Axle housing general control logistics line

Abstract

The invention discloses an axle housing general control logistics line, and relates to the technical field of automatic machining production lines. The device comprises a feeding frame, a ground rail, a plurality of machining stations which are sequentially arranged in the length direction of the ground rail and used for machining workpieces, a transfer module which is slidably arranged on the ground rail in the length direction of the ground rail and used for moving the workpieces to designated stations, and a material waiting platform which is arranged at the machining stations and used for placing the workpieces to be machined. Each machining station is provided with a machining device used for machining a workpiece. By means of the unique online production switching method, traditional whole-line shutdown production switching is converted into station-level undisturbed switching, the equipment layout and the logistics path are optimized, the comprehensive utilization rate of space and equipment is increased, and the overall production efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of automated processing production lines, and in particular to a bridge housing control logistics line. Background Technology

[0002] With the continuous development of the machinery manufacturing industry, the automotive parts production sector has also made significant progress. As a key component of the automotive chassis, the production quality and efficiency of the axle housing directly affect the vehicle's performance and production cycle. Efficient and automated axle housing production lines are crucial for enhancing the competitiveness of automotive manufacturers. They not only improve product quality stability but also reduce production costs, meeting the market's diverse and high-quality demands for automobiles.

[0003] In traditional bridge housing production, different production lines are usually required for the production of different models of bridge housings. The equipment utilization rate is low. When changing products, the entire production line often needs to be shut down for equipment debugging and program replacement, resulting in long production interruption time and affecting the overall production efficiency. Summary of the Invention

[0004] To address the problems existing in the prior art, this application provides a bridge housing control logistics line.

[0005] This application provides a bridge housing control logistics line, which adopts the following technical solution: A bridge housing control logistics line includes a loading rack, a ground rail, multiple processing stations arranged sequentially along the length of the ground rail for processing workpieces, a transfer module slidably mounted on the ground rail for moving workpieces to designated stations, and a waiting platform at each processing station for placing workpieces to be processed. Each processing station is equipped with processing equipment for processing workpieces. The transfer module includes a base slidably mounted on the ground rail, a moving unit for driving the base to slide, a robotic arm mounted on the base, and a gripping unit mounted at the tail end of the robotic arm for gripping workpieces.

[0006] Optionally, the feeding rack is provided with multiple shelves, which are arranged sequentially along a straight line. Each shelf is provided with two support seats, which are detachably connected to the shelf. Each support seat is provided with a placement slot for placing workpieces.

[0007] Optionally, a threaded sleeve is fixedly installed on the shelf and located between the two support seats. An adjusting screw is internally threaded onto the threaded sleeve. A top block is provided at the end of the adjusting screw, and the top block is used to abut against the middle position of the workpiece.

[0008] Optionally, the moving unit includes a gear rail fixedly mounted on the ground rail, a servo motor fixedly mounted on the base, and a transmission gear fixedly mounted on the output shaft of the servo motor. The length direction of the gear rail is parallel to the length direction of the ground rail, and the transmission gear meshes with the gear rail.

[0009] Optionally, the gripping unit includes a mounting frame rotatably mounted on the robotic arm and multiple clamping mechanisms mounted on the mounting frame. The robotic arm is provided with a drive source for driving the mounting frame to rotate. The clamping mechanism includes a first clamping seat, a second clamping seat, and clamping components respectively mounted on the first clamping seat and the second clamping seat. The clamping components on the first clamping seat and the second clamping seat are respectively used to clamp both ends of the workpiece.

[0010] Optionally, the second clamping seat is slidably disposed on the mounting frame in a direction close to or away from the first clamping seat, and the mounting frame is provided with a driving member for driving the second clamping seat to slide.

[0011] Optionally, the clamping assembly includes a first clamping block, a second clamping block, and a bidirectional cylinder. The bidirectional cylinder is fixedly mounted on a first clamping seat or a second clamping seat, and the first clamping block and the second clamping block are respectively fixedly mounted on the two piston rods of the bidirectional cylinder.

[0012] Optionally, the waiting platform is provided with a waiting rack for placing workpieces. The waiting rack is provided with two mounting seats, and each of the two mounting seats is provided with a positioning block. The positioning block is provided with a positioning slot for placing the workpiece.

