the limiting material receiving mechanism 5.

[0030] like Figures 9-16 As shown, in this embodiment, the rotary clamping mechanism 3 includes a rotary motor 31, a driving wheel 32, a driven wheel 33, a rotary base 34, a clamping cylinder 35, a clamping claw 36, and an in-position sensor 37; wherein: The rotating motor 31 is fixed on the rotating base 34; The transmission wheel 32 is mounted on the rotating motor 31 and can rotate under the drive of the rotating motor 31; The driven wheel 33 is fixed on the rotating base 34 and is in transmission connection with the transmission wheel 32. The driven wheel 33 can rotate along with the transmission wheel 32. The clamping cylinder 35 is connected to the driven wheel 33 and can rotate horizontally under the drive of the driven wheel 33; The clamping jaw 36 is connected to the clamping cylinder 35. Specifically, in this embodiment, the clamping jaw 36 is a three-jaw clamping jaw 36. The three clamping jaws 36 can be driven by a clamping cylinder 35 to extend and retract, thereby achieving the clamping and releasing. The three clamping cylinders 35 can be mounted on the driven wheel 33 through a fixing member. The in-position sensor 37 is arranged beside the clamping claw 36 and is located on the lifting route of the lifting mechanism 2.

[0031] It should be noted that the in-position sensor 37 includes a transmitter and a receiver, and the transmitter and the receiver are respectively located on both sides of the rotating clamping mechanism 3. Figure 7 and Figure 10 As shown, the line connecting the two position sensors 37 is a schematic route of the emitted light.

[0032] like Figure 17-18 As shown, as a further improvement of the present invention, the angle sensing mechanism 4 includes a sensing base 43, a spring 44, a lever 47, a base plate 46, a rotating shaft 45, and a contact sensor 48; wherein: One end of the lever 47 is rotatably connected to the base plate 46 via the rotating shaft 45; One end of the spring 44 is connected to the sensing base 43, and the other end of the spring 44 is connected to the other end of the lever 47; The contact sensor 48 is mounted on the sensing base 43 and is disposed corresponding to the end of the lever 47 .

[0033] Furthermore, in order to adapt to different product 100 specifications, the sensing base 43 is connected to the mounting plate 41 through the sensing buffer spring 42, and the mounting plate 41 is connected to the telescopic cylinder. The telescopic cylinder can drive the mounting plate 41 to move, and when the mounting plate 41 moves, it can ultimately drive the angle sensing mechanism 4 to telescopically move.

[0034] In the present invention, the angle sensing mechanism realizes automatic fine adjustment of the position of the entire mechanism through the sensing buffer spring 42 and the mounting plate 41, thereby achieving product compatibility. When the rotating clamping mechanism 3 drives the product 100 to rotate, the surface of the product 100 is attached to the substrate 46, and the lower edge of the micro-boss 200 on the product 100 will be at the same horizontal plane as the lower edge of the lever 47. As the product 100 rotates, when the micro-boss 200 of the product 100 rotates and comes into contact with the lever 47, it will squeeze the middle of the lever 47 close to the product 100. Through the lever principle, the tail of the lever 47 will have a certain proportion of amplified displacement. When the micro-boss of the product rotates to the maximum displacement of the extrusion, the lever 47 will be pressed against the product 100. The tail of the rod 47 contacts the contact sensor 48 and releases a signal through the contact sensor 48, which serves as the initial angle of the product's micro-boss 200. The angle required for assembly of the product can be compared and calculated based on this initial positioning angle, and the corresponding angle can be rotated by rotating the clamping mechanism 3 to achieve accurate search and positioning of the angle; when the micro-boss 200 of the product 100 rotates past the lever 47, the lever 47 will return to its original position under the action of the spring 44; when the product has been positioned at the initial angle and has achieved the required angle of deflection, it will enter the transportation link.

[0035] The present invention uses a lever 47-type angle sensing mechanism 4 to magnify and identify the tiny protrusions on the outer edge of the product 100, which is convenient for angle positioning. The product 100 is rotated by rotating the clamping mechanism 3 to cooperate with the lever 47-type angle sensing mechanism 4 to position the protrusions on the outer edge of the product 100, thereby improving the positioning accuracy and precision; the sensing base 43 and the lever 47 are connected by a spring 44, so that the entire angle sensing mechanism 4 can automatically adjust with the size of the product 100, ensuring compatibility with the production of products 100 of different sizes without the need to switch tooling.

[0036] As a further improvement of the present invention, the cross section of the lever 47 is a Z-shaped structure, so that when the contact sensor 48 is arranged on the sensing base 43, the end of the lever 47 can also achieve a small displacement to contact the contact sensor 48, thereby achieving angular positioning.

