Centering device and equipment

Abstract

The utility model provides a centering device and equipment, and relates to the technical field of experimental equipment. The centering device comprises a pair of clamping pieces, a driving piece, a first position detection piece, a second position detection piece and a controller, wherein the pair of clamping pieces are arranged oppositely; a centering adjustment area is formed between the pair of clamping pieces; the driving piece is connected with the pair of clamping pieces, and the driving piece can drive the pair of clamping pieces to be close to or far away from each other in the opposite direction of the clamping pieces; the first position detection piece can detect first position information of the workpiece; the second position detection piece can detect second position information of the pair of clamping pieces; and the controller can control the driving part to start running according to the first position information, and can control the driving part to stop running or run reversely according to the second position information, so that the workpiece is located at the centering position. According to the centering device, automatic centering can be achieved, manual control is not needed, centering control is stable, and centering efficiency is high.

Description

Technical Field

[0001] The utility model relates to the field of experimental equipment, in particular to an alignment device and equipment. Background Art

[0002] In automated pharmaceutical chemical synthesis experiments, it is often necessary to adjust the positions of samples and their carriers to meet the requirements of automated operations such as positioning, transportation, detection, and other pharmaceutical chemical synthesis experiments of samples and their carriers. For example, during the sample transfer process, automatic transfer is required, which involves cross-module sample transfer by a robotic arm. It is required that the robotic arm and the carrier loaded with the sample can be accurately docked to achieve automatic grasping by the robotic arm and meet the requirements of continuous operation.

[0003] In related technologies, the centering control is mostly completed by manually controlling the cooperation mode of mechanical clamping, so as to control the accurate docking of the robotic arm and the carrier loaded with the sample. However, the above centering method belongs to manual interference operation, and there is a situation of unstable centering control. Summary of the Utility Model

[0004] In view of this, the purpose of the present utility model is to overcome the deficiencies in the prior art, and provide an alignment device that can achieve automatic alignment, without manual control, with stable alignment control and high alignment efficiency;

[0005] In addition, an equipment applying the above alignment device is provided.

[0006] The present utility model provides the following technical solutions:

[0007] According to the first aspect disclosed by the present utility model, an alignment device is provided, and the alignment device includes:

[0008] A pair of clamping members, the pair of clamping members are arranged in an opposed manner; wherein, an alignment adjustment area is formed between the pair of clamping members;

[0009] A driving member, the driving member is connected to the pair of clamping members, and the driving member can drive the pair of clamping members to approach or move away from each other in their opposed directions;

[0010] A first position detection member, the first position detection member can detect the first position information of the workpiece;

[0011] A second position detection member, the second position detection member can detect the second position information of the pair of clamping members;

[0012] A controller, which is electrically connected to the first position detector, the second position detector and the driving member respectively. The controller can control the driving member to start running according to the first position information, and the controller can control the driving member to stop running or reverse running according to the second position information, so that the workpiece is in the centering position.

[0013] Furthermore, the first position detector includes:

[0014] A first start position sensor and a first end position sensor, which are arranged at intervals along the moving direction of the workpiece, and the first start position sensor is located upstream of the first end position sensor;

[0015] Wherein, when the first start position sensor acquires the position information of the workpiece, the controller controls the driving member to start, so that a pair of the clamping members approach each other;

[0016] When the first end position sensor acquires the position information of the workpiece, the controller controls to control the driving member to stop running or reverse running, and the workpiece is exactly located in the centering adjustment area.

[0017] Furthermore, the second position detector includes:

[0018] A second end position sensor; wherein, when the second end position sensor acquires the position information of the clamping member, the workpiece is exactly located in the centering position, and the controller controls the driving member to stop running or reverse running.

[0019] Furthermore, the second position detector further includes:

[0020] A second start position sensor; wherein, when the second start position sensor acquires the position information of the clamping member, the clamping member is exactly located in the initial position, and the controller controls the driving member to stop running.