[0013] Optionally, a guide rail is fixedly provided on the material waiting rack, and both mounting seats are slidably disposed on the guide rail. Each mounting seat is provided with a limiting component to prevent the mounting seat from sliding on the guide rail.

[0014] Optionally, a sliding seat is slidably disposed on the guide rail and located between the two mounting seats along the length of the guide rail. A support block is slidably disposed on the sliding seat in the vertical direction. An elastic element is provided on the sliding seat for driving the support block to slide away from the material rack, and the support block is used to abut against the middle position of the workpiece.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. This application utilizes a unique online changeover method to transform the traditional whole-line shutdown for changeover into a seamless, station-level switching process. This optimizes equipment layout and logistics paths, improves the overall utilization of space and equipment, and enhances overall production efficiency. Specifically, the loading rack holds the bridge housing workpieces to be processed, the transfer module slides along the ground rail, and the moving unit drives the base to slide on the rail, allowing the robotic arm to reach different positions. After the gripping unit grips the workpiece, the robotic arm transfers it to the designated processing station. Specific processing equipment at each station processes the workpiece, and the processed workpiece is then moved to the next processing station via the transfer module. This achieves automated flow of the bridge housing from the waiting state to the processing stage. It can also handle the production and processing of multiple different bridge housing models, improving equipment utilization. Furthermore, when processing different bridge housing models, there is no need to stop the equipment for line changes, ensuring overall equipment production efficiency.

[0016] 2. This application, through the rotating mounting frame on the robotic arm and multiple clamping mechanisms mounted on the mounting frame, enables multi-angle, flexible gripping and transfer of workpieces, improving the flexibility and adaptability of gripping and transfer. Furthermore, by sliding the second clamping seat on the mounting frame, the distance between the first and second clamping seats can be flexibly adjusted according to different bridge housing sizes, achieving stable gripping of bridge housings of different specifications. This improves the compatibility and adaptability of the overall bridge housing control logistics line, meeting the processing needs of various bridge housing models.

[0017] 3. This application, by setting a waiting rack on the waiting platform, and having two mounting seats on the waiting rack equipped with positioning blocks with positioning slots, can better place and position workpieces, facilitating the transfer module to grasp and transfer workpieces, improving the stability of workpiece placement during production and the accuracy of subsequent processing. Furthermore, by sliding both mounting seats on the waiting rack, the position of the mounting seats can be flexibly adjusted according to different workpiece sizes. After adjustment, the mounting seats are fixed by limiting components, achieving adaptable placement for workpieces of different sizes and improving the compatibility of the logistics line with different specifications of bridge housings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application; Figure 2 This is a schematic diagram of the structure of the feeding rack used in Embodiment 1 of this application; Figure 3 This is a schematic diagram of the structure of the shelf used in Embodiment 1 of this application; Figure 4 This is a schematic diagram of the structure of the material receiving rack used in Embodiment 1 of this application; Figure 5 This is a schematic diagram of the structure of the transfer module used in Embodiment 1 of this application; Figure 6yes Figure 5 Enlarged view of section A; Figure 7 This is a schematic diagram of the structure of the grabbing unit used in Embodiment 1 of this application.

[0019] Explanation of reference numerals in the attached drawings: 1. Loading rack; 11. Shelf; 111. Support base; 112. Threaded sleeve; 113. Adjusting screw; 114. Top block; 2. Ground rail; 21. Gear rail; 3. Processing station; 4. Transfer module; 41. Base; 42. Moving unit; 421. Servo motor; 422. Transmission gear; 43. Robotic arm; 431. Drive source; 44. Gripping unit; 441. Mounting frame ; 4411, Driving component; 442, Clamping mechanism; 4421, First clamping seat; 4422, Second clamping seat; 4423, First clamping block; 4424, Second clamping block; 4425, Bidirectional cylinder; 5, Material waiting platform; 51, Material waiting rack; 511, Mounting base; 512, Positioning block; 513, Guide rail; 514, Limiting component; 515, Sliding seat; 516, Support block; 517, Elastic component. Detailed Implementation

[0020] The following will be combined with the appendix Figure 1 - Appendix Figure 7 The technical solutions in the embodiments of the present invention are clearly and completely described herein. The described embodiments are only possible technical implementations of the present invention and not all possible implementations. Those skilled in the art can obtain other embodiments in conjunction with the embodiments of the present invention without creative effort, and these embodiments are also within the protection scope of the present invention.

