Special-shaped part positioning device for conveying device and conveying system

Abstract

The utility model provides a special-shaped part positioning device for a conveying device and a conveying system, relates to the field of conveying device positioning, and adopts the scheme that the special-shaped part positioning device comprises a support and a lateral positioning assembly, the lateral positioning assembly comprises a lateral positioning part and at least two lateral pushing parts, the lateral pushing parts are arranged on the support in the conveying direction, and the lateral pushing parts are arranged on the support in the conveying direction. The side pushing part can move towards and away from the direction where the side positioning part is located, the side pushing part is connected with a driving assembly, the driving assembly comprises a driving motor, the driving motor can stop rotating after the torque reaches a threshold value, the side pushing part further comprises a control module, and the control module is electrically connected with the multiple driving motors. The special-shaped part conveying device can ensure that the special-shaped part is accurately positioned on the conveying device.

Description

Technical Field

[0001] The utility model relates to the field of conveying device positioning, in particular to a special-shaped part positioning device for conveying devices and a conveying system. Background Art

[0002] With the development of robot technology, robots are indispensable in all aspects of production. For example, the material-grabbing robot cooperates with the conveying device to replace manual labor in picking up materials from the conveying device, which improves the overall production efficiency, makes the entire production process smoother, and optimizes the production process. Since there is no need for manual handling, the manpower demand and labor intensity are reduced, thereby saving labor costs.

[0003] In the prior art, in order to ensure that the robot's end effector can grasp accurately and avoid falling off, and at the same time ensure that the workpiece is placed in a relatively accurate position after being transferred by the robot to avoid interference with other equipment, a positioning assembly is provided on the conveying device. The positioning assembly generally includes a side positioning plate and an end positioning plate arranged vertically, and a reciprocating side push plate is also provided. The end positioning plate is arranged at the end of the conveying device to prevent the workpiece from being further conveyed, and the side positioning plate is arranged on one side of the conveying device. The side push plate can push the workpiece to move and abut against the side positioning plate. The end positioning plate can position the workpiece in the conveying direction, and with the cooperation of the side positioning plate and the side push plate, the workpiece can be positioned in the direction perpendicular to the conveying direction, thereby ensuring that the robot can grasp accurately.

[0004] However, with the changes in the types of workpieces, there are more and more large-sized special-shaped workpieces with one side being a plane and the opposite side being an irregular curved surface, such as the side plate of the hydraulic support of mining machinery. When the side push plate pushes it to move, the side push plate can only contact with the more protruding part of the workpiece. The contact points are concentrated at a certain point of the workpiece and cannot be distributed along the length of the workpiece. As a result, the workpiece rotates on the conveying device during the movement toward the positioning plate, and only the first moving part contacts the side positioning plate, resulting in inaccurate positioning, which is not conducive to the accurate grasping of the robot and the accurate positioning of the workpiece in the next process. Utility Model Content

[0005] In order to solve the technical problem of inaccurate positioning of special-shaped parts on a conveying device in the above-mentioned prior art, the utility model provides a special-shaped part positioning device and a conveying system for a conveying device, which can ensure accurate positioning of special-shaped parts on the conveying device.

[0006] In the first aspect, in order to solve the above-mentioned technical problems, the utility model provides a special-shaped part positioning device for a conveying device, comprising a bracket and a lateral positioning assembly, wherein the lateral positioning assembly comprises a lateral positioning member and at least two lateral pushing members, and a plurality of the lateral pushing members are arranged on the bracket along the conveying direction, and the lateral pushing members can move toward and away from the direction where the lateral positioning members are located, and the lateral pushing members are connected to a driving assembly, and the driving assembly comprises a driving motor, and the driving motor can stop rotating after the torque reaches a threshold value, and also comprises a control module, and the control module is electrically connected to the plurality of the driving motors.

[0007] The utility model adopts a plurality of independently movable side pushers and a driving motor with torque control, which can form a profiling line on the irregular side of the workpiece at the front of the workpiece, ensure that the contact points are arranged along the length of the workpiece, prevent the workpiece from rotating during side pushing and affecting the positioning accuracy, and at the same time use the side positioning member to judge whether it has been moved into place, thereby ensuring the accurate positioning of the special-shaped part on the conveying device.

[0008] Furthermore, the side thrust member includes a movable seat, a thrust roller is arranged on the movable seat, and the axis of the thrust roller is arranged vertically.

