Workpiece positioning device and feeding equipment

Abstract

The utility model relates to the technical field of material conveying, and discloses a workpiece positioning device and feeding equipment. The workpiece positioning device comprises a fixed carrying table, a movable carrying table, a limiting piece and a first position sensor, the fixed carrying table is used for receiving a workpiece from the upstream, the movable carrying table is located on the side portion of the fixed carrying table in the first direction, the movable carrying table can reciprocate in the second horizontal direction, and the movable carrying table can ascend and descend in the vertical direction; the limiting pieces are arranged in pairs, the paired limiting pieces are located on the two sides of the fixed carrying table in the first horizontal direction respectively, the limiting pieces can get close to or get away from each other in the first direction, and the first position sensor faces the movement path of the workpiece and is used for detecting the actual position of the workpiece in the second direction so as to control the stroke end point of the movable carrying table. The workpiece positioning device can avoid impact between the workpiece and the workpiece positioning device during positioning.

Description

Technical Field

[0001] This utility model relates to the field of material conveying technology, specifically to a workpiece positioning device and a feeding equipment. Background Technology

[0002] In some printing processes, paper raw materials supplied in roll form first need to be cut and folded to form paper stacks with the required length and width on a pallet. These stacks are then transported to the printing press by forklifts or AGVs for subsequent printing operations. To ensure high yield rates in subsequent operations, the paper stacks need to be placed accurately in the target location. However, the initial position of the paper stack on the pallet may fluctuate, and the handling process may also cause positional shifts. Therefore, it is necessary to reposition the paper stacks.

[0003] In some related technologies, paper stacks are conveyed longitudinally, clamped and positioned laterally by clamps, and positioned longitudinally by baffles, thus completing the paper stack positioning process. However, for large paper stacks, which may weigh up to 500 kg and have a large inertia, contact with the baffles will generate a large impact, which can easily damage the sides of the paper stack and may also damage the baffles after long-term use, resulting in a decrease in the accuracy of longitudinal positioning. Utility Model Content

[0004] In view of this, the present invention provides a workpiece positioning device and a feeding device to solve the problem that the positioning method of upstream material supply will generate a large impact.

[0005] In a first aspect, this utility model provides a workpiece positioning device, including a fixed platform, a movable platform, limiting members, and a first position sensor. The fixed platform is used to receive a workpiece from upstream. The movable platform is located on the side of the fixed platform in a horizontal first direction. The movable platform can reciprocate in a horizontal second direction and can rise and fall in a vertical direction. The limiting members are arranged in pairs, and the pairs of limiting members are respectively located on both sides of the fixed platform in the first direction. The limiting members can move closer to or further away from each other in the first direction. The first position sensor moves toward the workpiece along its movement path and is used to detect the actual position of the workpiece in the second direction to control the end point of the travel of the movable platform.

[0006] Beneficial effects: When loading a workpiece, the workpiece is first placed on a fixed platform. Then, the limiting components move closer together to clamp the workpiece in the first direction, completing the positioning in the first direction. Next, the movable platform rises from below the fixed platform to lift the workpiece and transfers it to the final target position in the second direction. During the movement of the movable platform, the first position sensor can detect the actual position of the workpiece so as to calculate a suitable velocity curve based on the actual position of the workpiece, the target position information, and the velocity and acceleration information of the movable platform. This allows the workpiece to stop accurately at the target position, completing the positioning in the second direction. The positioning in the second direction does not rely on the collision between the workpiece and the baffle or other limiting structures, thus avoiding impact between the workpiece and the workpiece positioning device during positioning. This reduces damage to the workpiece and lowers the risk of damage to the workpiece positioning device during positioning, making it more suitable for positioning large-mass workpieces.

[0007] In one optional embodiment, a second position sensor is further included, which is oriented toward the target position of the workpiece in the second direction. The number of the second position sensors is two, and the two second position sensors are arranged at intervals in the second direction, respectively corresponding to the upper limit and lower limit of the interval of the target position.

[0008] Beneficial effect: The second position sensor is used to detect whether the workpiece has accurately reached the target position. The target position is an interval with a certain tolerance range. When one of the two second position sensors detects the workpiece while the other does not, it means that the workpiece is within the interval range and the positioning in the second direction meets the requirements.