[0021] Furthermore, the second start position sensor and / or the second end position sensor can at least move along the moving direction of the clamping member;

[0022] And / or, the first start position sensor and the first end position sensor can at least move along the moving direction of the workpiece.

[0023] Furthermore, the driving member includes:

[0024] Synchronous belt mechanism, the synchronous belt mechanism has a synchronous belt, and the synchronous belt is formed with a first part and a second part with opposite driving directions; wherein, the first part and the second part are respectively connected to the corresponding clamping members.

[0025] Furthermore, the driving member further includes:

[0026] A first slide rail, the clamping member is connected to the first slide rail, and the first slide rail extends along the opposing direction.

[0027] Furthermore, the driving member further includes:

[0028] A mounting seat and an adjusting seat, the synchronous belt mechanism has two synchronous pulleys, and the mounting seat and the adjusting seat are respectively installed with the corresponding synchronous pulleys;

[0029] Wherein, the distance between the adjusting seat and the mounting seat is adjustable.

[0030] Furthermore, the clamping member has two abutting ends, and the two abutting ends are spaced along the moving direction of the workpiece. The two abutting ends are divided into a first abutting end and a second abutting end, and in the conveying direction of the workpiece, the first abutting end is located upstream of the second abutting end, so as to form a clamping cavity between the pair of clamping members, and the clamping cavity can accommodate the workpiece.

[0031] Furthermore, the distance between the first abutting ends of a pair of clamping members is greater than the distance between the second abutting ends of a pair of clamping members.

[0032] According to the second aspect disclosed by the present invention, there is provided a device, and the device includes the centering device as described above.

[0033] The embodiments of the present invention have the following advantages:

[0034] By using the centering device provided by the present invention, the first position information of the workpiece is obtained by using the first position detecting member, and the second position information of the clamping member is obtained by using the second position detecting member. Furthermore, the controller controls the start and stop of the driving member according to the first position information and the second position information, so as to control the moving distance of a pair of clamping members, realize the automatic adjustment of the position of the workpiece in the centering adjustment area, and complete the automatic centering adjustment of the workpiece. Therefore, this device can achieve automatic centering, without manual operation, the centering control is stable, and the centering efficiency is high.

[0035] In addition, the present invention also relates to a device. Since the above centering device has the above technical effects, the device including this centering device should have the same technical effects, which will not be elaborated here.

[0036] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following provides preferred embodiments in conjunction with the accompanying drawings for detailed description as follows. Brief Description of the Drawings

[0037] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present utility model and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can be obtained based on these drawings.

[0038] Figure 1 Shows a three-dimensional structural schematic diagram of the centering device provided by the embodiment of the present utility model;

[0039] Figure 2 Shows a structural schematic diagram of one perspective of the centering device provided by the embodiment of the present utility model;

[0040] Figure 3 Shows a structural schematic diagram of another perspective of the centering device provided by the embodiment of the present utility model;

[0041] Figure 4 Shows Figure 1 The partial enlarged view at position A in

[0042] Main Element Symbol Description:

[0043] 100 - clamping member; 110 - abutting end; 200 - driving member; 210 - synchronous belt mechanism; 211 - synchronous pulley; 212 - synchronous belt; 220 - first slide rail; 300 - mounting seat; 400 - adjusting seat; 410 - first threaded hole; 420 - second through hole; 500 - second position detection member; 510 - second end position sensor; 520 - second start position sensor; 600 - second slide rail; 700 - first position detection member; 710 - first start position sensor; 720 - first end position sensor; 800 - workpiece. Detailed Embodiment

[0044] The following details the embodiments of the present utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model and should not be construed as limiting the present utility model.

[0045] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. On the contrary, when an element is referred to as "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0046] In the present utility model, unless otherwise clearly defined and limited, terms such as "installed", "connected", "connected to", "fixed" and the like shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0047] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, the meaning of "a plurality" is two or more unless otherwise clearly and specifically defined.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0049] In the related art, in an automated pharmaceutical synthesis experiment, during the sample transfer process, automatic transfer needs to be achieved, which involves the cross-module sample transfer of a robotic arm. It is required that the robotic arm and the carrier for loading samples can be accurately docked to achieve the automatic grasping of the robotic arm and meet the requirements of continuous operation.