[0009] The utility model can reduce the contact area between the side push member and the workpiece by arranging the thrust roller, so that the profiling line formed after the multiple side push members move into place is closer to the edge shape of the workpiece, avoiding small swing of the workpiece and further improving the positioning accuracy.

[0010] Furthermore, a plurality of mounting plates are provided on the bracket, a guide rail is provided on the mounting plate, the movable seat can move along the guide rail, the movable seat is connected to a transmission chain, the transmission chain surrounds the driving sprocket and the driven sprocket on the mounting plate, and the drive motor is provided at one end of the guide rail and connected to the driving sprocket.

[0011] Furthermore, the mounting plate is movably disposed on the bracket, and the moving direction of the mounting plate is parallel to the conveying direction of the workpiece.

[0012] The utility model arranges the mounting plate to be movable, so that the position of the side pusher can be adjusted according to the size of the workpiece, thereby improving the use flexibility of the device.

[0013] Furthermore, the bracket is provided with an adjustment slot, the length direction of the adjustment slot is consistent with the conveying direction of the workpiece, and a T-bolt is provided in the adjustment slot, and the T-bolt is connected to the corresponding mounting plate.

[0014] Furthermore, the side positioning member includes a plurality of side proximity switches and / or side positioning plates, the side proximity switches are electrically connected to the control module, the number of the side positioning plates is the same as the number of the side pushing members, and the corresponding side positioning plates and the side pushing members are arranged relative to each other, and the side positioning plates are movably arranged on the bracket.

[0015] Furthermore, it also includes an end positioning component, the end positioning component includes an end proximity switch, and the end proximity switch is electrically connected to the control module.

[0016] Furthermore, the end positioning assembly also includes an end positioning plate, and along the workpiece conveying direction, the end positioning plate is located in front of the end proximity switch.

[0017] The utility model can form a double insurance with the end proximity switch by arranging the end positioning plate, so as to prevent the workpiece from moving over after the end proximity switch fails.

[0018] Furthermore, the end proximity switch and the end positioning plate are both arranged at the end of the bracket, the side positioning member includes a plurality of the side proximity switches and the side positioning plates, the side positioning plates and the side proximity switches are both detachably arranged on one side of the bracket and close to the end of the bracket, and the end positioning plate is arranged perpendicular to the side positioning plate.

[0019] The utility model arranges the end proximity switch, the end positioning plate, the side proximity switch and the side positioning plate on the bracket, thereby ensuring that the device is a product independent of the conveying device and is convenient for cooperating with various conveying devices.

[0020] In the second aspect, the utility model also provides a conveying system, including a conveying device, and also including the above-mentioned special-shaped part positioning device for the conveying device, the conveying device is a roller conveying device, the bracket is arranged at the lower part of the conveying device, and the side push member, the end positioning plate, the side positioning plate, the side proximity switch and the end proximity switch all extend from the gap between two adjacent rollers of the conveying device.

[0021] It can be seen from the above technical solutions that the utility model has the following advantages:

[0022] The utility model provides a special-shaped part positioning device and a conveying system for a conveying device. By adopting a plurality of independently movable side pushers and a driving motor with torque control, a profiling line can be formed on the irregular side of a workpiece at the front of the workpiece, so as to ensure that the contact points are arranged along the length of the workpiece, and the workpiece is prevented from rotating during side pushing to affect the positioning accuracy. At the same time, the side positioning member is used to judge whether it has moved into place, so as to ensure that the special-shaped part is accurately positioned on the conveying device; by arranging a thrust roller, the contact area between the side pusher and the workpiece can be reduced, so that the profiling line formed after the plurality of side pushers are moved into place is closer to the edge shape of the workpiece, and the workpiece is prevented from swinging slightly, and the positioning accuracy is further improved; by arranging the mounting plate to be movable, the position of the side pusher can be adjusted according to the size of the workpiece, and the use flexibility of the device is improved; by arranging the end positioning plate, a double insurance can be formed with the end proximity switch, so as to prevent the workpiece from moving over after the end proximity switch fails; by arranging the end proximity switch, the end positioning plate, the side proximity switch and the side positioning plate on a bracket, it is ensured that the device is a product independent of the conveying device, and is convenient for cooperating with a variety of conveying devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the utility model, the drawings required for use in the description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a structural schematic diagram of a second specific implementation mode of the present utility model.