[0009] In one optional embodiment, the system further includes a first rolling element disposed on the fixed platform. The first rolling element is capable of rotating about an axis parallel to the first direction and supports the workpiece. The first rolling element is a ball bearing.

[0010] Beneficial effects: Rolling friction is generated between the first rolling element and the workpiece, thereby reducing frictional resistance and allowing the workpiece to move more smoothly on the fixed platform during the positioning process; the limiting component also positions the angle of the workpiece. By using a ball as the first rolling element, rotational freedom can be provided in all directions, reducing frictional resistance during the rotation of the workpiece.

[0011] In one optional embodiment, a second rolling element is further included, which is disposed on the limiting member. The second rolling element is at least rotatable about an axis parallel to the second direction, and the second rolling element abuts against the side of the workpiece. The second rolling element is a ball.

[0012] Beneficial effects: Because the first rolling element reduces frictional resistance, during the transfer from the fixed platform to the movable platform, in order to prevent the workpiece from shifting uncontrollably, the limiting member needs to keep the workpiece clamped. By setting the second rolling element, the frictional resistance encountered by the workpiece when it rises can be reduced, allowing the movable platform to smoothly lift the workpiece. By using a ball bearing as the first rolling element, the frictional resistance encountered by the workpiece when it moves in the second direction can be further reduced, allowing the workpiece to move in the second direction without having to disengage from the limiting member. This reduces the stroke requirements of the movable platform, making the workpiece positioning device more suitable for positioning large-mass workpieces.

[0013] In one alternative embodiment, the system further includes a first drive assembly, which includes a cable tray plate and a plurality of first linear modules extending in the second direction. The plurality of first linear modules are spaced apart in the first direction. The cable tray plate is mounted between the plurality of first linear modules, and the movable platform is mounted on the cable tray plate.

[0014] Beneficial effects: The first linear module drives the movable platform to move in the second direction, transporting the workpiece from the fixed platform to the target position. Using multiple first linear modules can improve the load-bearing capacity of the movable platform, making the workpiece positioning device more suitable for positioning large-mass workpieces.

[0015] In one optional embodiment, a second drive assembly is further included, the second drive assembly including a lifting cylinder and a first guide column, the lifting cylinder being disposed on the cable tray plate, the movable platform being disposed on the lifting cylinder, the first guide column extending in the vertical direction, one end of the first guide column being disposed on the movable platform, and the other end of the first guide column passing through the cable tray plate.

[0016] Beneficial effect: The lifting cylinder drives the movable platform to move in the vertical direction, thereby lifting the workpiece from the fixed platform.

[0017] In one optional embodiment, there are multiple fixed platforms, which are arranged at intervals in the first direction, and the movable platform is located between adjacent fixed platforms.

[0018] Beneficial effects: Using multiple fixed platforms can improve the load-bearing capacity of the fixed platforms, making the workpiece positioning device more suitable for positioning large-mass workpieces. At the same time, the space between multiple fixed platforms also makes it convenient for forklifts, AGVs and other devices to place workpieces onto the fixed platforms.

[0019] In one alternative embodiment, a base is also included, the fixed platform is disposed on the base, the base corresponds one-to-one with the first linear module, the base forms a receiving chamber, and the receiving chamber accommodates the upstream end of the first linear module.

[0020] Beneficial effects: Setting up a receiving chamber on the base can make full use of the vertical space, allowing the base to be stacked with the first linear module, reducing the space occupied between the fixed platforms.

[0021] In one alternative embodiment, a third drive assembly is further included, the third drive assembly comprising a pair of second linear modules extending in the first direction, the limiting member being disposed on the second linear modules.

[0022] Beneficial effect: The paired second linear modules drive the limiting components to move towards each other in the first direction, thereby achieving the centering and positioning of the workpiece.

[0023] Secondly, this utility model also provides a feeding device, including a feeding device and a workpiece positioning device provided by this utility model. The feeding device is located downstream of the workpiece positioning device and is used to obtain the workpiece from the movable platform and transport it downstream.

