Hanging positioning device

Abstract

The utility model relates to a mounting positioning device which comprises two clamping carrying mechanisms, at least one movable transfer carrying mechanism, at least one receiving positioning mechanism and a plurality of positioning columns capable of being sleeved with annular workpieces. The clamping and carrying mechanism comprises a clamping seat, an upper clamp, a lower clamp, a manipulator capable of driving the clamping seat to translate, lift and rotate, an upper opening and closing mechanism capable of driving the upper clamp to open and close, and a lower opening and closing mechanism capable of driving the lower clamp to open and close; the two visual detection mechanisms can detect the circumferential direction of the positioning column; and the angle adjusting mechanism can adjust the circumferential direction of the positioning column. According to the utility model, through accurate operation of the manipulator, the upper clamp and the lower clamp are used for clamping the upper end and the lower end of the positioning column, so that an annular workpiece sleeved on the positioning column is located between the upper clamp and the lower clamp, then the visual detection mechanism is used for detecting the circumferential position of the positioning column, and fine adjustment is carried out through the angle adjusting mechanism; and the positioning columns can be automatically adjusted and aligned.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a mounting positioning device. Background Art

[0002] When some annular workpieces need to be sprayed or processed on their outer sides, if they are directly clamped by a robot, the part where the annular workpiece is clamped cannot be processed. The robot needs to adjust the clamping position and then process the original clamping position. Moreover, only one annular workpiece can be clamped at a time, which greatly reduces the transportation and processing efficiency of the annular workpiece.

[0003] Therefore, a long strip metal fixture capable of hanging annular workpieces has emerged, such as a new type of fixture disclosed with publication number CN215363730U and publication date December 31, 2021, including a base, a product splint, a right product splint, a left bracket splint, a right bracket splint, an opening and closing drive mechanism and a product bracket, the opening and closing drive mechanism is installed on the base, the left product splint, the right product splint, the left bracket splint, and the right bracket splint are all connected to the power output end of the opening and closing drive mechanism, the left product splint and the right product splint are arranged opposite to each other, the left bracket splint and the right product splint are arranged opposite to each other, and the left product splint is on the left support. The right product clamp is located above the right bracket clamp, and a long strip accommodating cavity is provided between the left bracket clamp and the right bracket clamp; the product bracket includes a long strip bottom plate, and a plurality of pairs of left elastic sheets and right elastic sheets, the bottom plate is arranged in the accommodating cavity and the length direction of the bottom plate is consistent with the length direction of the accommodating cavity, the left elastic sheet and the right elastic sheet correspond to each other and are arranged along the length direction of the bottom plate, the left elastic sheet is correspondingly located on the inner side of the left bracket clamp, and the upper edge of the left elastic sheet is located on the inner side of the left product clamp, the right elastic sheet is correspondingly located on the inner side of the right bracket clamp, and the upper edge of the right elastic sheet is located on the inner side of the right product clamp. The metal fixture (i.e., the product bracket therein) in this new type of fixture can hang the annular workpiece, however, the elastic sheet on the metal fixture used to hang the annular workpiece is easily deformed during the transfer and storage process, therefore, a special mounting device is required to clamp and place the metal fixture. Utility Model Content

[0004] The problem to be solved by the utility model is to provide a mounting positioning device, which can automatically adjust the positioning column and continuously transfer and store the annular workpiece on the positioning column, so as to facilitate subsequent processing or storage.

[0005] In order to solve the above technical problems, the technical solutions adopted by the utility model are as follows:

[0006] A mounting positioning device, characterized in that it includes two clamping and transporting mechanisms, at least one movable transfer and transporting mechanism, at least one material receiving and positioning mechanism and a plurality of positioning columns that can be provided for annular workpiece sets; the clamping and transporting mechanism includes a clamping seat, an upper clamp, a lower clamp, a manipulator that can drive the clamping seat to translate, lift and rotate, an upper opening and closing mechanism that can be used to drive the upper clamp to open and close, a lower opening and closing mechanism that can be used to drive the lower clamp to open and close, two visual detection mechanisms that can detect the circumference of the positioning column and an angle adjustment mechanism that can adjust the circumference of the positioning column, the clamping seat is installed on the power output end of the manipulator, the upper opening and closing mechanism is installed on the upper end of the clamping seat, the lower opening and closing mechanism is installed on the lower end of the clamping seat, the upper clamp is installed on the power output end of the upper opening and closing mechanism, and the lower clamp is installed on the power output end of the lower opening and closing mechanism. The clamping end of the lower clamp corresponds to the clamping end of the upper clamp, the clamping end of the upper clamp clamps the upper part of the positioning column, and the clamping end of the lower clamp clamps the lower part of the positioning column; a visual inspection mechanism is installed on the upper end of the clamp seat, and the shooting end of the visual inspection mechanism is facing the upper part of the positioning column, and the other visual inspection mechanism is installed on the lower end of the clamp seat, and the shooting end of the visual inspection mechanism is facing the lower part of the positioning column; the angle adjustment mechanism is installed on the upper end of the clamp seat, and the adjustment end of the angle adjustment mechanism corresponds to the upper end of the positioning column; the transfer and conveying mechanism is provided with a plurality of first fixing positions that can fix the upper and lower ends of the positioning column, and the material receiving and positioning mechanism is provided with a plurality of second fixing positions that can fix the upper and lower ends of the positioning column, one clamping and conveying mechanism corresponds to the first fixed position, and the other clamping and conveying mechanism corresponds to the second fixed position.

[0007] When in use, first transport the positioning columns equipped with multiple annular workpieces from the previous process to the clamping and transporting mechanism one by one, and drive the clamp seat to translate, lift and rotate to the position of the positioning column through the manipulator, so that the clamping end of the upper clamp is aligned with the upper part of the positioning column, and the clamping end of the lower clamp is aligned with the lower part of the positioning column; then, drive the upper clamp to open through the upper opening and closing mechanism, and drive the lower clamp to open through the lower opening and closing mechanism, so that the clamping end of the upper clamp clamps the upper part of the positioning column, and the clamping end of the lower clamp clamps the lower part of the positioning column; then, after clamping the positioning column, the shooting end of the visual inspection mechanism at the top shoots the upper end position of the positioning column, and the shooting end of the visual inspection mechanism at the bottom shoots the lower end position of the positioning column. If the photographed positioning column is not placed correctly, the angle adjustment mechanism is used to adjust the position of the positioning column. The adjusting end drives the upper end of the positioning column to rotate slightly, and fine-tunes the circumference of the positioning column so that the upper and lower ends of the positioning column can correspond to the first fixed position on the transfer and conveying mechanism and the second fixed position on the receiving and positioning mechanism; then, the manipulator drives the clamping seat to translate, lift and rotate, and transfers the positioning columns with adjusted angles one by one to be hung on the first fixed positions of the transfer and conveying mechanism; after the transfer and conveying mechanism is filled with positioning columns, the transfer and conveying mechanism is manually pushed to move, and the positioning columns on the transfer and conveying mechanism are moved to the receiving and positioning mechanism; finally, the positioning columns on the transfer and conveying mechanism are clamped off by another clamping and conveying mechanism, and then the positioning columns are transferred and hung one by one to the second fixed positions of the receiving and positioning mechanism to complete the corresponding process.

[0008] Typically, the robot can be a two-axis robot, a three-axis robot or a multi-axis robot for driving the clamping base to translate, elevate or rotate.

[0009] In a preferred embodiment, the upper opening and closing mechanism and the lower opening and closing mechanism are both finger cylinders, and the finger cylinders are provided with two parallel fingers that can clamp each other, and the upper clamp and the lower clamp each include two clamping claws, and the two clamping claws are respectively installed on the inner side surfaces of the corresponding parallel fingers. The finger cylinders are used to realize the opening and closing of the upper clamp and the lower clamp.