[0037] like Figures 19-23 As shown, as a further improvement of the present invention, the position-limiting material receiving mechanism 5 includes a rotary drive cylinder 52, a transverse cylinder 56, a fixed plate 51, a material receiving base 57, a transverse base 55, a position-limiting material receiving tool 58, a rack 53, and a rotating gear 54; wherein: The rotary drive cylinder 52 is mounted on the fixed plate 51; The rack 53 is connected to the rotary drive cylinder 52; The rotating gear 54 is rotatably mounted on the fixed plate 51 and connected to the material receiving base 57; The rack 53 is meshed with the rotating gear 54; The transverse cylinder 56 is installed on the material receiving base 57 and is in transmission connection with the transverse base 55; The transverse movement base 55 is slidably arranged on the top of the material receiving base 57; The position-limiting material receiving tool 58 is installed on the transverse movement base 55 .

[0038] When in use, the rotary drive cylinder 52 extends and retracts to drive the rack 53 to move. During the movement of the rack 53, the rotary gear 54 will be driven to rotate. When the rotary gear 54 rotates, it drives the material receiving base 57, the transverse base 55 and the limiting material receiving tooling 58 to rotate 90 degrees, and then driven by the transverse cylinder 56, the transverse base 55 and the limiting material receiving tooling 58 are driven forward to the bottom of the rotary clamping mechanism 3 to receive the material. After the material is received, it is driven to retract by the transverse cylinder 56, and then continued to be driven by the rotary drive cylinder 52 to complete the position recovery, and then the transverse cylinder 56 drives the limiting material receiving tooling 58 to move to the loading point of the transplanting mechanism 6.

[0039] like Figure 23As shown, when the position-limiting receiving mechanism 5 receives the material, step 10, first rotate 90 degrees counterclockwise; step 20, then translate and move to the unloading point of the rotating clamping mechanism 3; step 30, then translate in the opposite direction, step 40, rotate 90 degrees clockwise again; step 50, finally move forward to the loading point of the transfer mechanism. Of course, if the loading point of the transfer mechanism and the initial position of the position-limiting receiving mechanism 5 are the same, the last forward movement step can be reduced to only four steps, such as Figure 23 Follow steps 10-40 in the tutorial.

[0040] As a further improvement of the present invention, the position-limiting material receiving tool 58 includes a material receiving seat 581 and a position-limiting block; wherein: There are a plurality of limit blocks, and all the limit blocks are evenly arranged along the circumferential direction of the material receiving seat 581 to enclose a limit groove for placing the product 100.

[0041] As a further improvement of the present invention, each set of limit blocks includes a mounting seat 582 and two limit posts 583; wherein: The mounting base 582 is fixed on the material receiving base 581; The two limiting posts 583 are spaced apart on both sides of the mounting seat 582 , and the distance between the two limiting posts 583 matches the width of the micro boss 200 on the product 100 .

[0042] In order to facilitate the placement of the product 100 , a guide slope 584 is provided on the inner top of the limiting column 583 .

[0043] The micro boss 200 of the product 100 is placed in the groove between the limiting columns 583 and is restricted on both sides of the groove between the limiting columns 583. The product 100 cannot rotate. When the limiting material receiving mechanism 5 rotates 90 degrees in the opposite direction, it ensures that the angle of the product 100 does not deflect during the rotation of the mechanism. Finally, it is clamped by the lifting and clamping mechanism 63 of the transplanting mechanism and is restricted by the limiting columns 583. During the clamping process, the position of the micro boss 200 of the product 100 is restricted in the groove between the limiting columns 583 and will not deflect, thereby realizing the angle limitation of the entire material taking and unloading process of the product 100.

[0044] like Figure 24 As shown, as a further improvement of the present invention, the transfer mechanism 6 includes a fixed frame 61, a transverse servo mechanism 62, and a lifting and clamping mechanism 63; wherein: The traverse servo mechanism 62 is mounted on the fixed frame 61; The lifting and clamping mechanism 63 is installed on the transverse movement servo mechanism 62.

[0045] The product 100 placed in the limited material receiving fixture 58 with angle correction and positioning is grabbed by the transplanting mechanism to ensure that the angle of the product 100 does not deviate.

[0046] The product is transferred to the unloading position through the position-limiting receiving mechanism 5 , and is picked up by the lifting and clamping mechanism 63 of the transplanting mechanism 6 , and then driven by the transverse servo mechanism 62 to drive the lifting and clamping mechanism 63 and the product 100 to the next process.