[0024] Beneficial effects: The feeding equipment includes the workpiece positioning device provided by this utility model, and therefore has the corresponding beneficial effects brought by the workpiece positioning device, which will not be elaborated here. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural schematic diagram of a workpiece positioning device according to an embodiment of the present utility model;

[0027] Figure 2 This is a three-dimensional structural diagram of a workpiece positioning device according to an embodiment of the present utility model, in which the base and the workpiece are hidden;

[0028] Figure 3 This is a front view schematic diagram of a workpiece positioning device according to an embodiment of the present utility model.

[0029] Explanation of reference numerals in the attached figures:

[0030] 101. Fixed platform; 102. First rolling element; 103. Base; 201. Movable platform; 202. Bridge plate; 203. First linear module; 204. Lifting cylinder; 205. First guide post; 301. Limiting component; 302. Second rolling element; 303. Second linear module; 304. Second guide post; 401. First position sensor; 402. Second position sensor; 403. Third position sensor; 901. Workpiece. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0032] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a," "an," and "comprising" as used herein may also mean including the plural forms. The terms "comprising," "including," and "having" are inclusive and therefore indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0033] Although terms such as "first," "second," etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Furthermore, in the description of this utility model, unless otherwise expressly specified and limited, the terms "set up" and "connected" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art will understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "end," "length," "inner," "outer," etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation, in addition to those depicted in the figure. For example, if the mechanism in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The mechanism may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0035] During the production and processing of the product, workpiece 901 (such as raw materials or semi-finished products) needs to be transferred between different processing stations. For some processing stations that cannot be directly connected, forklifts, AGVs and other devices are needed to move workpiece 901. However, the initial position of workpiece 901 may fluctuate, and the handling process may also cause workpiece 901 to shift in position, resulting in workpiece 901 not meeting the requirements in the next processing station.

[0036] In related technologies, the position of workpiece 901 is generally located by contact positioning. However, for workpiece 901 with large mass (such as paper stacks used for printing), the impact generated during contact may damage workpiece 901 (such as creases on the edge of the paper stack) and related structures of the station, affecting product yield and the stability of the processing technology.

[0037] The following is combined Figures 1 to 3 The following describes embodiments of the present invention.

[0038] Reference Figure 1 and Figure 2 According to an embodiment of the present invention, a workpiece positioning device is provided, including a fixed platform 101, a movable platform 201, a limiting member 301, and a first position sensor 401. The fixed platform 101 is used to receive a workpiece 901 from upstream. The movable platform 201 is located on the side of the fixed platform 101 in a first direction. The movable platform 201 can reciprocate in a horizontal second direction and can rise and fall in a vertical direction. The limiting members 301 are arranged in pairs, and the pairs of limiting members 301 are located on both sides of the fixed platform 101 in the horizontal first direction. The limiting members 301 can move closer to or further away from each other in the first direction. The first position sensor 401 is directed toward the movement path of the workpiece 901 and is used to detect the actual position of the workpiece 901 in the second direction to control the end point of the travel of the movable platform 201.

[0039] When the workpiece 901 is loaded, the workpiece 901 is first placed on the fixed platform 101. Then the limiting members 301 move closer to each other and clamp the workpiece 901 in the first direction to complete the positioning in the first direction. Next, the movable platform 201 rises from below the fixed platform 101 to lift the workpiece 901 and transfers the workpiece 901 to the final target position downstream in the second direction.

[0040] The workpiece 901 on the movable platform 201 has been positioned in the first direction, but its position in the second direction is uncertain, and the distance from the center of the movable platform 201 fluctuates. During the movement of the movable platform 201, the workpiece 901 passes the first position sensor 401. The first position sensor 401 can detect the actual position of the workpiece 901, so as to calculate a suitable speed curve based on the actual position of the workpiece 901, the target position information, and the speed and acceleration information of the movable platform 201, and control the stopping position of the movable platform 201, thereby compensating for the positional deviation between the workpiece 901 and the movable platform 201, so that the workpiece 901 stops accurately at the target position and completes the positioning in the second direction.

[0041] The second-direction positioning does not rely on the collision between the workpiece 901 and the baffle or other limiting structure, thus avoiding the impact between the workpiece 901 and the workpiece positioning device during positioning. This reduces the damage to the workpiece 901 and lowers the risk of damage to the workpiece positioning device during positioning, making it more suitable for positioning large-mass workpieces 901.