[0010] In a further preferred embodiment, in the lower clamp, rotatable auxiliary rollers are respectively provided on the upper surfaces of the clamping ends of the two clamping jaws, and when the two clamping jaws clamp the lower part of the positioning column, the wheel surfaces of the auxiliary rollers are in contact with and cooperate with the lower part of the positioning column. When the adjusting end of the angle adjustment mechanism drives the upper end of the positioning column to rotate slightly, the two auxiliary rollers on the lower clamp can assist the lower part of the positioning column to rotate, converting the sliding friction between the lower part of the positioning column and the clamping jaws into rolling friction, reducing friction, and making the positioning column smoother when rotating.

[0011] In the preferred embodiment, the visual inspection mechanism is a camera. The camera can provide high-quality images and fast image processing capabilities. The camera at the top takes pictures of the upper end of the positioning column, and the camera at the bottom takes pictures of the lower end of the positioning column, ensuring that the current clamping position of the positioning column can match the first fixed position on the transfer and handling mechanism and the second fixed position on the receiving and positioning mechanism.

[0012] In the preferred embodiment, the angle adjustment mechanism includes a lifting cylinder, a rotating cylinder and an adjusting fixture, the cylinder body of the lifting cylinder is mounted on the upper end of the clamping seat, the piston rod of the lifting cylinder extends downward, the cylinder body of the rotating cylinder is mounted on the end of the piston rod of the lifting cylinder, the adjusting fixture is mounted on the power output end of the rotating cylinder, and the clamping end of the adjusting fixture corresponds to the upper end of the positioning column. When in use, the piston rod of the lifting cylinder extends downward, the rotating cylinder and the adjusting fixture are lowered to the vicinity of the upper end of the positioning column, the clamping end of the adjusting fixture is aligned with and clamps the upper end of the positioning column, and then the adjusting fixture and the positioning column clamped by it are driven to rotate together by the rotating cylinder to achieve fine adjustment of the circumference of the positioning column.

[0013] In a preferred embodiment, a limiting piece is provided at the lower part of the positioning column. When the annular workpiece is sleeved on the positioning column, the lowermost annular workpiece is located above the limiting piece, and the limiting piece plays a limiting role on the annular workpiece sleeved on the positioning column.

[0014] In the preferred embodiment, the transfer and transport mechanism includes a vehicle body and a plurality of running wheels, each of which is installed at the bottom of the vehicle body. A plurality of first plug holes are provided on the edge of the upper top plate of the vehicle body, and a first notch is provided at the outer end of the first plug hole. A plurality of first slots corresponding to the first plug holes are provided on the bottom plate of the vehicle body, and the notches of the first slots are arranged upward, and the first slots and the corresponding first plug holes constitute the first fixed position; the lower ends of the positioning columns are respectively inserted into the corresponding first slots, and the upper parts of the positioning columns are respectively inserted into the corresponding first plug holes through the corresponding first notches. By installing running wheels at the bottom of the vehicle body, the transfer and transport mechanism can be easily moved in the workshop by pushing, thereby improving work efficiency. The lower end of the positioning column is inserted into the first slot, and the upper end of the positioning column is inserted into the first plug hole through the first notch, which can not only facilitate the loading and unloading of the positioning column, but also ensure the installation firmness of the positioning column to prevent shaking or falling off during movement.

[0015] In a further preferred embodiment, the first notch gradually increases in size from the inside to the outside. The design of the first notch gradually increasing in size from the inside to the outside plays a guiding role, making it easier for the positioning column to align with the first plug hole during insertion, reducing resistance during insertion and improving the convenience of operation.

[0016] In a further preferred embodiment, a positioning pin perpendicular to the positioning pin is provided at the lower end of the positioning column, and a first pin groove matching the positioning pin is provided on the edge of the notch of the first slot, and when the lower end of the positioning column is inserted into the first slot, the positioning pin is in the first pin groove. The positioning pin is positioned in cooperation with the first pin groove on the bottom plate of the vehicle body, so that the positioning column can be accurately and stably hung on the vehicle body.

