Special-shaped workpiece positioning device

Abstract

The utility model relates to a special-shaped workpiece positioning device which comprises a mechanical arm, a vertical plate, a transverse plate and a sensor, and a first sliding rail is transversely arranged on the side, close to the mechanical arm, of the vertical plate. The transverse plate is arranged on the side, close to the mechanical arm, of the vertical plate, a first positioning piece and a second positioning piece are arranged on the transverse plate, the positioning face of the first positioning piece is perpendicular to the vertical plate, and the positioning face of the second positioning piece is parallel to the vertical plate; the sensor is connected with the first sliding rail in a sliding mode. According to the utility model, the sensor is moved relative to the vertical plate and the transverse plate through the first slide rail, and a workpiece placed on the transverse plate is scanned and a central point / axis is found. The first positioning piece and the second positioning piece are arranged on the transverse plate so that the position of the workpiece on the transverse plate can be rapidly positioned, the mechanical arm can conveniently and accurately place the workpiece on the transverse plate, automatic detection of the special-shaped workpiece is achieved, and the machining process is simplified.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a positioning device for special-shaped workpieces. Background Art

[0002] In order to facilitate storage and transportation, steel mills will make metal raw materials into discs. The disc shape is easier to stack and store, takes up relatively less space, and is convenient for transportation and handling. The disc shape also has better structural strength and stability, reducing losses during transportation.

[0003] When the subsequent processing plant turns the incoming materials, it must first cut the disc-shaped incoming materials. In order to maximize the use of the incoming materials, the raw materials will be cut into fan-shaped rings according to the outer arc of the disc. Although this improves the utilization rate of the incoming materials, the fan-shaped workpiece is difficult to find and clamp, which increases the difficulty of processing and reduces the processing efficiency.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a positioning device for special-shaped workpieces to quickly determine the center of the workpiece.

[0006] The technical solution of the utility model is as follows:

[0007] A device for positioning special-shaped workpieces comprises a mechanical arm, a vertical plate, a horizontal plate and a sensor, wherein a first slide rail is arranged horizontally on a side of the vertical plate close to the mechanical arm; the horizontal plate is arranged on a side of the vertical plate close to the mechanical arm, and a first positioning member and a second positioning member are arranged on the horizontal plate, wherein a positioning surface of the first positioning member is perpendicular to the vertical plate, and a positioning surface of the second positioning member is parallel to the vertical plate; the sensor is slidably connected to the first slide rail.

[0008] The beneficial technical effects of the utility model are as follows:

[0009] (1) The special-shaped workpiece positioning device of the utility model is provided with a vertical plate, which is slidably connected to the sensor through a first slide rail arranged horizontally, and a horizontal plate is arranged on the same side of the vertical plate as the sensor. The sensor is moved relative to the vertical plate and the horizontal plate by the first slide rail, and the workpiece placed on the horizontal plate is scanned to obtain the surface contour of the workpiece. The position of the central axis of the object is calculated by analyzing the object contour through a software algorithm, and the robot arm is guided to grab and load the material. The first positioning member and the second positioning member are arranged on the horizontal plate to quickly locate the position of the workpiece on the horizontal plate, so that the robot arm can accurately place the workpiece on the horizontal plate, thereby realizing the automated processing of special-shaped workpieces.

[0010] (2) Furthermore, a plurality of reference notches are provided on the second positioning member, which are used together with the vertically arranged first positioning member to facilitate reference positioning of the robot arm.

[0011] (3) Furthermore, a material tray is provided, which is slidably arranged on the mounting plane. The workpieces are replenished in batches through the material tray, and the workpieces are arranged in the material tray and fixed in position, so as to be easily grasped by the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The utility model shows a three-dimensional structural schematic diagram of a special-shaped workpiece positioning device.

[0013] Figure 2 The utility model shows a three-dimensional mechanism schematic diagram of the clamping claw, the vertical plate, the horizontal plate and the sensor in the positioning device for special-shaped workpieces.

[0014] Figure 3 A partial enlarged view of the special-shaped workpiece positioning device of the present invention at position A is shown.