[0047] It should be noted that, in the present invention, the lifting and clamping mechanism 63 includes a lifting servo mechanism, a cylinder and a clamping claw, and the cylinder and clamping claw structure here can be implemented by adopting the structure of the rotary clamping mechanism 3.

[0048] like Figure 1-Figure 24 As shown, the present invention provides a mechanical device including the above-mentioned micro-angle positioning control system.

[0049] First of all, it should be noted that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0052] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0053] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0054] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0055] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A micro-angle positioning control system, characterized in that: It includes a feeding mechanism, a lifting mechanism, a rotating clamping mechanism, an angle sensing mechanism, a position limiting material receiving mechanism and a transfer mechanism; among which: The lifting mechanism is movably arranged on the conveying route of the feeding mechanism; The rotary clamping mechanism is arranged above the lifting mechanism; The angle sensing mechanism is arranged beside the rotating clamping mechanism; The position-limiting material receiving mechanism is movably arranged beside the rotating clamping mechanism; The transfer mechanism is arranged beside the position-limiting material receiving mechanism.

2. The micro-angle positioning control system according to claim 1, characterized in that: The lifting mechanism includes a lifting cylinder, a lifting buffer module, and a tray; wherein: The lifting cylinder is connected to the tray through the lifting buffer module and can drive the tray to rise and fall vertically.

3. The micro-angle positioning control system according to claim 2, characterized in that: The lifting buffer module includes a cylinder base, a lifting base, an elastic member, and a guide sleeve; wherein: The cylinder body of the jacking cylinder is installed on the cylinder base, and the piston rod is connected to the jacking base; The tray is fixed on the lifting base; The elastic member and the guide sleeve are installed between the cylinder base and the jacking base.

4. The micro-angle positioning control system according to claim 1, characterized in that: The rotary clamping mechanism includes a rotary motor, a driving wheel, a driven wheel, a rotary base, a clamping cylinder, a clamping claw, and an in-position sensor; wherein: The rotating motor is fixed on the rotating base; The transmission wheel is mounted on the rotating motor; The driven wheel is fixed on the rotating base and is in driving connection with the driving wheel; The clamping cylinder is connected to the driven wheel and can rotate horizontally under the drive of the driven wheel; The clamping claw is connected to the clamping cylinder; The in-position sensor is arranged beside the clamping claw and is located on the lifting route of the lifting mechanism.

5. The micro-angle positioning control system according to claim 1, characterized in that: The angle sensing mechanism includes a sensing base, a spring, a lever, a substrate, a rotating shaft, and a contact sensor; wherein: One end of the lever is rotatably connected to the base plate via the rotating shaft; One end of the spring is connected to the sensing base, and the other end of the spring is connected to the other end of the lever; The contact sensor is mounted on the sensing base and is arranged corresponding to the end of the lever.

6. The micro-angle positioning control system according to claim 5, characterized in that: The cross section of the lever is a Z-shaped structure.

7. The micro-angle positioning control system according to claim 1, characterized in that: The position-limiting material receiving mechanism includes a rotary drive cylinder, a transverse movement cylinder, a fixed plate, a material receiving base, a transverse movement base, a position-limiting material receiving fixture, a rack, and a rotating gear; wherein: The rotary drive cylinder is mounted on the fixed plate; The rack is connected to the rotary drive cylinder; The rotating gear is rotatably mounted on the fixed plate and connected to the material receiving base; The rack is meshingly connected with the rotating gear; The transverse movement cylinder is installed on the material receiving base and is in transmission connection with the transverse movement base; The transverse moving base is slidably arranged on the top of the material receiving base; The position-limiting material joining tool is installed on the transverse movement base.

8. The micro-angle positioning control system according to claim 7, characterized in that: The position-limiting material receiving fixture includes a material receiving seat and a position-limiting block; wherein: There are several limit blocks, and all of the limit blocks are evenly arranged along the circumferential direction of the material receiving seat to enclose a limit groove for placing products.

9. The micro-angle positioning control system according to claim 8, characterized in that: Each set of limit blocks includes a mounting seat and two limit columns; wherein: The mounting seat is fixed on the material receiving seat; The two limiting columns are spaced apart and arranged on both sides of the mounting seat, and the distance between the two limiting columns is adapted to the width of the micro boss on the product.

10. The micro-angle positioning control system according to claim 1, characterized in that: The transfer mechanism includes a fixed frame, a lateral movement servo mechanism, and a lifting and clamping mechanism; wherein: The transverse movement servo mechanism is installed on the fixed frame; The lifting and clamping mechanism is installed on the transverse movement servo mechanism.

11. A mechanical device, characterized in that: It comprises a micro-angle positioning control system as described in any one of claims 1-10.

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