[0025] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0026] Figure 3 This is a schematic diagram of the assembly structure of the side thrust member, the drive motor and the bracket according to the first specific implementation mode of the utility model.

[0027] In the figure, 1. conveying device; 2. moving seat; 3. driving motor; 4. end proximity switch; 5. side positioning plate; 6. workpiece; 7. guide rail; 8. transmission chain; 9. thrust roller. DETAILED DESCRIPTION

[0028] In order to make the purpose, features and advantages of the utility model more obvious and easy to understand, the technical scheme of the utility model will be clearly and completely described below in combination with the drawings in the specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the utility model, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0029] In the prior art, on a conveying device, before a robot is used to grab a special-shaped workpiece, the special-shaped workpiece needs to be positioned. However, since the edge of the special-shaped workpiece is an irregular shape, the contact position between the side push plate and the workpiece in the prior art is concentrated at the protruding position of the edge. In particular, when the side push plate is located away from the middle position of the workpiece, when the side push plate applies force, the workpiece is deflected and the positioning is inaccurate. To solve this technical problem, in the following specific implementation manner, the inventor creatively distributes the side push contact points along the length of the workpiece to avoid swinging of the workpiece when force is applied, thereby ensuring positioning accuracy. Specific implementation method 1

[0031] like Figures 1 to 3 As shown, this specific embodiment provides a special-shaped part positioning device for a conveying device, including a bracket and a lateral positioning assembly, the lateral positioning assembly includes a lateral positioning member and at least two lateral push members, multiple lateral push members are arranged on the bracket along the conveying direction, the lateral push members can move toward and away from the direction where the lateral positioning members are located, the side push members are connected to a driving assembly, the driving assembly includes a driving motor 3, the driving motor 3 can stop rotating after the torque reaches a threshold value, and also includes a control module, the control module is electrically connected to the multiple driving motors 3.

[0032] This specific embodiment adopts multiple independently movable side pushers and a driving motor 3 with torque control, which can form a profiling line on the irregular side of the workpiece 6 before pushing the workpiece 6, ensure that the contact points are arranged along the length of the workpiece 6, prevent the workpiece 6 from rotating during side pushing and affecting the positioning accuracy, and at the same time use the side positioning member to determine whether it has moved into place, thereby ensuring the accurate positioning of the special-shaped part on the conveying device 1.

[0033] The working principle of the lateral positioning of this device is:

[0034] The torque of the driving motor 3 can increase after contacting the workpiece 6. A reasonable threshold value is set for the torque of the driving motor 3. When the contact torque between the driving motor 3 and the workpiece 6 increases to the threshold value, the control module believes that the side pusher corresponding to the driving motor 3 has contacted the workpiece 6, and stops the driving motor 3 from working continuously. When all the driving motors 3 stop working, the control module determines that all the side pushers are in contact with the workpiece 6 and can perform the pushing action. All the driving motors 3 continue to work at the same time. When the workpiece 6 is in direct contact with the side positioning member (the torque of the driving motor 3 increases to another torque threshold) or is sensed by the side positioning member, the control module receives a signal, determines that the workpiece 6 is pushed sideways into place, and the driving motor 3 reverses (the control module records the angular displacement of the corresponding driving motor 3 driving the side pusher to move during the entire process, and controls the driving motor 3 to reverse the corresponding angular displacement), and the side pusher returns to its position.

[0035] like Figure 3 As shown, since the edge of the special-shaped workpiece 6 has an arc structure, in order to avoid the side thrust member from contacting the workpiece 6 and causing a slight deflection of the workpiece 6, in this specific embodiment, the side thrust member includes a moving seat 2, a thrust roller 9 is arranged on the moving seat 2, and the axis of the thrust roller is arranged vertically; in order to ensure stable movement of the side thrust member, a plurality of mounting plates are arranged on the bracket, a guide rail 7 is arranged on the mounting plate, the moving seat 2 can move along the guide rail 7, the moving seat 2 is connected to a transmission chain 8, the transmission chain 8 surrounds the driving sprocket and the driven sprocket on the mounting plate, and the drive motor 3 is arranged at one end of the guide rail 7 and connected to the driving sprocket.