[0050] Mostly, the centering control is completed by manually controlling the cooperation mode of mechanical clamping, and then controlling the accurate docking of the robotic arm and the carrier for loading samples. However, the above centering method belongs to manual interference operation, and there is a situation where the centering control is unstable.

[0051] Such as Figure 1 and Figure 2As shown in the figure, to solve the above technical problems, according to the first aspect disclosed by the present utility model, a centering device is provided for centering a workpiece. The centering device includes a pair of clamping members 100, a driving member 200, a first position detecting member 700, a second position detecting member 500, and a controller. The pair of clamping members 100 are arranged in an opposed manner; wherein, a centering adjustment area is formed between the pair of clamping members 100; the driving member 200 is connected to the pair of clamping members 100, and the driving member 200 can drive the pair of clamping members 100 to approach or move away from each other in their opposed direction; the first position detecting member 700 can detect the first position information of the workpiece 800; the second position detecting member 500 can detect the second position information of the pair of clamping members 100; the controller is electrically connected to the first position detecting member 700, the second position detecting member 500, and the driving member 200 respectively. The controller can control the driving member 200 to start running according to the first position information, and the controller can control the driving member 200 to stop running or reverse running according to the second position information, so that the workpiece 800 is in the centered position.

[0052] It is easy to understand that the workpiece 800 passes through the centering adjustment area formed between the pair of clamping members 100. When the first position detecting member 700 obtains the first position information of the workpiece 800; that is to say, when the workpiece 800 moves to the first position, it triggers the first position detecting member 700. The first position detecting member 700 transmits the first position information to the controller, and the controller sends a control instruction to the driving member 200 to control the pair of clamping members 100 to approach each other, so as to adjust the position of the workpiece 800 in the opposed direction by the pair of clamping members 100 until the second position detecting member 500 detects that the clamping members 100 move to clamp the workpiece 800. The controller sends an instruction to the driving member 200 to control the pair of clamping members 100 to stop moving or reverse moving. At this time, according to the set moving parameters of the clamping members 100, it represents that the workpiece 800 has moved in place, that is, the workpiece 800 is exactly in the centered position.

[0053] Obviously, when the workpiece 800 is located in the centering adjustment area between the pair of clamping members 100, the position of the workpiece 800 can be adjusted in the opposed direction by the relative movement of the pair of clamping members 100 until the pair of clamping members 100 respectively clamp the opposite sides of the workpiece 800, and the position adjustment of the workpiece 800 is completed.

[0054] Exemplarily, the driving member 200 drives the pair of clamping members 100 to approach or move away from each other at the same rate. That is to say, when the pair of clamping members 100 respectively clamp the opposite sides of the workpiece 800, the workpiece 800 is pushed by the clamping members 100 until its center line coincides with the symmetry axis of the pair of clamping members 100. At this time, the workpiece 800 is exactly in the centered position.

[0055] Of course, in other embodiments, a pair of clamping members 100 may also be controlled to move at different rates, as long as it is possible to control the pair of clamping members 100 to respectively clamp opposite sides of the workpiece 800 and bring the workpiece 800 into alignment.

[0056] The controller is the control center of the alignment device and is used to issue working instructions to corresponding components in a timely manner respectively to achieve coordinated control work among the components. For example, the controller may adopt one or more of a PLC programmable controller, a microcontroller computer, computer control software, etc. Exemplarily, the controller may be a PLC programmable controller or other controllers capable of implementing the above logical control, and specific limitations are not made here. It should be noted that the above control logic can be implemented by using the basic functions of existing controllers.

[0057] It should be noted that the pair of clamping members 100 are arranged in an opposed manner, which means that the two clamping members 100 are arranged face to face or back to back in the same direction and are symmetrically arranged along the same axis or direction. The purpose of this layout design is to apply force evenly when processing or fixing an object (such as a carrier for loading experimental samples).