[0021] The inventors of this application have discovered that in traditional bridge housing production, different production lines are typically required for different models of bridge housings, resulting in low equipment utilization. When changing products, the entire production line often needs to be shut down for equipment debugging and program replacement, leading to prolonged production interruptions and impacting overall production efficiency. Therefore, this application discloses a centralized control logistics line for bridge housings, primarily employing the following solution: Example 1

[0022] Embodiment 1 of this application discloses a bridge housing overall control logistics line. (Refer to...) Figure 1The system includes a loading rack 1, a ground rail 2, multiple processing stations 3 arranged sequentially along the length of the ground rail 2 for processing workpieces, a transfer module 4 slidably mounted on the ground rail 2 for moving workpieces to designated stations, and a waiting platform 5 located at the processing stations 3 for placing workpieces to be processed. The loading rack 1 holds the bridge housing blanks to be processed, the ground rail 2 provides a sliding path for the transfer module 4, and the processing stations 3 are equipped with processing equipment for performing different processing steps on the workpieces, such as drilling, welding, cutting, grinding, and finishing. The transfer module 4 accurately transfers workpieces between stations, and the waiting platform 5 temporarily stores workpieces to be processed; this achieves automated flow of the bridge housing from the pre-processing state to the processing stage. It can also handle the production and processing of various bridge housing models, improving equipment utilization; and when processing different models of bridge housings, there is no need to stop the equipment for line changes, ensuring overall production efficiency.

[0023] Reference Figure 2 and Figure 3 Specifically, the loading rack 1 is equipped with multiple shelves 11, arranged sequentially in a straight line. Each shelf 11 has two support bases 111, which are generally made of high-strength metal, offering good wear resistance and stability. The support bases 111 and shelves 11 are detachably connected via bolts or other means, facilitating adjustment and replacement according to different bridge housing dimensions. Both support bases 111 are equipped with placement slots, the shape of which can be designed according to the shape of the bridge housing, such as V-shaped or U-shaped slots, to better fit the bottom of the bridge housing and ensure more stable placement.

[0024] Reference Figure 3 A threaded sleeve 112 is fixedly installed on the shelf 11 between the two support seats 111. The threaded sleeve 112 is generally made of corrosion-resistant materials such as stainless steel. An adjusting screw 113 is internally threaded onto the threaded sleeve 112. A top block 114 is provided at the end of the adjusting screw 113. The top block 114 can be made of rubber or other materials to avoid damaging the surface of the bridge housing. By rotating the adjusting screw 113, the top block 114 can abut against the middle of the workpiece, improving the support effect on the workpiece and further fixing the bridge housing to prevent it from shaking. Alternatively, a hydraulic jack or other structure can be used to achieve the abutment and fixation of the middle of the bridge housing.

[0025] The assembly logic of the components on the shelf 11 is as follows: the support base 111 first supports and positions both ends of the bridge shell, and then the middle of the bridge shell is further fixed by adjusting the screw 113 and the top block 114. This allows the bridge shell to be placed stably on the shelf 11, facilitating subsequent gripping by the transfer module 4. The reason for this combination effect is that the multi-directional fixing method enhances the stability of the bridge shell placement, reduces the risk of displacement or falling of the bridge shell during transfer, and improves production safety and efficiency.

[0026] Reference Figure 4 Specifically, the waiting platform 5 is equipped with a waiting rack 51 for placing workpieces. The waiting rack 51 has two mounting seats 511, which are generally made of carbon steel and have good strength. Each mounting seat 511 is equipped with a positioning block 512, which has a positioning slot for placing the workpiece. The shape of the positioning slot is adapted to the shape of the bridge housing, which can stably place and accurately position the bridge housing.

[0027] Reference Figure 4 The material rack 51 is also fixedly equipped with a guide rail 513, which is generally a linear guide rail 513, providing good guidance and precision. Both mounting seats 511 are slidably mounted on the guide rail 513. Each mounting seat 511 is equipped with a limiting element 514, which is a bolt connected to the mounting seat 511 via threads. By rotating the bolt and pressing it against the side wall of the guide rail 513, the mounting seat 511 can be prevented from sliding on the guide rail 513, facilitating the adjustment of the positions of the two mounting seats 511 according to different bridge housing lengths.

