A quick positioning device for assembling a special-shaped workpiece

Abstract

The application discloses a quick positioning device for assembling special-shaped workpieces and belongs to the technical field of mechanical equipment, which comprises a base and three self-adapting clamping jaw assemblies. The self-adapting clamping jaw assemblies comprise a first clamping jaw and a second clamping jaw which are sequentially distributed from the center of the base outward, and the second clamping jaw is fixedly arranged on the side of the first clamping jaw close to the center of the base. First universal contact heads and second universal contact heads are arranged on the first clamping jaw and the second clamping jaw respectively. Three positioning pins are arranged to form initial supporting positioning points of the workpiece. The first clamping jaw and the second clamping jaw are synchronously slid by driving a driving cylinder, then the extension length of the first universal contact heads is adjusted by adjusting a screw rod, and multiple second universal contact heads are used to clamp the workpiece for the second time, so that the first universal contact heads and the second universal contact heads are all attached to the irregular surface of the workpiece. When the workpieces with different shapes and sizes are used, the clamps do not need to be replaced, the adaptability to different workpieces is high, and thus the positioning efficiency and accuracy are improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, and more specifically, to a rapid positioning device for assembling irregularly shaped workpieces. Background Technology

[0002] In fields such as precision machinery assembly, automotive parts processing, and electronic component assembly, the assembly and positioning of irregularly shaped workpieces (i.e., workpieces with irregular shapes, no unified reference surface, and complex contours) is a critical step in the production process. Its positioning accuracy and efficiency directly determine the quality of the assembled product and the efficiency of mass production. Currently, existing irregularly shaped workpiece assembly and positioning devices generally suffer from the following technical defects: First, the adaptability is poor. Most positioning devices adopt a fixed fixture structure, which requires frequent fixture changes for irregularly shaped workpieces of different shapes and sizes. This not only increases tooling costs but also consumes a lot of time for fixture replacement and debugging, seriously affecting production efficiency and failing to meet the assembly needs of multiple varieties and small batches of irregularly shaped workpieces.

[0003] Secondly, the positioning accuracy is insufficient. Existing devices mostly use single-point or two-point positioning methods, which makes it difficult to form a stable centering structure. Moreover, the contact between the gripper and the workpiece is mostly rigid point contact, which is prone to contact deviation. At the same time, the movement accuracy of the guide mechanism is limited, resulting in low positioning repeatability. This cannot meet the assembly requirements of precision irregular workpieces and is prone to problems such as workpiece offset and assembly misalignment.

[0004] In view of this, the present invention is proposed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a rapid positioning device for assembling irregularly shaped workpieces, so as to solve the technical problems of poor adaptability and low positioning accuracy of existing rapid positioning devices for assembling irregularly shaped workpieces.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A rapid positioning device for assembling irregularly shaped workpieces, comprising: The base is fixed to the worktable around its bottom perimeter. Three locating pins arranged in an equilateral triangle are located in the center of the base for positioning the workpiece. Three adaptive gripper assemblies are evenly distributed along the center of the base and driven by a drive cylinder to be slidably mounted on the base and located outside the three positioning pins. Each adaptive gripper assembly includes a first gripper and a second gripper distributed sequentially outward from the center of the base. The second gripper is fixedly mounted on the side of the first gripper near the center of the base. The first gripper and the second gripper are respectively provided with a first universal contact head and a second universal contact head, both of which face the center of the base. An adjusting screw is movably connected to the end of the first universal contact head away from the center of the base. The adjusting screw passes through the first gripper and is screwed to the first gripper.

[0007] Furthermore, the base has three guide grooves evenly distributed along its center direction, and a sliding slider is provided in the guide groove. The first gripper is fixedly mounted on the corresponding slider, and the output end of the drive cylinder is connected to the first gripper.

[0008] Furthermore, a guide hole is provided at the end of the adjusting screw near the center of the base along its length, and the end of the first universal contact head away from the center of the base is slidably disposed in the guide hole. A first spring is provided between the end of the adjusting screw near the center of the base and the end of the first universal contact head away from the center of the base. The second universal contact head is slidably mounted inside the second gripper via a second spring.

[0009] Furthermore, an internal hexagonal adjustment hole is provided at the end of the adjusting screw away from the center of the base so that it can be rotated by a hexagonal wrench.

[0010] Furthermore, it also includes a control component, which includes a mounting plate mounted on the base. A solenoid valve, a controller, and a pressure sensor are fixedly mounted on the mounting plate. The solenoid valve is connected to multiple drive cylinders and an air source through a first air pipe, and the pressure sensor is connected to the first air pipe through a second air pipe. The controller is electrically connected to the solenoid valve and pressure sensor.