[0017] In a further preferred embodiment, the material receiving and positioning mechanism includes an upper hanging plate, a lower hanging plate and a connecting column. The center of the upper hanging plate is connected to the center of the lower hanging plate through the connecting column. The edge of the upper hanging plate is provided with a plurality of second plug holes arranged at equal intervals along the circumference of the upper hanging plate. The outer ends of the second plug holes are provided with second notches. The lower hanging plate is provided with a plurality of second slots arranged at equal intervals along the circumference of the lower hanging plate. The notches of the second slots are arranged upward. The number of second slots is the same as that of the second plug holes and they correspond one to one and constitute the second fixed position. The lower end of each positioning column is respectively inserted into the corresponding second slot, and the upper part of each positioning column is respectively inserted into the corresponding second plug hole through the corresponding second notch. The lower end of the above-mentioned positioning column is inserted into the second slot, and the upper end of the positioning column is inserted into the second plug hole through the second notch, which can not only facilitate the loading and unloading of the positioning column, but also ensure the installation firmness of the positioning column to prevent shaking or falling off during movement.

[0018] In a further preferred embodiment, a second pin groove matching the positioning pin is provided on the notch edge of the second slot, and when the lower end of the positioning column is inserted into the second slot, the positioning pin is in the second pin groove. The positioning column is positioned by the bottom positioning pin cooperating with the second pin groove of the rotating drum. The positioning pin is positioned by cooperating with the second pin groove on the lower hanging plate, so that the positioning column can be accurately and stably hung on the receiving material positioning mechanism.

[0019] In a further preferred embodiment, the second notch gradually increases in size from the inside to the outside. The design of the second notch gradually increasing in size from the inside to the outside plays a guiding role, making it easier for the positioning column to align with the second plug hole during insertion, reducing resistance during insertion and improving the convenience of operation.

[0020] Compared with the prior art, the utility model has the following advantages:

[0021] The utility model uses the precise operation of the manipulator and the upper and lower ends of the positioning column to clamp the upper and lower ends of the positioning column by the upper clamp and the lower clamp, so that the annular workpiece sleeved on the positioning column is located between the upper clamp and the lower clamp, thereby preventing the annular workpiece from collision and deformation due to transfer and storage, and then uses the visual detection mechanism to detect the circumferential position of the positioning column, and uses the angle adjustment mechanism to perform fine adjustment, and automatically adjusts the positioning column to ensure that each positioning column can be correctly placed in the fixed position of the transfer and handling mechanism or the material receiving and positioning mechanism, thereby ensuring the positioning accuracy of the annular workpiece in the subsequent processing process and improving the processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0023] Figure 2 yes Figure 1 Schematic diagram of the structure of the clamping and handling mechanism (the manipulator is hidden);

[0024] Figure 3 yes Figure 1 Structural diagram of the middle positioning column;

[0025] Figure 4 yes Figure 1 Structural diagram of the transfer and handling mechanism;

[0026] Figure 5 yes Figure 1 Schematic diagram of the structure of the center material receiving positioning mechanism. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1-5As shown, the mounting and positioning device in this embodiment includes two clamping and transporting mechanisms 1, at least one movable transfer and transporting mechanism 2, at least one material receiving and positioning mechanism 3 and a plurality of positioning columns 4 that can be provided with annular workpiece sets; the clamping and transporting mechanism 1 includes a clamping seat 11, an upper clamp 12, a lower clamp 13, a manipulator 14 that can drive the clamping seat 11 to translate, lift and rotate, an upper opening and closing mechanism 15 that can be used to drive the upper clamp 12 to open and close, a lower opening and closing mechanism 16 that can be used to drive the lower clamp 13 to open and close, two visual inspection mechanisms 17 that can detect the circumference of the positioning column 4 and an angle adjustment mechanism 18 that can adjust the circumference of the positioning column 4, the clamping seat 11 is installed on the power output end of the manipulator 14, the upper opening and closing mechanism 15 is installed on the upper end of the clamping seat 11, the lower opening and closing mechanism 16 is installed on the lower end of the clamping seat 11, the upper clamp 12 is installed on the power output end of the upper opening and closing mechanism 15, and the lower clamp 13 is installed on the power output end of the lower opening and closing mechanism 16. On the end, the clamping end of the lower clamp 13 corresponds to the clamping end of the upper clamp 12, the clamping end of the upper clamp 12 clamps the upper part of the positioning column 4, and the clamping end of the lower clamp 13 clamps the lower part of the positioning column 4; a visual inspection mechanism 17 is installed on the upper end of the clamp seat 11, and the shooting end of the visual inspection mechanism 17 is facing the upper part of the positioning column 4, and another visual inspection mechanism 17 is installed on the lower end of the clamp seat 11, and the shooting end of the visual inspection mechanism 17 is facing the lower part of the positioning column 4; the angle adjustment mechanism 18 is installed on the upper end of the clamp seat 11, and the adjustment end of the angle adjustment mechanism 18 corresponds to the upper end of the positioning column 4; the transfer and conveying mechanism 2 is provided with a plurality of first fixing positions 21 that can fix the upper and lower ends of the positioning column 4, and the material receiving positioning mechanism 3 is provided with a plurality of second fixing positions 31 that can fix the upper and lower ends of the positioning column 4, one clamping and conveying mechanism 1 corresponds to the first fixing position 21, and the other clamping and conveying mechanism 1 corresponds to the second fixing position 31.