[0015] Markings in the accompanying drawings:

[0016] 1. Robotic arm; 11. Gripper; 2. Vertical plate; 21. First slide rail; 3. Horizontal plate; 31. First positioning member; 32. Second positioning member; 321. Reference notch; 33. Material discharge trough; 34. Chamfer; 4. Sensor; 41. First slide block; 5. Material tray; 51. Second slide rail; 52. Slot; 6. Guardrail; 7. Fan-shaped workpiece. DETAILED DESCRIPTION

[0017] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, please refer to the attached drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the attached drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so they have no technical substantive significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the utility model, should still fall within the scope of the technical content disclosed by the utility model.

[0018] In the description of the present invention, the orientations or positional relationships indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0019] Figure 1 The three-dimensional structure schematic diagram of the special-shaped workpiece positioning device of the utility model is shown. Figure 2 The schematic diagram of the three-dimensional structure of the clamping jaws, vertical plate, horizontal plate and sensor in the special-shaped workpiece positioning device of the utility model is shown. Figure 1 and Figure 2 A device for positioning a special-shaped workpiece includes a robot arm 1, a vertical plate 2, a horizontal plate 3 and a sensor 4. The robot arm 1 can be a commercially available Elite EC63 robot arm 1. The vertical plate 2 is close to the side of the robot arm 1, and a first slide rail 21 is horizontally arranged. The horizontal plate 3 is arranged on the side of the vertical plate 2 close to the robot arm 1, and a first positioning member 31 and a second positioning member 32 are arranged on the horizontal plate 3. The positioning surface of the first positioning member 31 is perpendicular to the vertical plate 2, and the positioning surface of the second positioning member 32 is parallel to the vertical plate 2, so as to quickly locate the position of the workpiece on the horizontal plate 3, so that the robot arm 1 can accurately place the workpiece on the horizontal plate 3. The sensor 4 is slidably connected to the first slide rail 21 through the first slider 41, and the sensor 4 can be a commercially available LJ-X8080 line scanning laser measuring instrument. The sensor 4 slides and scans along the first slide rail 21 to obtain the surface contour of the workpiece, and calculates the position of the center axis of the workpiece through the software algorithm to analyze the contour of the workpiece, and guides the robot arm 1 to grab and load the material.

[0020] The specific structures of the first positioning member 31 and the second positioning member 32 are described below:

[0021] Please refer to Figure 2 The first positioning member 31 is a vertical positioning plate, which can be used as a reference surface for the contour of the workpiece while it is pressed against the workpiece to position the workpiece, so that the sensor 4 can calculate the size parameters of the workpiece and the robot arm 1 can be used for reference positioning. The second positioning member 32 is located on the side away from the vertical plate 2, and at least two reference notches 321 are evenly and equidistantly arranged with reference to the first positioning member 31. The first positioning member 31 and the reference notch 321 cooperate with each other to facilitate reference positioning of the robot arm 1.

[0022] The specific structure of the mechanical arm 1 and the horizontal plate 3 is described below:

[0023] Please refer to Figure 2A clamping jaw 11 is provided at the end of the robot arm 1, and the clamping jaw 11 can be a commercially available Otto PET-2700 / 25 two-finger clamping jaw 11. A discharge trough 33 is provided on the side of the horizontal plate 3 close to the robot arm 1. The groove width of the discharge trough 33 is greater than the jaw width of the clamping jaw 11 perpendicular to the clamping direction. When the robot arm 1 drives the clamping jaw 11 to place the workpiece on the horizontal plate 3, the clamping jaw 11 can be extended into the discharge trough 33, and the workpiece is placed after it is close to the discharge position on the horizontal plate 3, so as to ensure that the workpiece is placed accurately. The notch of the discharge trough 33 is provided with a chamfer 34, so that the robot arm 1 can extend the clamping jaw 11 into the discharge trough 33.

[0024] The specific structure of the material tray 5 and the guardrail 6 is described below:

[0025] Figure 3 The partial enlarged view of the special-shaped workpiece positioning device of the utility model at position A is shown. Please refer to Figure 1 and Figure 3 , and also includes a material tray 5, a plurality of slots 52 are provided on the upper surface of the material tray 5, and the fan-shaped workpiece 7 is positioned through the slots and placed on the material tray 5. The workpieces are moved into the loading position in batches through the material tray 5, and the workpieces are positioned and placed on the material tray 5 through the slots 52, and the position is fixed, which is convenient for the robot arm 1 to grab. The number of material trays 5 is two or more, so as to alternately load and unload materials, so as to avoid that there is no workpiece to be measured when the material tray 5 is loaded and unloaded, thereby improving the detection efficiency. A second slide rail 51 is arranged on the mounting plane of the material tray 5, and a second slider (not shown in the figure) is arranged on the lower surface of the material tray 5 to be slidably connected to the second slide rail 51. The material tray 5 is slid in / out from the loading position along the second slide rail 51, which simplifies the movement of the material tray 5 and facilitates automation.