[0011] Furthermore, it also includes multiple miniature lifting cylinders installed in the base, with each miniature lifting cylinder located at the bottom of three positioning pins, and the miniature lifting cylinders connected to the solenoid valve via a third air pipe; A sliding guide sleeve is fitted onto the positioning pin, and the guide sleeve is fixedly mounted on the base. A displacement sensor is installed on the upper circumferential side wall of the positioning pin, and the displacement sensor is electrically connected to the solenoid valve.

[0012] Furthermore, it also includes a vision positioning module mounted on the base. The vision positioning module includes an L-shaped bracket, on which an industrial camera and an image processor are mounted. The industrial camera is positioned facing the center of the base. The image processor is connected to the industrial camera via an Ethernet cable and is also connected to the controller.

[0013] Furthermore, the industrial camera has a ring light source along its lens direction, and the ring light source is connected to the controller via electrical signals.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: Three locating pins form the initial support positioning points for the workpiece, with the lower end supported by these pins. Three adaptive gripper assemblies provide support for the clamping action. A drive cylinder drives the first and second grippers to slide synchronously. Multiple second universal joints on the first grippers initially clamp the workpiece. Then, adjusting the extension length of the first universal joints via an adjusting screw allows for secondary clamping by the multiple second universal joints. This ensures that both the first and second universal joints conform to the irregular surface of the workpiece, improving clamping stability. For workpieces of different shapes and sizes, no fixture changes are required, demonstrating high adaptability to different workpieces and thus improving positioning efficiency and accuracy. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings: Figure 1 A schematic diagram of the structure of a rapid positioning device for assembling irregularly shaped workpieces provided in an embodiment of this application; Figure 2 for Figure 1 A structural schematic diagram from a zero-first perspective; Figure 3 for Figure 1 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the structure of the vision positioning module of the rapid positioning device for assembling irregularly shaped workpieces provided in the embodiments of this application.

[0016] Reference numerals: 1. Base; 2. Positioning pin; 3. Adaptive gripper assembly; 4. Drive cylinder; 5. Vision positioning module; 6. Pressure sensor; 7. Solenoid valve; 8. Second air pipe; 9. First air pipe; 31. First gripper; 32. Second gripper; 33. Adjusting screw; 34. First universal contact head; 35. Second universal contact head; 51. L-shaped bracket; 52. Industrial camera; 53. Ring light source; 54. Image processor. Detailed Implementation

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] See Figures 1 to 4 As shown, a rapid positioning device for assembling irregularly shaped workpieces includes a base 1 and three adaptive gripper assemblies 3. The base 1 is fixed to the worktable surface around its bottom perimeter. Three locating pins 2 arranged in an equilateral triangle are disposed at the center of the base 1 for positioning the workpiece. The three adaptive gripper assemblies 3 are evenly distributed along the center of the base 1 and are driven by a drive cylinder 4 to slide on the base 1, located outside the three locating pins 2. Each adaptive gripper assembly 3 includes a first gripper 31 and a second gripper 32 arranged sequentially from the center of the base 1 outwards. Two grippers 32 are fixedly disposed on the side of the first gripper 31 near the center of the base 1. The first gripper 31 and the second gripper 32 are respectively provided with a first universal contact head 34 and a second universal contact head 35. Both the first universal contact head 34 and the second universal contact head 35 face the center of the base 1. The end of the first universal contact head 34 away from the center of the base 1 is provided with an adjusting screw 33 that is movably connected. The adjusting screw 33 passes through the first gripper 31 and is screwed to the first gripper 31. Both the first universal contact head 34 and the second universal contact head 35 can achieve 360° adaptive rotation.

[0019] In the above scheme, the initial support positioning points of the workpiece are formed by three positioning pins 2. The lower end of the workpiece is supported by the three positioning pins 2. Then, the clamping action is supported by three adaptive gripper assemblies 3. The first gripper 31 and the second gripper 32 are driven to slide synchronously by the drive cylinder 4. The second universal contact heads 35 on the multiple first grippers 31 first clamp the workpiece. Then, the extension length of the first universal contact head 34 is adjusted by the adjusting screw 33, so that the multiple second universal contact heads 35 clamp the workpiece a second time. This ensures that the first universal contact head 34 and the second universal contact head 35 are in contact with the irregular surface of the workpiece, thereby improving the stability of clamping. For workpieces of different shapes and sizes, there is no need to change the fixture. It has high adaptability to different workpieces, thereby improving positioning efficiency and accuracy.