[0028] Reference Figure 4 A sliding seat 515 is slidably disposed on the guide rail 513 between the two mounting seats 511 along the length of the guide rail 513. A support block 516 is slidably disposed on the sliding seat 515 in the vertical direction. The support block 516 can be made of polyurethane or other materials, which have a certain degree of elasticity to avoid damaging the bridge housing. The sliding seat 515 is provided with an elastic element 517 for driving the support block 516 to slide away from the waiting rack 51. The elastic element 517 is a spring, and the support block 516 can abut against the middle position of the workpiece under the elastic force of the elastic element 517.

[0029] The assembly logic of the components of the waiting platform 5 is as follows: the mounting base 511 slides and adjusts its position on the guide rail 513 and is fixed by the limiting member 514; the positioning block 512 positions the bridge housing; and the sliding base 515 can move on the guide rail 513 to adapt to different positions of the bridge housing. Furthermore, when the workpiece is placed on the two mounting bases 511 of the waiting rack 51, the middle of the workpiece abuts against the support block 516. Then, when the transfer module 4 places the workpiece in the positioning slot, it is not necessary to place the workpiece completely into the positioning slot. The workpiece can be released just before it contacts the positioning block 512. Then, under the action of gravity and with the elastic support of the support block 516 and the elastic member 517, the workpiece slowly moves downwards until it contacts the positioning block 512 on the two mounting bases 511. This effectively avoids rigid collisions between the workpiece and the positioning block 512, preventing scratches on the workpiece surface.

[0030] Reference Figure 5 and Figure 6The transfer module 4 includes a base 41 slidably mounted on the ground rail 2, a moving unit 42 for driving the base 41 to slide, a robotic arm 43 mounted on the base 41, and a gripping unit 44 mounted on the tail end of the robotic arm 43 for gripping workpieces. The base 41 is generally made of cast iron or similar materials, possessing good rigidity and stability, and capable of supporting the weight of the robotic arm 43 and the gripping unit 44. The robotic arm 43 can be a six-axis industrial robot, offering high flexibility and a wide range of motion, meeting the needs of gripping and transferring workpieces at different positions and angles. Alternatively, other types such as a four-axis robotic arm can also be used.

[0031] Reference Figure 6 The moving unit 42 includes a geared rail 21 fixedly mounted on the ground rail 2, a servo motor 421 fixedly mounted on the base 41, and a transmission gear 422 fixedly mounted on the output shaft of the servo motor 421. The geared rail 21 is generally made of alloy steel, possessing high hardness and strength to ensure it is not easily damaged during long-term use. The length direction of the geared rail 21 is parallel to the length direction of the ground rail 2, and the transmission gear 422 meshes with the geared rail 21. The servo motor 421 can precisely control the rotation angle and speed. When the servo motor 421 starts, it drives the transmission gear 422 to rotate, and the meshing of the transmission gear 422 with the geared rail 21 causes the base 41 to slide on the ground rail 2. Alternatively, the moving unit 42 can also employ a chain drive mechanism or a belt drive mechanism, etc.

[0032] Reference Figure 7 The gripping unit 44 includes a mounting frame 441 rotatably mounted on the robotic arm 43, and multiple clamping mechanisms 442 mounted on the mounting frame 441. The mounting frame 441 is typically made of lightweight, high-strength materials such as aluminum alloy to reduce the load on the robotic arm 43. The robotic arm 43 is equipped with a drive source 431, such as a motor, for rotating the mounting frame 441. The clamping mechanism 442 includes a first clamping seat 4421, a second clamping seat 4422, and clamping assemblies respectively mounted on the first clamping seat 4421 and the second clamping seat 4422. The clamping assemblies on the first clamping seat 4421 and the second clamping seat 4422 are used to clamp both ends of the workpiece.