[0029] When in use, first transport the positioning columns 4 with multiple annular workpieces from the previous process to the clamping and transporting mechanism 1 one by one, and drive the clamping seat 11 to translate, lift and rotate to the position of the positioning column 4 through the manipulator 14, so that the clamping end of the upper clamp 12 is aligned with the upper part of the positioning column 4, and the clamping end of the lower clamp 13 is aligned with the lower part of the positioning column 4; then, the upper clamp 12 is driven to open by the upper opening and closing mechanism 15, and the lower clamp 13 is driven to open by the lower opening and closing mechanism 16, so that the clamping end of the upper clamp 12 clamps the upper part of the positioning column 4, and the clamping end of the lower clamp 13 clamps the lower part of the positioning column 4; then, after clamping the positioning column 4, the shooting end of the visual inspection mechanism 17 at the top shoots the upper end position of the positioning column 4, and the shooting end of the visual inspection mechanism 17 at the bottom shoots the lower end position of the positioning column 4. If the photographed positioning column 4 is not placed correctly, the angle adjustment is performed The adjusting end of the mechanism 18 drives the upper end of the positioning column 4 to rotate slightly, and fine-tunes the circumference of the positioning column 4 so that the upper and lower ends of the positioning column 4 can correspond to the first fixed position 21 on the transfer and conveying mechanism 2 and the second fixed position 31 on the receiving and positioning mechanism 3; then, the manipulator 14 drives the clamping seat 11 to translate, lift and rotate, and transfers the positioning columns 4 with adjusted angles one by one to be hung on each first fixed position 21 of the transfer and conveying mechanism 2; after the transfer and conveying mechanism 2 is filled with positioning columns 4, the transfer and conveying mechanism 2 is manually pushed to move, and each positioning column 4 on the transfer and conveying mechanism 2 is moved to the receiving and positioning mechanism 3; finally, each positioning column 4 on the transfer and conveying mechanism 2 is clamped down by another clamping and conveying mechanism 1, and then each positioning column 4 is transferred and hung one by one on each second fixed position 31 of the receiving and positioning mechanism 3 to complete the corresponding process.

[0030] Typically, the robot 14 may be a two-axis robot, a three-axis robot, or a multi-axis robot for driving the clamping base 11 to translate, elevate, or rotate.

[0031] The upper opening and closing mechanism 15 and the lower opening and closing mechanism 16 are both finger cylinders 151, and the finger cylinders 151 are provided with two parallel fingers 152 that can clamp each other. The upper clamp 12 and the lower clamp 13 both include two clamping claws 121, and the two clamping claws 121 are respectively installed on the inner side surfaces of the corresponding parallel fingers 152. The finger cylinders 151 are used to realize the opening and closing of the upper clamp 12 and the lower clamp 13.