[0058] The expression "opposed direction" generally refers to the relative arrangement of two or more components or mechanisms in space, where they are arranged corresponding to each other in a specific direction to form a symmetrical or mirror image relationship in the fields of engineering, mechanical design, and automated equipment. The specific explanation is as follows:

[0059] When it is mentioned that "a pair of clamping members 100 are arranged in an opposed manner", this means that the two clamping members 100 are arranged in a mirror-symmetrical or face-to-face manner in the same specified direction (such as horizontal, vertical, or a specific angle), just like replicating each other's layout. This design ensures balance on both sides, makes the acting force uniform, and is suitable for occasions that require precise fixation.

[0060] By applying the alignment device provided by the present utility model, the first position detection member 700 is used to obtain the first position information of the workpiece 800, and the second position detection member 500 is used to obtain the second position information of the clamping member 100. Then, the controller controls the start and stop of the driving member 200 according to the first position information and the second position information, thereby controlling the moving distance of the pair of clamping members 100 to automatically adjust the position of the workpiece 800 within the alignment adjustment area and complete the automatic alignment adjustment of the workpiece 800. Therefore, this device can achieve automatic alignment, without manual operation, has stable alignment control, and high alignment efficiency.

[0061] It should be noted that the first position information obtained by the first position detector 700 can be the dynamic position information of the workpiece 800 or the static position information of the workpiece 800. Specifically, when the first position information is the dynamic position information of the workpiece 800, the controller can control the driving member 200 to start, so as to drive a pair of clamping members 100 to move relatively during the movement of the workpiece 800, thereby completing the dynamic adjustment of the position of the workpiece 800 and improving the centering efficiency.

[0062] When the first position information is the static position information of the workpiece 800, that is to say, when the first position detector 700 obtains the first position information of the workpiece 800, the workpiece 800 stops moving, and the controller controls the driving member 200 to start, so as to drive a pair of clamping members 100 to move relatively and complete the static adjustment of the position of the workpiece 800.

[0063] As Figure 1 and Figure 3 shown, on the basis of the above embodiment, the first position detector 700 includes a first start position sensor 710 and a first end position sensor 720. The first start position sensor 710 and the first end position sensor 720 are arranged at intervals along the moving direction of the workpiece 800, and the first start position sensor 710 is located upstream of the first end position sensor 720. When the first start position sensor 710 obtains the position information of the workpiece 800, the controller controls the driving member 200 to start, so that a pair of clamping members 100 approach each other.

[0064] When the first end position sensor 720 obtains the position information of the workpiece 800, the controller controls the conveyor for conveying the workpiece 800 to stop running or run in the reverse direction, and the workpiece 800 is exactly located in the centering adjustment area.

[0065] Since the first start position sensor 710 and the first end position sensor 720 are arranged in sequence in the moving direction of the workpiece 800, and the first start position sensor 710 is located upstream of the first end position sensor 720, obviously, the workpiece 800 conveyed by the conveyor passes through the first start position sensor 710 and the first end position sensor 720 in sequence. Correspondingly, the first start position sensor 710 first detects the workpiece 800, and then until the workpiece 800 moves to the first end position sensor 720 along with the conveyor, the first end position sensor 720 can detect the workpiece 800.

[0066] Among them, by way of example, when the first starting position sensor 710 detects the workpiece 800, it means that at least a part of the workpiece 800 starts to enter the centering adjustment area. The controller obtains the signal transmitted by the first starting position sensor 710, and the controller sends a control instruction to the driving member 200 to control the driving member 200 to start running, thereby driving a pair of clamping members 100 to approach each other, and the workpiece 800 is pushed by the clamping members 100 to finely adjust the position in the opposite direction until the two clamping members 100 respectively abut against the opposite sides of the workpiece 800, so as to complete the centering position adjustment of the workpiece 800. At this time, the workpiece 800 is located at the centering position, so that the manipulator can accurately grasp the workpiece 800.