[0033] Reference Figure 7The second clamping seat 4422 is slidably mounted on the mounting frame 441 along the direction of approaching or moving away from the first clamping seat 4421. The mounting frame 441 is equipped with a driving component 4411 for sliding the second clamping seat 4422, such as an electric push rod or a linear motor, which can adjust the distance between the first and second clamping seats 4421 according to the length of the workpiece. The clamping assembly includes a first clamping block 4423, a second clamping block 4424, and a bidirectional cylinder 4425. The bidirectional cylinder 4425 is fixedly mounted on either the first or second clamping seat 4421. The first and second clamping blocks 4423 and 4424 are respectively fixedly mounted on the two piston rods of the bidirectional cylinder 4425. When the bidirectional cylinder 4425 operates, the two piston rods drive the first and second clamping blocks 4423 and 4424 to move closer to or further away, thereby clamping and releasing the workpiece. Alternatively, the clamping assembly can also employ hydraulic grippers, etc.

[0034] The combination logic of the components of the transfer module 4 is as follows: the moving unit 42 moves the base 41 on the ground rail 2, transporting the transfer module 4 to the designated position; the robotic arm 43 drives the clamping mechanism 442 to reach above the workpiece via the mounting frame 441; the drive source 431 adjusts the angle of the mounting frame 441 to better align the clamping mechanism 442 with the workpiece; the second clamping seat 4422 adjusts its position to adapt to the length of the workpiece; and the clamping assembly completes the gripping of the workpiece. This combined effect is achieved because the various components cooperate with each other, realizing the precise movement, flexible adjustment, and stable gripping functions of the transfer module 4, ensuring that the workpiece can be accurately transferred between workstations.

[0035] The implementation principle of the axle housing control logistics line in this application embodiment is as follows: Through a unique online changeover method, the traditional whole-line shutdown for changeover is transformed into a station-level, non-disruptive switching, optimizing equipment layout and logistics paths, improving the comprehensive utilization rate of space and equipment, and increasing overall production efficiency. Specifically, the loading rack 1 can hold the axle housing workpieces to be processed, the transfer module 4 can slide along the ground rail 2, and the moving unit 42 drives the base 41 to slide on the rail, allowing the robotic arm 43 to reach different positions. After the gripping unit 44 grips the workpiece, the robotic arm 43 transfers the workpiece to the designated processing station 3, enabling the workpiece to be accurately and stably transferred between each processing station 3. Specific processing equipment at each processing station 3 processes the workpiece, and the processed workpiece is then moved to the next processing station 3 via the transfer module 4, realizing the automated flow of the axle housing from the waiting-to-process state to the processing process. Meanwhile, the adjustability of each component allows it to adapt to bridge housings of different sizes and models, improving the flexibility of the production line and enabling it to handle the production and processing of various bridge housing models, thus increasing equipment utilization. Furthermore, when processing different bridge housing models, there is no need to stop the equipment to change lines, ensuring the overall production efficiency of the equipment. Example 2

[0036] The difference between this embodiment and the previous embodiment is that a 3D vision recognition module and a central control system are added to the existing embodiment 1. The 3D vision recognition module, which can be a 3D camera, is positioned above the loading rack 1 to perform a 3D scan of the loading rack 1, which holds the bridge housing blanks to be processed, accurately identifying the specific model, precise position, and orientation of each bridge housing part on the rack. The central control system, as the control core of the entire processing, receives the data recognized by the 3D vision recognition module and then guides the transfer module 4 to move above the target part based on this data. Furthermore, the central control system can automatically adjust the gripping range of the gripping unit 44 according to the part model and size, accurately and stably gripping the part from the loading rack 1. During the workpiece processing, the central control system coordinates the transfer module 4 to precisely transfer, clamp, and retrieve the workpiece between various processing stations 3, achieving automatic flow between processes.

[0037] The implementation principle of this embodiment is as follows: by adding a 3D vision recognition module and a central control system, comprehensive automated control of the entire processing process is achieved. The 3D vision recognition module can accurately acquire information about the axle housing parts, providing accurate data support for subsequent operations. The central control system then uses this data to intelligently schedule and control each stage, making the entire axle housing production process more efficient, accurate, and stable. Compared with traditional production methods, this further reduces manual intervention, improves the degree of automation and flexibility in production, and better meets the needs of small-batch, multi-variety production.