[0036] Since different workpieces 6 have different sizes, it is necessary to ensure that the extension of the contact points is evenly distributed. For this reason, in this specific embodiment, the mounting plate is movably arranged on the bracket, and the moving direction of the mounting plate is parallel to the conveying direction of the workpiece 6; for the convenience of adjustment, an adjustment groove is provided on the bracket, and the length direction of the adjustment groove is consistent with the conveying direction of the workpiece 6. A T-bolt is provided in the adjustment groove, and the T-bolt is connected to the corresponding mounting plate, and a nut is provided on the T-bolt.

[0037] The side positioning member can use multiple side proximity switches alone, and the side proximity switches are electrically connected to the control module. When the workpiece 6 is pushed to the set position, the side proximity switch senses the workpiece 6 and sends a signal to the control module. In order to avoid a small deviation in the pushing of the workpiece 6 caused by the asynchronous operation of the drive motor 3, in this specific embodiment, only when the control module receives the signals sent by all the side proximity switches, all the drive motors 3 stop pushing the workpiece 6; the side positioning member can also use only multiple side positioning plates 5. When the drive motor 3 pushes the workpiece 6 to abut against the side positioning plate 5, the torque of the drive motor 3 is increased twice and reaches the second set threshold. After the control module receives the signal that the torque reaches or exceeds the threshold, it controls the corresponding drive motor 3 to stop working; in this specific embodiment, in order to achieve double insurance for side positioning, the side positioning member includes a side positioning plate 5 and a side proximity switch. The side proximity switch is arranged on one side of the side positioning plate 5. The number of the side positioning plates 5 is the same as the number of the side pushers. The corresponding side positioning plates 5 and the side pushers are arranged relatively to each other. After the control module receives the signal that the torque reaches or exceeds the threshold, it controls the corresponding drive motor 3 to stop working.

[0038] like Figure 1 and Figure 2 As shown, in order to limit the conveying direction of the workpiece 6, this specific embodiment also includes an end positioning assembly, which includes an end proximity switch 4, and the end proximity switch 4 is electrically connected to the control module; in order to achieve double insurance of the end limit, the end positioning assembly also includes an end positioning plate, and along the conveying direction of the workpiece 6, the end positioning plate is located in front of the end proximity switch 4.

[0039] In order to make this device independent of the conveying device 1 and more flexible to use, in this specific embodiment, the end proximity switch 4 and the end positioning plate are both arranged at the end of the bracket, and the side positioning plate 5 and the side proximity switch are both detachably arranged on one side of the bracket and close to the end of the bracket, and the end positioning plate is arranged vertically to the side positioning plate 5. Specific implementation method 2

[0041] like Figure 1 As shown, this specific embodiment provides a conveying system, including a conveying device 1, and also includes a special-shaped part positioning device for the conveying device of specific embodiment one. In this specific embodiment, the conveying device 1 is a roller conveying device 1, and the bracket is arranged at the lower part of the conveying device 1. The side push member, the end positioning plate, the side positioning plate 5, the side proximity switch and the end proximity switch 4 all extend from the gap between two adjacent rollers of the conveying device 1.

[0042] The positioning process for the conveying system is:

[0043] When the end of the workpiece 6 is sensed by the end proximity switch 4, the control module receives the instruction, the conveying device 1 stops moving, and the workpiece 6 completes the positioning in the conveying direction; the control module controls the side pusher to extend and move in a direction perpendicular to the conveying direction until the side pusher contacts the workpiece 6, and the torque of the drive motor 3 increases and stops rotating. After all the side pushers contact the workpiece 6, the control module controls the drive motors 3 to work simultaneously to push the workpiece 6 to move. Since the contact points are arranged dispersedly on the edge, the workpiece 6 will not deflect during the pushing process; when the other side of the workpiece 6 is sensed by the side proximity switch, the corresponding drive motor 3 stops working until all the side proximity switches send signals to the control module, and the positioning is completed. The control module controls the drive motor 3 to reverse the corresponding angular displacement and return to its original position.