[0067] It should be noted that it is not limited to the centering position. According to actual needs, the running stroke of the clamping member 100 can be adjusted as long as it can ensure that the workpiece 800 is adjusted to the target position. Specifically, in this embodiment, after the workpiece 800 is centered and adjusted by the centering device, it is conveyed to the target point by the conveying member for the manipulator to accurately grasp; by way of example, if the conveying member is a conveyor belt, the centering position is the coincidence of the midline of the workpiece 800 and the midline of the conveyor belt, that is, the workpiece 800 is located in the middle of the conveyor belt.

[0068] Of course, the position of the workpiece 800 can be detected by setting the first end position sensor 720; when the first end position sensor 720 detects the workpiece 800, it means that the workpiece 800 completely enters the centering adjustment area. The controller receives the signal transmitted by the first end position sensor 720 and sends a control instruction to the conveying member to control the conveying member to stop running, so that the workpiece 800 is kept in the centering adjustment area until the centering adjustment is completed.

[0069] More specifically, after the centering adjustment is completed, the controller controls the conveying member to continue running to convey the workpiece 800. Optionally, the driving member 200 can also be controlled to drive a pair of clamping members 100 to move away from each other to reset, so as to prepare for the centering adjustment of the next workpiece 800.

[0070] Such as Figure 2 and Figure 3 As shown, on the basis of the above embodiment, the second position detector 500 includes a second end position sensor 510; wherein, when the second end position sensor 510 obtains the position information of the clamping member 100, the workpiece 800 is exactly located at the centering position, and the controller controls the driving member 200 to stop running or run in the reverse direction.

[0071] That is to say, when the clamping member 100 triggers the second end position sensor 510, the clamping member 100 moves to the position limit, and at this time, the controller controls the driving member 200 to stop running. It should be noted that when the clamping member 100 moves to the position limit, it also means that the set position is reached. At this time, a pair of clamping members 100 are respectively abutted against the opposite sides of the workpiece 800, and the workpiece 800 is in the centering position.

[0072] Of course, when the clamping member 100 triggers the second end position sensor 510, the controller can also control the driving member 200 to drive the clamping member 100 to move in the reverse direction (that is, a pair of clamping members 100 move away from each other) until it is reset, preparing for the centering adjustment of the next workpiece 800.

[0073] Obviously, by setting the second end position sensor 510, the position of the clamping member can be accurately controlled to ensure that it can stop or move in the reverse direction after centering, thereby avoiding damage to the workpiece due to excessive clamping force of the clamping member in the absence of the second end position sensor 510; or, when the power source of the driving member is a motor, it will cause excessive current of the motor, affecting the performance and service life of the motor.

[0074] As Figure 2 and Figure 3 shown, on the basis of the above embodiment, the second position detection member 500 further includes a second start position sensor 520; wherein, when the second start position sensor 520 obtains the position information of the clamping member 100, the clamping member 100 is exactly at the initial position, and the controller controls the driving member 200 to stop running.

[0075] Obviously, by adding the second start position sensor 520, it can be obtained whether the clamping member 100 is reset, which is used as a standard for whether the preparation for the next centering adjustment is completed, and it can also judge whether a fault occurs.

[0076] Specifically, when the clamping member 100 is reset and triggers the second start position sensor 520, the controller receives the position information obtained by the second start position sensor 520, and the controller determines that the clamping member 100 has been reset. Correspondingly, the controller sends an instruction to the driving member 200 to control it to stop running.

[0077] As Figure 2 shown, on the basis of the above embodiment, the second start position sensor 520 and / or the second end position sensor 510 can at least move along the moving direction of the clamping member 100.

[0078] That is to say, the second start position sensor 520 can be adjusted in the moving direction of the clamping member 100 to adjust the stroke range of the clamping member 100;

[0079] Alternatively, the second end position sensor 510 can be adjusted in the moving direction of the clamping member 100 to accommodate workpieces 800 with different length dimensions in the opposing direction.