[0038] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A bridge housing overall control logistics line, characterized in that: The system includes a loading rack (1), a ground rail (2), multiple processing stations (3) arranged sequentially along the length of the ground rail (2) for processing workpieces, a transfer module (4) slidably mounted on the ground rail (2) for moving workpieces to designated stations, and a waiting platform (5) set at the processing station (3) for placing workpieces to be processed. Each processing station (3) is equipped with processing equipment for processing workpieces. The transfer module (4) includes a base (41) slidably mounted on the ground rail (2), a moving unit (42) for driving the base (41) to slide, a robotic arm (43) mounted on the base (41), and a gripping unit (44) mounted at the tail end of the robotic arm (43) for gripping workpieces.

2. The bridge housing control logistics line according to claim 1, characterized in that: The loading rack (1) is provided with a plurality of storage racks (11), and each storage rack (11) is arranged in sequence along a straight line. Each storage rack (11) is provided with two support seats (111), and the two support seats (111) are detachably connected to the storage rack (11). Both support seats (111) are provided with a placement slot for placing workpieces.

3. The bridge housing control logistics line according to claim 2, characterized in that: A threaded sleeve (112) is fixedly installed on the shelf (11) and between the two support seats (111). An adjusting screw (113) is internally threaded onto the threaded sleeve (112). A top block (114) is provided at the end of the adjusting screw (113), and the top block (114) is used to abut against the middle position of the workpiece.

4. The bridge housing overall control logistics line according to claim 1, characterized in that: The moving unit (42) includes a gear (21) fixedly mounted on the ground rail (2), a servo motor (421) fixedly mounted on the base (41), and a transmission gear (422) fixedly mounted on the output shaft of the servo motor (421). The length direction of the gear (21) is parallel to the length direction of the ground rail (2), and the transmission gear (422) meshes with the gear (21).

5. The bridge housing control logistics line according to claim 1, characterized in that: The gripping unit (44) includes a mounting frame (441) rotatably mounted on a robotic arm (43) and multiple clamping mechanisms (442) mounted on the mounting frame (441). The robotic arm (43) is provided with a drive source (431) for driving the mounting frame (441) to rotate. The clamping mechanism (442) includes a first clamping seat (4421) and a second clamping seat (4422) mounted on the mounting frame (441), and clamping components respectively mounted on the first clamping seat (4421) and the second clamping seat (4422). The clamping components on the first clamping seat (4421) and the second clamping seat (4422) are respectively used to clamp the two ends of the workpiece.

6. The bridge housing overall control logistics line according to claim 5, characterized in that: The second clamping seat (4422) is slidably disposed on the mounting frame (441) in a direction close to or away from the first clamping seat (4421), and the mounting frame (441) is provided with a driving member (4411) for driving the second clamping seat (4422) to slide.

7. The bridge housing overall control logistics line according to claim 5, characterized in that: The clamping assembly includes a first clamping block (4423), a second clamping block (4424), and a bidirectional cylinder (4425). The bidirectional cylinder (4425) is fixedly mounted on a first clamping seat (4421) or a second clamping seat (4422). The first clamping block (4423) and the second clamping block (4424) are respectively fixedly mounted on the two piston rods of the bidirectional cylinder (4425).

8. The bridge housing overall control logistics line according to claim 1, characterized in that: The waiting platform (5) is provided with a waiting rack (51) for placing workpieces. The waiting rack (51) is provided with two mounting seats (511). Each of the two mounting seats (511) is provided with a positioning block (512). The positioning block (512) is provided with a positioning slot for placing workpieces.

9. A bridge housing overall control logistics line according to claim 8, characterized in that: The waiting rack (51) is fixedly provided with a guide rail (513), and the two mounting seats (511) are slidably disposed on the guide rail (513). The mounting seats (511) are provided with a limiting member (514) to prevent the mounting seats (511) from sliding on the guide rail (513).

10. A bridge housing overall control logistics line according to claim 9, characterized in that: A sliding seat (515) is slidably disposed on the guide rail (513) and between the two mounting seats (511) along the length direction of the guide rail (513). A support block (516) is slidably disposed on the sliding seat (515) in the vertical direction. An elastic element (517) is provided on the sliding seat (515) for driving the support block (516) to slide away from the waiting rack (51). The support block (516) is used to abut against the middle position of the workpiece.

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