[0042] It is understandable that the workpiece positioning device of this utility model can be aimed at workpiece 901 in various ways. Figure 1 An exemplary embodiment of workpiece 901 is shown, in Figure 1 In this embodiment, workpiece 901 includes a stack of paper (not shown) and a pallet supporting the stack of paper. In other embodiments, workpiece 901 can also be changed according to production needs. As long as there is a positioning requirement, the workpiece positioning device of this utility model can be used to receive the incoming material from upstream and position it to the target position. This utility model does not limit this.

[0043] Furthermore, when workpiece 901 is a paper stack, the application scenarios of the workpiece positioning device are not limited to providing materials for the printing press. For example, in another possible scenario, the paper stack can be cushioning paper for product packaging, which is provided to the expander in a stacked manner.

[0044] exist Figure 1 and Figure 2In the illustrated embodiment, the first direction and the second direction are perpendicular to each other. The workpiece positioning device is adapted to position a square workpiece 901. In other possible embodiments, the workpiece 901 may also have other shapes, such as a parallelogram workpiece 901, etc. In this case, the first direction and the second direction may not be perpendicular to each other. This utility model does not limit this.

[0045] It should be noted that for workpieces 901, such as paper stacks, which are composed of multiple layers of sheets, the sheets may slip relative to each other in the second direction during the acceleration and deceleration of the movable platform 201, causing workpiece 901 to deform and fail to meet the positioning requirements. If the acceleration is too large, the paper stack may also be at risk of tipping over.

[0046] Therefore, in some embodiments, the workpiece positioning device further includes a second position sensor 402, which faces the target position of the workpiece 901 in a second direction. There are two second position sensors 402, which are arranged at intervals in the second direction, respectively corresponding to the upper limit and lower limit of the target position interval.

[0047] The second position sensor 402 is used to detect whether the workpiece 901 has accurately reached the target position. The target position is an interval with a certain tolerance range. When one of the two second position sensors 402 detects the workpiece 901 while the other does not detect the workpiece 901, it means that the workpiece 901 is within the interval range and the positioning in the second direction meets the requirements.

[0048] For example, workpiece 901 is a square stack of paper. The second position sensor 402 is used to detect the surface of workpiece 901 located near the downstream side. When the second position sensor 402 near the downstream side does not detect workpiece 901, but the second position sensor 402 near the upstream side detects workpiece 901, it indicates that the surface is within the range defined by the two second position sensors 402 in the second direction, and the positioning effect of workpiece 901 meets the requirements. Conversely, if both second position sensors 402 detect workpiece 901, it indicates that the slippage of workpiece 901 is too large and cannot meet the requirements. It is necessary to readjust the settings of the workpiece positioning device (e.g., change the acceleration threshold of the movable stage 201 to match the difference in smoothness of different paper materials).

[0049] For other types of workpieces 901, the second position sensor 402 can also use other detectable parts on the workpiece 901 as detection objects to determine the position of the workpiece 901, which will not be elaborated here.

[0050] In some embodiments, the workpiece positioning device further includes a third position sensor 403, which is correspondingly disposed with the fixed platform 101 and is used to detect whether there is a workpiece 901 on the fixed platform 101.

[0051] In some embodiments, the workpiece positioning device further includes a first rolling element 102, which is disposed on a fixed platform 101. The first rolling element 102 is rotatable about an axis parallel to a first direction and supports the workpiece 901. Rolling friction is generated between the first rolling element 102 and the workpiece 901, thereby reducing frictional resistance and allowing the workpiece 901 to move more smoothly on the fixed platform 101 during the positioning process. This avoids frictional damage to the bottom of the workpiece 901, making the workpiece positioning device more suitable for positioning heavy workpieces 901.

[0052] Optionally, the first rolling element 102 is a ball bearing. It is understood that the workpiece 901 placed on the fixed platform 101 may have not only a positional offset (manifested as an offset of the center point from the theoretical position) but also an angular offset. The process of the limiting member 301 clamping the workpiece 901 will simultaneously cause the workpiece 901 to rotate, thereby correcting the angular offset. By using a ball bearing as the first rolling element 102, rotational freedom can be provided in all directions, reducing frictional resistance during the rotation of the workpiece 901 and making its movement more flexible.