[0032] In the lower clamp 13, the upper surfaces of the clamping ends of the two clamping jaws 121 are respectively provided with rotatable auxiliary rollers 431. When the two clamping jaws 121 clamp the lower part of the positioning column 4, the wheel surface of the auxiliary roller 431 contacts and cooperates with the lower part of the positioning column 4. When the adjusting end of the angle adjustment mechanism 18 drives the upper end of the positioning column 4 to rotate slightly, the two auxiliary rollers 431 on the lower clamp 13 can assist the lower part of the positioning column 4 to rotate, converting the sliding friction between the lower part of the positioning column 4 and the clamping jaws 121 into rolling friction, reducing friction, and making the positioning column 4 more smooth when rotating.

[0033] The visual inspection mechanism 17 is a camera. The camera can provide high-quality images and fast image processing capabilities. The camera at the top shoots the upper end of the positioning column 4, and the camera at the bottom shoots the lower end of the positioning column 4, ensuring that the current clamping position of the positioning column 4 can match the first fixed position 21 on the transfer and transport mechanism 2 and the second fixed position 31 on the receiving and positioning mechanism 3.

[0034] The angle adjustment mechanism 18 includes a lifting cylinder 181, a rotating cylinder 182 and an adjusting fixture 183. The cylinder body of the lifting cylinder 181 is mounted on the upper end of the clamping seat 11, the piston rod of the lifting cylinder 181 extends downward, the cylinder body of the rotating cylinder 182 is mounted on the end of the piston rod of the lifting cylinder 181, and the adjusting fixture 183 is mounted on the power output end of the rotating cylinder 182. The clamping end of the adjusting fixture 183 is matched with the upper end of the positioning column 4. When in use, the piston rod of the lifting cylinder 181 extends downward, and the rotating cylinder 182 and the adjusting fixture 183 are lowered to the vicinity of the upper end of the positioning column 4, so that the clamping end of the adjusting fixture 183 is aligned with and clamps the upper end of the positioning column 4, and then the adjusting fixture 183 and the positioning column 4 clamped by it are driven to rotate together by the rotating cylinder 182, so as to achieve fine adjustment of the circumference of the positioning column 4.

[0035] A limiting piece 41 is provided at the lower part of the positioning column 4. When the annular workpiece is sleeved on the positioning column 4, the lowermost annular workpiece is located above the limiting piece 41, and the limiting piece 41 plays a limiting role on the annular workpiece sleeved on the positioning column 4.

[0036] The transfer and transport mechanism 2 includes a vehicle body 22 and a plurality of running wheels 23, each of which is installed at the bottom of the vehicle body 22. A plurality of first plug holes 221 are provided at the edge of the upper top plate of the vehicle body 22, and a first notch 222 is provided at the outer end of the first plug hole 221. A plurality of first slots 223 corresponding to the first plug holes 221 are provided on the bottom plate of the vehicle body 22, and the notches of the first slots 223 are arranged upward, and the first slots 223 and the corresponding first plug holes 221 constitute the first fixed position 21; the lower ends of the positioning columns 4 are respectively inserted into the corresponding first slots 223, and the upper parts of the positioning columns 4 are respectively inserted into the corresponding first plug holes 221 through the corresponding first notches 222. By installing the running wheels 23 at the bottom of the vehicle body 22, the transfer and transport mechanism 2 can be easily moved in the workshop by pushing, thereby improving work efficiency. The lower end of the positioning column 4 is inserted into the first slot 223, and the upper end of the positioning column 4 is inserted into the first insertion hole 221 through the first notch 222, which can facilitate the loading and unloading of the positioning column 4 and ensure the firmness of the installation of the positioning column 4 to prevent shaking or falling off during movement.

[0037] The first notch 222 gradually increases in size from the inside to the outside. The design of the first notch 222 gradually increasing in size from the inside to the outside plays a guiding role, making it easier for the positioning column 4 to align with the first plug hole 221 during insertion, reducing resistance during insertion and improving the convenience of operation.

[0038] The lower end of the positioning column 4 is provided with a positioning pin 42 which is perpendicular to the positioning column 4, and the edge of the notch of the first slot 223 is provided with a first pin groove 224 which matches the positioning pin 42. When the lower end of the positioning column 4 is inserted into the first slot 223, the positioning pin 42 is in the first pin groove 224. The positioning pin 42 is positioned in cooperation with the first pin groove 224 on the bottom plate of the vehicle body 22, so that the positioning column 4 can be accurately and stably hung on the vehicle body 22.