[0080] Of course, by way of example, when encountering workpieces 800 with larger or smaller length dimensions in the opposing direction, the positions of the second start position sensor 520 and the second end position sensor 510 can be adjusted simultaneously. The specific adjustment method is common knowledge for those skilled in the art and will not be elaborated here.

[0081] Exemplarily, the second start position sensor 520 and the second end position sensor 510 are respectively installed on two second sliders of the second slide rail 600. The second slide rail 600 extends along the opposing direction, and each second slider is equipped with a locking screw. By rotating the locking screw, the locking screw contacts or disengages from the second track of the second slide rail 600, thereby achieving locking or unlocking.

[0082] As Figure 3 shown, based on the above embodiments, the first start position sensor 710 and the first end position sensor 720 can at least move along the moving direction of the workpiece 800.

[0083] Similarly, the first start position sensor 710 can be adjusted in the moving direction of the workpiece 800 to accommodate workpieces 800 with different length dimensions in the moving direction of the workpiece 800.

[0084] Alternatively, the first end position sensor 720 can be adjusted in the moving direction of the workpiece 800 to accommodate workpieces 800 with different length dimensions in the moving direction of the workpiece 800.

[0085] Of course, by way of example, if the size of the workpiece 800 is too large, the positions of the first start position sensor 710 and the first end position sensor 720 can be adjusted simultaneously. The specific adjustment method is common knowledge for those skilled in the art and will not be elaborated here.

[0086] As Figure 1 shown, based on the above embodiments, the driving member 200 includes a synchronous belt mechanism 210. The synchronous belt mechanism 210 has a synchronous belt 212, and the synchronous belt 212 forms a first part and a second part with opposite transmission directions. Among them, the first part and the second part are respectively connected to the corresponding clamping members 100.

[0087] Exemplarily, the synchronous belt 212 is horizontally arranged. Since both ends of the synchronous belt 212 are sleeved on the synchronous pulleys 211, the synchronous belt 212 can be formed into a first part and a second part with opposite driving directions. Therefore, in this application, by respectively installing a pair of clamping members 100 on the first part and the second part, the pair of clamping members 100 can be driven to approach or move away from each other by the synchronous belt 212, and this method can ensure the synchronism of the movement of the pair of clamping members 100. Of course, it is not limited to the synchronous belt mechanism 210, and other mechanisms capable of driving the clamping member 100 to move can also be used, such as electric push rods, pneumatic cylinders or hydraulic cylinders, etc.

[0088] Exemplarily, an induction part cooperating with the second position detection member 500 is installed on the first part and / or the second part. Further, the second position detection member 500 can obtain the movement information of the pair of clamping members 100 by detecting the position of the induction part. For example, the second initial position sensor 520 and the second end position sensor 510 are arranged at intervals in the moving direction of the synchronous belt 212.

[0089] Exemplarily, if the second initial position sensor 520 and the second end position sensor 510 are both metal sensors, the induction part is a metal sheet; or, if the second initial position sensor 520 and the second end position sensor 510 are both Hall sensors, the induction part is an induction sheet; or, if the second initial position sensor 520 and the second end position sensor 510 are both laser sensors, the induction part is a light blocking sheet, etc., which are not specifically limited herein.

[0090] As Figure 1 shown, on the basis of the above embodiment, the driving member 200 further includes a first slide rail 220. The clamping member 100 is connected to the first slide rail 220, and the first slide rail 220 extends along the opposing direction.

[0091] On the basis of the above synchronous belt mechanism 210 and its similar structures, since the synchronous belt 212 has the characteristic of elastic deformation, by adding a connection between the first slide rail 220 and the clamping member 100, the swing of the clamping member 100 during movement can be reduced.

[0092] Exemplarily, the first slide rail 220 includes a first track and a first slider. A pair of first sliders are slidably arranged on the first track. The first track is arranged to extend along the opposing direction, and the pair of first sliders are respectively connected to the corresponding clamping members 100.