[0053] Because the first rolling element 102 reduces frictional resistance, when the limiting member 301 releases the workpiece 901, the unconstrained workpiece 901 risks uncontrolled movement and a repositioning. Therefore, in some embodiments, the limiting member 301 keeps the workpiece 901 clamped during the process of the movable platform 201 lifting the workpiece 901, preventing uncontrolled positional displacement of the workpiece 901 during its transfer from the fixed platform 101 to the movable platform 201.

[0054] Optionally, in some embodiments, the workpiece positioning device further includes a second rolling element 302, which is disposed on the limiting member 301. The second rolling element 302 is at least rotatable about an axis parallel to the second direction, and abuts against the side of the workpiece 901. By providing the second rolling element 302, the frictional resistance experienced by the workpiece 901 when it rises can be reduced, allowing the movable platform 201 to smoothly support the workpiece 901.

[0055] Furthermore, in some embodiments, the second rolling element 302 is a ball bearing. By using a ball bearing as the first rolling element 102, the frictional resistance experienced by the workpiece 901 when moving in the second direction can be further reduced, so that the workpiece 901 can move in the second direction without disengaging from the limiting member 301. This reduces the stroke requirement of the movable platform 201 and makes the workpiece positioning device more suitable for positioning large-mass workpieces 901.

[0056] In other words, the vertical travel of the movable platform 201 can be less than the height of the limiting member 301. The movable platform 201 only needs to be raised to a height slightly higher than the first rolling element 102 to begin moving in the second direction.

[0057] In some embodiments, the workpiece positioning device further includes a first driving assembly, which includes a bridge plate 202 and a plurality of first linear modules 203. The first linear modules 203 extend in a second direction, and the plurality of first linear modules 203 are spaced apart in a first direction. The bridge plate 202 is mounted between the plurality of first linear modules 203, and the movable platform 201 is mounted on the bridge plate 202.

[0058] The first linear module 203 can be a linear motor, a lead screw and slider mechanism, or other device capable of generating linear displacement. The first linear module 203 drives the movable platform 201 to move in the second direction, transporting the workpiece 901 from the fixed platform 101 to the target position. Using multiple first linear modules 203 can improve the load-bearing capacity of the movable platform 201, making the workpiece positioning device more suitable for positioning large-mass workpieces 901. Furthermore, using the first linear module 203 can also improve the motion accuracy and more accurately control the stopping position of the workpiece 901.

[0059] In addition to the first linear module 203, the first drive assembly may also use a conveyor belt, chain plate, or other means to drive the movable platform 201, which will not be elaborated here.

[0060] In some embodiments, the workpiece positioning device further includes a second driving assembly, which includes a lifting cylinder 204 and a first guide post 205. The lifting cylinder 204 is disposed on the bridge plate 202, and the movable platform 201 is disposed on the lifting cylinder 204. The first guide post 205 extends in the vertical direction, with one end of the first guide post 205 disposed on the movable platform 201 and the other end of the first guide post 205 passing through the bridge plate 202.

[0061] The lifting cylinder 204 drives the movable platform 201 to move in the vertical direction, thereby lifting the workpiece 901 from the fixed platform 101. The lifting cylinder 204 can be a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, as long as the load can meet the requirements of the workpiece 901. With the help of the design of the second rolling element 302, the stroke requirement of the lifting cylinder 204 is relaxed, making it easier to find a lifting cylinder 204 that meets the appropriate specifications.

[0062] In some embodiments, there are multiple fixed platforms 101, which are arranged at intervals in a first direction, and the movable platform 201 is located between adjacent fixed platforms 101. Using multiple fixed platforms 101 can improve the load-bearing capacity of the fixed platforms 101, making the workpiece positioning device more suitable for positioning large-mass workpieces 901. At the same time, the space between the multiple fixed platforms 101 also facilitates the placement of workpieces 901 by forklifts, AGVs, and other handling devices onto the fixed platforms 101.