[0020] See some possible implementations. Figures 1 to 3 As shown, the base 1 has three guide grooves evenly distributed along its center direction. The guide grooves are T-shaped grooves, and a sliding slider is provided in the guide groove. The slider is a T-shaped slider that cooperates with the T-shaped groove. The first gripper 31 is fixedly installed on the corresponding slider, and the output end of the drive cylinder 4 is connected to the first gripper 31.

[0021] See some possible implementations. Figure 3As shown, the adjusting screw 33 has a guide hole along its length at one end near the center of the base 1. The first universal contact head 34 is slidably disposed in the guide hole at one end away from the center of the base 1 and will not slide out of the guide hole. A first spring is provided between the adjusting screw 33 at one end near the center of the base 1 and the first universal contact head 34 at one end away from the center of the base 1. The second universal contact head 35 is slidably disposed in the second gripper 32 through the second spring.

[0022] In the above scheme, when the first universal contact head 34 and the second universal contact head 35 come into contact with the workpiece surface, the first spring and the second spring provide preload and buffer to avoid rigid contact and damage to the workpiece, while ensuring uniform contact pressure.

[0023] In some possible implementations, the adjusting screw 33 has an internal hexagonal adjustment hole at the end opposite to the center of the base 1 so that it can be rotated by a hexagonal wrench.

[0024] See some possible implementations. Figure 1 As shown, the rapid positioning device for assembling irregularly shaped workpieces provided in this application embodiment also includes a control component. The control component includes a mounting plate disposed on a base 1. A solenoid valve 7, a controller, and a pressure sensor 6 are fixedly disposed on the mounting plate. The solenoid valve 7 is connected to multiple drive cylinders 4 and an air source through a first air pipe 9. The pressure sensor 6 is connected to the first air pipe 9 through a second air pipe 8. The controller is electrically connected to the solenoid valve 7 and the pressure sensor 6.

[0025] In the above scheme, the solenoid valve 7 controls the synchronous start and stop of multiple drive cylinders 4, and the pressure sensor 6 monitors the clamping force in real time through the second air pipe 8. When the pressure reaches the set value, it sends a feedback signal to the controller. The controller controls the solenoid valve 7 to maintain the pressure of the drive cylinder 4 to avoid over-clamping or under-clamping. The solenoid valve 7 controls the air circuit of the drive cylinder 4 to achieve automated control and reduce the error of manual operation.

[0026] In some possible implementations, the rapid positioning device for assembling irregularly shaped workpieces provided in this application embodiment further includes multiple miniature lifting cylinders disposed in the base 1. The multiple miniature lifting cylinders are respectively located at the bottom of three positioning pins 2. The miniature lifting cylinders are connected to the solenoid valve 7 through a third air pipe. A slidingly connected guide sleeve is sleeved on the positioning pin 2. The guide sleeve is fixedly disposed on the base 1. A displacement sensor is disposed on the upper circumferential side wall of the positioning pin 2. The displacement sensor is electrically connected to the solenoid valve 7.

[0027] In the above scheme, in order to improve the stability of workpiece clamping, after the workpiece is placed on three positioning pins 2, multiple micro lifting cylinders are started by controlling the solenoid valve 7. The output end of the multiple micro lifting cylinders drives the corresponding positioning pins 2 to rise and fall, so that the three positioning pins 2 can stably support the workpiece. It can adapt to uneven and curved workpiece surfaces. Furthermore, a micro pressure sensor is set between the output end of the micro lifting cylinder and the corresponding positioning pin 2 to monitor the contact pressure of a single positioning pin 2 in real time. When the pressure exceeds the set value, it is transmitted to the controller through an electrical signal. The controller controls the solenoid valve 7 to maintain the pressure of the micro lifting cylinder. The displacement sensor monitors the lifting height of the positioning pin 2 in real time.

[0028] See some possible implementations. Figure 1 and Figure 2 As shown, the rapid positioning device for assembling irregularly shaped workpieces provided in this application embodiment also includes a vision positioning module 5 disposed on the base 1. The vision positioning module 5 includes an L-shaped bracket 51, on which an industrial camera 52 and an image processor 54 are disposed. The industrial camera 52 is disposed facing the center of the base 1. The image processor 54 is connected to the industrial camera 52 via an Ethernet cable and is communicatively connected to the controller.