[0039] The material receiving positioning mechanism 3 includes an upper hanging plate 32, a lower hanging plate 33 and a connecting column 34. The center of the upper hanging plate 32 is connected to the center of the lower hanging plate 33 through the connecting column 34. The edge of the upper hanging plate 32 is provided with a plurality of second plug holes 321 arranged at equal intervals along the circumference of the upper hanging plate 32. The outer ends of the second plug holes 321 are provided with second notches 322. The lower hanging plate 33 is provided with a plurality of second slots 331 arranged at equal intervals along the circumference of the lower hanging plate 33. The notches of the second slots 331 are arranged upward. The number of the second slots 331 and the second plug holes 321 are the same and correspond one to one and constitute the second fixed position 31. The lower ends of the positioning columns 4 are respectively inserted in the corresponding second slots 331, and the upper parts of the positioning columns 4 are respectively inserted in the corresponding second plug holes 321 through the corresponding second notches 322. The lower end of the positioning column 4 is inserted into the second slot 331, and the upper end of the positioning column 4 is inserted into the second insertion hole 321 through the second notch 322, which can facilitate the loading and unloading of the positioning column 4 and ensure the firmness of the installation of the positioning column 4 to prevent shaking or falling off during movement.

[0040] A second pin slot 332 matching the positioning pin 42 is provided on the notch edge of the second slot 331. When the lower end of the positioning column 4 is inserted into the second slot 331, the positioning pin 42 is in the second pin slot 332. The positioning column 4 is positioned by the bottom positioning pin 42 cooperating with the second pin slot 332 of the drum. The positioning pin 42 is positioned by cooperating with the second pin slot 332 on the lower hanging plate 33, so that the positioning column 4 can be accurately and stably hung on the receiving material positioning mechanism 3.

[0041] The second notch 322 gradually increases in size from the inside to the outside. The design of the second notch 322 gradually increasing in size from the inside to the outside plays a guiding role, making it easier for the positioning column 4 to align with the second plug hole 321 during insertion, reducing resistance during insertion and improving the convenience of operation.

[0042] In addition, it should be noted that the names of the various parts of the specific embodiments described in this specification may be different, and any equivalent or simple changes made based on the structure, features and principles described in the utility model patent concept are included in the protection scope of the utility model patent. The technical personnel of the technical field to which the utility model belongs can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should all fall within the protection scope of the utility model.

Claims

1. A mounting positioning device, characterized in that: The invention comprises two clamping and transporting mechanisms, at least one movable transfer and transporting mechanism, at least one material receiving and positioning mechanism and a plurality of positioning columns capable of being provided with annular workpiece sets; the clamping and transporting mechanism comprises a clamping seat, an upper clamp, a lower clamp, a manipulator capable of driving the clamping seat to translate, lift and rotate, an upper opening and closing mechanism capable of driving the upper clamp to open and close, a lower opening and closing mechanism capable of driving the lower clamp to open and close, two visual inspection mechanisms capable of detecting the circumference of the positioning columns and an angle adjustment mechanism capable of adjusting the circumference of the positioning columns, the clamping seat is installed on the power output end of the manipulator, the upper opening and closing mechanism is installed on the upper end of the clamping seat, the lower opening and closing mechanism is installed on the lower end of the clamping seat, the upper clamp is installed on the power output end of the upper opening and closing mechanism, the lower clamp is installed on the power output end of the lower opening and closing mechanism, and the clamping end of the lower clamp The clamping end of the upper clamp corresponds to the clamping end of the upper clamp, which clamps the upper part of the positioning column, and the clamping end of the lower clamp clamps the lower part of the positioning column; a visual inspection mechanism is installed on the upper end of the clamp seat, and the shooting end of the visual inspection mechanism is facing the upper part of the positioning column, and the other visual inspection mechanism is installed on the lower end of the clamp seat, and the shooting end of the visual inspection mechanism is facing the lower part of the positioning column; the angle adjustment mechanism is installed on the upper end of the clamp seat, and the adjustment end of the angle adjustment mechanism corresponds to the upper end of the positioning column; the transfer and conveying mechanism is provided with a plurality of first fixing positions that can fix the upper and lower ends of the positioning column, and the material receiving and positioning mechanism is provided with a plurality of second fixing positions that can fix the upper and lower ends of the positioning column, one clamping and conveying mechanism corresponds to the first fixed position, and the other clamping and conveying mechanism corresponds to the second fixed position.