[0093] As Figure 1 and Figure 4As shown, on the basis of the above embodiments, the driving member 200 further includes a mounting seat 300 and an adjusting seat 400. The synchronous belt mechanism 210 has two synchronous pulleys 211, and the mounting seat 300 and the adjusting seat 400 are respectively installed with the corresponding synchronous pulleys 211; wherein, the distance between the adjusting seat 400 and the mounting seat 300 is adjustable.

[0094] That is to say, by adjusting the distance between the mounting seat 300 and the adjusting seat 400, the distance between a pair of synchronous pulleys 211 can be adjusted. Thus, the tightness of the synchronous belt 212 can be adjusted, and different-sized synchronous belts 212 can be replaced when the size of the workpiece 800 is larger or smaller.

[0095] Exemplarily, the mounting seat 300 is provided with a first through hole, the adjusting seat 400 is provided with a second through hole 420, and the first through hole is a long hole. The bolt is sequentially passed through the first through hole and the second through hole 420 and then connected to a nut to achieve fixation.

[0096] Exemplarily, the adjusting seat 400 is provided with a first threaded hole 410. The inner wall of the first threaded hole 410 is threadedly connected with an adjusting bolt. The head of the adjusting bolt abuts against the end of the mounting seat 300. The first threaded hole 410 extends along the length direction of the first through hole. Furthermore, by rotating the adjusting bolt, the distance between the mounting seat 300 and the adjusting seat 400 can be adjusted.

[0097] As Figure 1 shown, on the basis of the above embodiments, the clamping member 100 has two abutting ends 110, and the two abutting ends 110 are spaced apart along the moving direction of the workpiece 800. The two abutting ends 110 are divided into a first abutting end 110 and a second abutting end 110. And in the conveying direction of the workpiece 800, the first abutting end 110 is located upstream of the second abutting end 110, so as to form a clamping cavity between a pair of clamping members 100, and the clamping cavity can accommodate the workpiece 800.

[0098] That is to say, the inner wall of the clamping cavity formed between a pair of clamping members 100 abuts against the workpiece 800 to form a clamping structure for achieving precise positioning.

[0099] Exemplarily, the inner contour of the clamping cavity is adapted to the outer shape of the workpiece 800. For example, when the workpiece 800 is square, the contour of the clamping cavity is square; or when the workpiece 800 is rectangular, the contour of the clamping cavity is rectangular; or when the workpiece 800 is triangular, the contour of the clamping cavity is triangular.

[0100] In some embodiments, the number of abutting ends 110 is two, and the two abutting ends 110 are divided into a first abutting end 110 and a second abutting end 110. In the conveying direction of the workpiece 800, the first abutting end 110 is located upstream of the second abutting end 110. Among them, the distance between the first abutting ends 110 of a pair of clamping members 100 is less than the distance between the second abutting ends 110 of the pair of clamping members 100, and a clamping cavity can be formed between the pair of clamping members 100, and the clamping cavity can accommodate the workpiece 800.

[0101] When the first initial position sensor 710 detects the position of the workpiece 800, the driving member 200 drives the clamping members 100 on both sides of the workpiece 800 to be centered, and the first abutting ends 110 abut against both sides of the workpiece 800. The workpiece 800 continues to move forward, and the front of the workpiece 800 abuts against the second abutting ends 110 of the clamping members 100 and is detected by the first end position sensor 720. At this time, the workpiece 800 has completely moved to the centering area. The clamping members 100 then continue to move until they are detected by the second end position sensor 510. At this time, the workpiece 800 is completely wrapped into the accommodation cavity formed by the pair of clamping members 100, and the centering process is completed.

[0102] Among them, it should be noted that the first abutting end is longer than the second abutting end, so that the second abutting end has an extended design. Thus, during the centering process, the conveying member does not need to decelerate or stop to complete the centering of the workpiece, improving the work efficiency.

[0103] In one embodiment, according to the second aspect of the present disclosure, a device is provided, and the device includes the centering device described above.

[0104] The above-mentioned device can be a transfer device cooperating with a manipulator, a transfer device cooperating with a machining device, etc., and will not be listed one by one here.