[0029] In the above scheme, the industrial camera 52 acquires workpiece images in real time and sends them to the image processor 54. The image processor 54 identifies the workpiece outline, key positioning surfaces, initial placement deviation, and angle deviation through an edge detection algorithm, and transmits the deviation data to the controller. The controller automatically calculates the compensation stroke of the first gripper 31 and the second gripper 32 based on the difference, and uses the displacement sensor to achieve visual guidance positioning, thereby improving the positioning adaptation efficiency.

[0030] See some possible implementations. Figure 4 As shown, an industrial camera 52 is provided with a ring light source 53 along its lens direction. The ring light source 53 is connected to the controller via electrical signals. The ring light source 53 is used to provide uniform diffused light to the industrial camera 52, eliminate shadow interference, and ensure image clarity.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rapid positioning device for assembling irregularly shaped workpieces, characterized in that, include: The base (1) is fixed to the workbench around its bottom. The base (1) has three positioning pins (2) arranged in an equilateral triangle at its center for positioning the workpiece. Three adaptive gripper assemblies (3) are evenly distributed along the center of the base (1) and driven by a drive cylinder (4) so ​​that they can be slidably mounted on the base (1) and located outside the three positioning pins (2). Each adaptive gripper assembly (3) includes a first gripper (31) and a second gripper (32) distributed sequentially from the center of the base (1) outwards. The second gripper (32) is fixedly mounted on the side of the first gripper (31) near the center of the base (1). The first gripper (31) and the second gripper (32) are respectively provided with a first universal contact head (34) and a second universal contact head (35). The first universal contact head (34) and the second universal contact head (35) are both facing the center of the base (1). The end of the first universal contact head (34) away from the center of the base (1) is provided with an adjusting screw (33) that is movably connected. The adjusting screw (33) passes through the first gripper (31) and is screwed to the first gripper (31).

2. The rapid positioning device for assembling irregularly shaped workpieces according to claim 1, characterized in that, The base (1) has three guide grooves evenly distributed along its center direction. A sliding slider is provided in the guide groove. The first gripper (31) is fixedly mounted on the corresponding slider. The output end of the drive cylinder (4) is connected to the first gripper (31).

3. The rapid positioning device for assembling irregularly shaped workpieces according to claim 2, characterized in that, The adjusting screw (33) has a guide hole along its length at one end near the center of the base (1), and the first universal contact head (34) is slidably disposed in the guide hole at one end away from the center of the base (1). A first spring is provided between the adjusting screw (33) near the center of the base (1) and the first universal contact head (34) away from the center of the base (1). The second universal contact head (35) is slidably disposed within the second gripper (32) via a second spring.

4. The rapid positioning device for assembling irregularly shaped workpieces according to claim 3, characterized in that, The adjusting screw (33) has an internal hexagonal adjustment hole at one end away from the center of the base (1) so that it can be rotated by a hexagonal wrench.

5. The rapid positioning device for assembling irregularly shaped workpieces according to claim 4, characterized in that, It also includes a control component, which includes a mounting plate set on the base (1). A solenoid valve (7), a controller and a pressure sensor (6) are fixedly mounted on the mounting plate. The solenoid valve (7) is connected to multiple drive cylinders (4) and an air source through a first air pipe (9). The pressure sensor (6) is connected to the first air pipe (9) through a second air pipe (8). The controller is electrically connected to the solenoid valve (7) and the pressure sensor (6).

6. The rapid positioning device for assembling irregularly shaped workpieces according to claim 1, characterized in that, It also includes multiple miniature lifting cylinders installed in the base (1), the multiple miniature lifting cylinders are respectively located at the bottom of three positioning pins (2), and the miniature lifting cylinders are connected to the solenoid valve (7) through the third air pipe; The positioning pin (2) is fitted with a sliding guide sleeve, which is fixedly mounted on the base (1). A displacement sensor is provided on the upper circumferential side wall of the positioning pin (2), and the displacement sensor is electrically connected to the solenoid valve (7).

7. The rapid positioning device for assembling irregularly shaped workpieces according to claim 6, characterized in that, It also includes a vision positioning module (5) set on the base (1). The vision positioning module (5) includes an L-shaped bracket (51). An industrial camera (52) and an image processor (54) are set on the L-shaped bracket (51). The industrial camera (52) is set towards the center of the base (1). The image processor (54) is connected to the industrial camera (52) via an Ethernet cable. The image processor (54) is also connected to the controller.

8. The rapid positioning device for assembling irregularly shaped workpieces according to claim 7, characterized in that, The industrial camera (52) is provided with a ring light source (53) along its lens direction, and the ring light source (53) is electrically connected to the controller.

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