[0026] Please refer to Figure 1 and Figure 2 , a guardrail 6 is also provided, and the guardrail 6 surrounds the robot arm 1, the vertical plate 2 and the horizontal plate 3. The guardrail 6 prevents material splashing and protects the operator, and prevents foreign matter from entering and protecting the equipment. In addition, the material tray 5 enters / moves out of the guardrail 6 along the second slide rail 51, and a sensing device (not shown in the figure) is provided on the guardrail 6 at the position where the material tray 5 moves in and out. When the sensing device detects that the operator moves in or out of the material tray 5, it transmits an electrical signal to the robot arm 1, suspends the operation of the robot arm 1, and avoids the robot arm 1 from accidentally injuring the operator, thereby improving the safety performance.

[0027] The specific working process of the utility model is as follows:

[0028] The robot arm 1 clamps the workpiece in the material tray 5 and moves toward the cross plate 3. During the movement of the robot arm 1, it continuously locates itself by referring to the notch 321. Until the clamping jaw 11 of the robot arm 1 extends into the material discharge trough 33, the workpiece is against the first positioning member 31 and the second positioning member 32 at the same time. The robot arm 1 releases the clamping jaw 11 and moves out of the material discharge trough 33, placing the workpiece in a predetermined position. The sensor 4 slides along the first slide rail 21, scans and detects the contour and thickness of the workpiece, and calculates the center point / axis of the workpiece through the software algorithm to analyze the contour of the workpiece. Finally, the robot arm 1 extends into the material discharge trough 33 again, clamps and removes the workpiece that has been inspected. The inspection is completed.

[0029] It can be seen that in the above-mentioned special-shaped workpiece positioning device, the sensor 4 scans the surface contour of the workpiece, calculates the position of the center axis of the object through software algorithm analysis of the workpiece contour, guides the robot arm 1 to grab and load the material, and realizes the automated processing of special-shaped parts.

[0030] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0031] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A positioning device for special-shaped workpieces, characterized in that: Including robotic arms, vertical plates, horizontal plates and sensors, A first slide rail is disposed transversely on one side of the vertical plate close to the mechanical arm; The horizontal plate is arranged on a side of the vertical plate close to the mechanical arm, and a first positioning member and a second positioning member are arranged on the horizontal plate, wherein a positioning surface of the first positioning member is perpendicular to the vertical plate, and a positioning surface of the second positioning member is parallel to the vertical plate; The sensor is slidably connected to the first slide rail.

2. The special-shaped workpiece positioning device according to claim 1, characterized in that: The first positioning member is a positioning plate arranged vertically.

3. The special-shaped workpiece positioning device according to claim 1, characterized in that: The second positioning member is located on a side away from the vertical plate and has at least two reference notches that are evenly and equidistantly arranged with respect to the first positioning member.

4. The special-shaped workpiece positioning device according to claim 1, characterized in that: A clamping claw is arranged at the end of the mechanical arm, and a material discharge groove is opened on one side of the horizontal plate close to the mechanical arm; the groove width of the material discharge groove is greater than the claw width of the clamping claw perpendicular to the clamping direction.

5. The special-shaped workpiece positioning device according to claim 4, characterized in that: The notch of the discharge trough is provided with a chamfer.

6. The special-shaped workpiece positioning device according to claim 1, characterized in that: Also included is a material tray, the upper surface of which is provided with a plurality of slots.

7. The special-shaped workpiece positioning device according to claim 6, characterized in that: A second slide rail is arranged on the installation plane of the material tray, and a second sliding block is arranged on the lower surface of the material tray to be slidably connected to the second slide rail.

8. The special-shaped workpiece positioning device according to claim 6, characterized in that: At least two material trays are provided.

9. The special-shaped workpiece positioning device according to claim 1, characterized in that: A guardrail is also provided, which surrounds the mechanical arm, the vertical plate and the horizontal plate.

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