[0044] From the above specific implementations, it can be seen that the utility model has the following beneficial effects:

[0045] 1. By adopting multiple independently movable side pushers and a driving motor 3 with torque control, a profiling line can be formed on the irregular side of the workpiece 6 before pushing the workpiece 6, ensuring that the contact points are arranged along the length of the workpiece 6, preventing the workpiece 6 from rotating during side pushing to affect the positioning accuracy, and at the same time, using the side positioning member to determine whether it has moved into place, ensuring that the special-shaped part is accurately positioned on the conveying device 1;

[0046] 2. The thrust roller can reduce the contact area between the side thrust member and the workpiece 6, so that the contour line formed after the multiple side thrust members move into place is closer to the edge shape of the workpiece 6, avoiding a small swing of the workpiece 6, and further improving the positioning accuracy;

[0047] 3. By setting the mounting plate to be movable, the position of the side pusher can be adjusted according to the size of the workpiece 6, thereby improving the use flexibility of the device;

[0048] 4. The end positioning plate can form a double insurance with the end proximity switch 4 to prevent the workpiece 6 from moving too far after the end proximity switch 4 fails;

[0049] 5. By arranging the end proximity switch 4, the end positioning plate, the side proximity switch and the side positioning plate 5 on the bracket, it is ensured that the device is a product independent of the conveying device 1, and is convenient for cooperating with various conveying devices 1.

[0050] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A special-shaped part positioning device for a conveying device, comprising a bracket and a lateral positioning assembly, characterized in that: The lateral positioning assembly comprises a lateral positioning member and at least two lateral pushing members, wherein the plurality of lateral pushing members are arranged on a bracket along a conveying direction, the lateral pushing members can move toward and away from the direction where the lateral positioning members are located, the lateral pushing members are connected to a driving assembly, the driving assembly comprises a driving motor (3), the driving motor (3) can stop rotating after a torque reaches a threshold value, and further comprises a control module, the control module being electrically connected to the plurality of driving motors (3).

2. The special-shaped part positioning device for a conveying device according to claim 1, characterized in that: The side thrust member comprises a movable seat (2), on which a thrust roller (9) is arranged, and the axis of the thrust roller (9) is arranged vertically.

3. The special-shaped part positioning device for a conveying device according to claim 2, characterized in that: A plurality of mounting plates are arranged on the bracket, a guide rail (7) is arranged on the mounting plate, the movable seat (2) can move along the guide rail (7), the movable seat (2) is connected with a transmission chain (8), the transmission chain (8) surrounds a driving sprocket and a driven sprocket on the mounting plate, and the driving motor (3) is arranged at one end of the guide rail (7) and connected to the driving sprocket.

4. The special-shaped part positioning device for a conveying device according to claim 3, characterized in that: The mounting plate is movably arranged on the bracket, and the moving direction of the mounting plate is parallel to the conveying direction of the workpiece.

5. The special-shaped part positioning device for a conveying device according to claim 4, characterized in that: The bracket is provided with an adjustment slot, the length direction of which is consistent with the conveying direction of the workpiece, and a T-bolt is provided in the adjustment slot, which is connected with the corresponding mounting plate.

6. The special-shaped part positioning device for a conveying device according to any one of claims 1 to 5, characterized in that: The side positioning member comprises a plurality of side proximity switches and / or side positioning plates (5), the side proximity switches are electrically connected to the control module, the number of the side positioning plates (5) is the same as the number of the side pushing members, and the corresponding side positioning plates (5) and the side pushing members are arranged relative to each other, and the side positioning plates (5) are movably arranged on the bracket.

7. The special-shaped part positioning device for a conveying device according to claim 6, characterized in that: It also includes an end positioning assembly, which includes an end proximity switch (4), and the end proximity switch (4) is electrically connected to the control module.

8. The special-shaped part positioning device for a conveying device according to claim 7, characterized in that: The end positioning assembly also includes an end positioning plate, which is located in front of the end proximity switch (4) along the workpiece conveying direction.

9. The special-shaped part positioning device for a conveying device according to claim 8, characterized in that: The end proximity switch (4) and the end positioning plate are both arranged at the end of the bracket, the side positioning member comprises a plurality of side proximity switches and a side positioning plate (5), the side positioning plate (5) and the side proximity switch are both detachably arranged at one side of the bracket and close to the end of the bracket, and the end positioning plate is arranged perpendicular to the side positioning plate (5).

10. A conveying system, comprising a conveying device (1), characterized in that: It also includes a special-shaped part positioning device for a conveying device as described in claim 9, the conveying device (1) is a roller conveying device (1), the bracket is arranged at the lower part of the conveying device (1), and the side push member, the end positioning plate, the side positioning plate (5), the side proximity switch and the end proximity switch (4) all extend from the gap between two adjacent rollers of the conveying device (1).

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