2. The mounting and positioning device according to claim 1, characterized in that: The upper opening and closing mechanism and the lower opening and closing mechanism are both finger cylinders, and the finger cylinders are provided with two parallel fingers that can clamp each other. The upper clamp and the lower clamp both include two clamping claws, and the two clamping claws are respectively installed on the inner side surfaces of the corresponding parallel fingers.

3. The mounting and positioning device according to claim 2, characterized in that: In the lower clamp, rotatable auxiliary rollers are respectively provided on the upper surfaces of the clamping ends of the two clamping jaws. When the two clamping jaws clamp the lower part of the positioning column, the wheel surface of the auxiliary roller contacts and cooperates with the lower part of the positioning column.

4. The mounting and positioning device according to claim 1, characterized in that: The visual detection mechanism is a camera; The angle adjustment mechanism includes a lifting cylinder, a rotating cylinder and an adjusting fixture, the cylinder body of the lifting cylinder is mounted on the upper end of the clamping seat, the piston rod of the lifting cylinder extends downward, the cylinder body of the rotating cylinder is mounted on the end of the piston rod of the lifting cylinder, the adjusting fixture is mounted on the power output end of the rotating cylinder, and the clamping end of the adjusting fixture corresponds to the upper end of the positioning column; A limiting piece is provided at the lower part of the positioning column.

5. The mounting and positioning device according to claim 1, characterized in that: The transfer and transport mechanism includes a vehicle body and a plurality of running wheels, each of which is mounted on the bottom of the vehicle body, a plurality of first plug holes are provided on the edge of the upper top plate of the vehicle body, a first notch is provided at the outer end of the first plug hole, a plurality of first slots corresponding to the first plug holes are provided on the bottom plate of the vehicle body, the notches of the first slots are arranged upward, and the first slots and the corresponding first sockets constitute the first fixed position; the lower ends of the positioning columns are respectively inserted in the corresponding first slots, and the upper parts of the positioning columns are respectively inserted in the corresponding first sockets through the corresponding first notches.

6. The mounting and positioning device according to claim 5, characterized in that: The first gap gradually becomes larger from the inside to the outside.

7. The mounting and positioning device according to claim 5, characterized in that: The lower end of the positioning column is provided with a positioning pin perpendicular to the positioning column, and the edge of the notch of the first slot is provided with a first pin groove matching the positioning pin. When the lower end of the positioning column is inserted into the first slot, the positioning pin is in the first pin groove.

8. The mounting and positioning device according to claim 7, characterized in that: The material receiving positioning mechanism includes an upper hanging plate, a lower hanging plate and a connecting column. The center of the upper hanging plate is connected to the center of the lower hanging plate by the connecting column. The edge of the upper hanging plate is provided with a plurality of second sockets arranged at equal intervals along the circumference of the upper hanging plate. The outer ends of the second sockets are provided with second notches. The lower hanging plate is provided with a plurality of second slots arranged at equal intervals along the circumference of the lower hanging plate. The notches of the second slots are arranged upward. The second slots are the same in number as the second sockets and correspond one to one and constitute the second fixed position. The lower ends of the positioning columns are respectively inserted in the corresponding second slots, and the upper parts of the positioning columns are respectively inserted in the corresponding second sockets through the corresponding second notches.

9. The mounting and positioning device according to claim 8, characterized in that: A second pin groove matching the positioning pin is provided on the notch edge of the second slot. When the lower end of the positioning column is inserted into the second slot, the positioning pin is located in the second pin groove.

10. The mounting and positioning device according to claim 8, characterized in that: The second notch gradually becomes larger from the inside to the outside.

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