[0105] Taking the transfer device used in an automated pharmaceutical synthesis experiment as an example in this application, during the transfer process of the experimental sample (i.e., the workpiece 800 in this application), automatic transfer needs to be realized, and it involves the cross-module sample transfer of the robotic arm. This requires the robotic arm and the carrier loading the sample to be accurately docked to achieve the automatic grasping of the robotic arm and meet the requirements of continuous operation.

[0106] In all the examples shown and described here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments can have different values.

[0107] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0108] The above-described embodiments merely represent several implementation manners of the present utility model. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all fall within the protection scope of the present utility model.

Claims

1. An alignment device for aligning workpieces, characterized in that, The centering device includes: A pair of clamping members, which are arranged in an opposed manner; wherein, a centering adjustment area is formed between the pair of clamping members; A driving member, which is connected to the pair of clamping members, and the driving member can drive the pair of clamping members to approach or move away from each other in their opposed direction; A first position detection member, which can detect the first position information of the workpiece; A second position detection member, which can detect the second position information of the pair of clamping members; A controller, which is electrically connected to the first position detection member, the second position detection member and the driving member respectively. The controller can control the driving member to start running according to the first position information, and the controller can control the driving member to stop running or reverse running according to the second position information, so that the workpiece is in the centered position.

2. The centering device according to claim 1, characterized in that, The first position detection member includes: A first start position sensor and a first end position sensor, which are arranged at intervals along the moving direction of the workpiece, and the first start position sensor is located upstream of the first end position sensor; Wherein, when the first start position sensor acquires the position information of the workpiece, the controller controls the driving member to start, so that the pair of clamping members approach each other; When the first end position sensor acquires the position information of the workpiece, the controller controls the driving member to stop running or reverse running, and the workpiece is exactly located in the centering adjustment area.

3. The centering device according to claim 2, characterized in that, The second position detection member includes: A second end position sensor; wherein, when the second end position sensor acquires the position information of the clamping member, the workpiece is exactly located in the centered position, and the controller controls the driving member to stop running or reverse running.

4. The centering device according to claim 3, characterized in that, The second position detection member further includes: A second start position sensor; wherein, when the second start position sensor acquires the position information of the clamping member, the clamping member is exactly located at the initial position, and the controller controls the driving member to stop running.

5. The centering device according to claim 4, characterized in that, The second start position sensor and / or the second end position sensor can at least move along the moving direction of the clamping member; And / or, the first start position sensor and the first end position sensor can at least move along the moving direction of the workpiece.

6. The centering device according to claim 1, characterized in that, The driving member includes: A synchronous belt mechanism, which has a synchronous belt, and the synchronous belt forms a first part and a second part with opposite transmission directions; wherein, the first part and the second part are respectively connected to the corresponding clamping member.

7. The centering device according to claim 6, characterized in that, The driving member further includes: A first slide rail, to which the clamping member is connected, and the first slide rail extends along the opposed direction.

8. The centering device according to claim 6 or 7, characterized in that The driving member further includes: A mounting seat and an adjusting seat, the synchronous belt mechanism has two synchronous wheels, and the mounting seat and the adjusting seat are respectively installed with the corresponding synchronous wheels; Wherein, the distance between the adjusting seat and the mounting seat is adjustable.

9. The centering device according to claim 1, characterized in that, The clamping member has two abutting ends, and the two abutting ends are arranged at intervals along the moving direction of the workpiece. The two abutting ends are divided into a first abutting end and a second abutting end, and in the conveying direction of the workpiece, the first abutting end is located upstream of the second abutting end, so as to form a clamping cavity between the pair of clamping members, and the clamping cavity can accommodate the workpiece.

10. The centering device according to claim 9, characterized in that, The distance between the first abutting ends of the pair of clamping members is greater than the distance between the second abutting ends of the pair of clamping members.

11. A device, characterized in that, The device includes the centering device according to any one of claims 1 to 10.

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