[0063] For example, the AGV can move between the fixed platforms 101, put down the workpiece 901 and then exit, thus placing the workpiece 901 onto the fixed platforms 101.

[0064] Optionally, the workpiece positioning device further includes a base 103, a fixed platform 101 is disposed on the base 103, the base 103 and the first linear module 203 correspond one-to-one, the base 103 forms a receiving chamber, and the receiving chamber accommodates the upstream end of the first linear module 203.

[0065] Setting up a receiving chamber on the base 103 can make full use of the vertical space, allowing the base 103 to be stacked with the first linear module 203, reducing the space occupied between the fixed platforms 101, and helping to improve the compatibility of the workpiece positioning device with handling devices of different specifications.

[0066] In some embodiments, the workpiece positioning device further includes a third driving assembly, which includes a pair of second linear modules 303 extending in a first direction, and a limiting member 301 disposed on the second linear modules 303. The pair of second linear modules 303 drive the limiting member 301 to move towards each other in the first direction, thereby achieving centering and positioning of the workpiece 901.

[0067] The second linear module 303 can be a linear motor, a lead screw and slider mechanism or other device that can generate linear displacement. Using a linear module instead of a conventional cylinder is suitable for more precise control of the displacement, speed and acceleration of the limiter 301, and avoids damage to the workpiece 901 due to excessive speed.

[0068] In some embodiments, the third drive assembly further includes a second guide post 304 extending in a first direction. One end of the second guide post 304 is disposed on the limiting member 301, and the other end of the second guide post 304 passes through a shaft seat fixedly disposed on the base 103, thereby guiding the limiting member 301 to move more accurately along the first direction.

[0069] The following implementation steps exemplify the process of positioning workpiece 901 by the workpiece positioning device, and the usage of this utility model can be more clearly understood through the following implementation steps.

[0070] Step S110: Place the workpiece 901 from upstream onto the first rolling element 102, and the third position sensor 403 detects that the workpiece 901 is in place.

[0071] Step S120: The third driving component drives the limiting member 301 to move towards each other in the first direction to achieve the centering and positioning of the workpiece 901.

[0072] Step S130: The movable stage 201 moves to below the fixed stage 101 and rises to a height slightly higher than the first rolling element 102, so that the workpiece 901 is transferred to the movable stage 201.

[0073] Step S140: The movable stage 201 carries the workpiece 901 and moves along the second direction.

[0074] Step S150: The first position sensor 401 detects the passing of the workpiece 901 and determines the actual position of the workpiece 901 in the second direction.

[0075] Step S160: The workpiece positioning device determines the end point (i.e., the stop position) of the travel of the movable platform 201 based on the deviation between the actual position of the workpiece 901 and the position of the movable platform 201, and determines the speed and acceleration curve of the movable platform 201 accordingly, and controls the first linear module 203.

[0076] Step S170: After workpiece 901 stops, the second position sensor 402 detects whether the position of workpiece 901 meets the requirements.

[0077] Secondly, this utility model also provides a feeding device, including a feeding device and a workpiece positioning device provided by this utility model. The feeding device is located downstream of the workpiece positioning device and is used to obtain the workpiece 901 from the movable platform 201 and transport it downstream.

[0078] For example, workpiece 901 includes a tray and a stack of paper on the tray, and the feeding device includes a roller assembly for sequentially feeding each layer of sheet in the stack downstream.

[0079] The feeding equipment includes the workpiece positioning device provided by this utility model, and therefore has the beneficial effects brought by the workpiece positioning device, which will not be elaborated here.

[0080] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A workpiece positioning device, characterized in that, include: A fixed stage (101) is used to receive a workpiece (901) from upstream; The movable platform (201) is located on the side of the fixed platform (101) in a first horizontal direction. The movable platform (201) is capable of reciprocating in a second horizontal direction and can be raised and lowered in the vertical direction. The pair of limiting members (301) are respectively located on both sides of the fixed platform (101) in the first direction, and the limiting members (301) can move closer to or further away from each other in the first direction. The first position sensor (401) is directed toward the movement path of the workpiece (901) to detect the actual position of the workpiece (901) in the second direction, so as to control the end point of the travel of the movable stage (201).

2. The workpiece positioning device according to claim 1, characterized in that, It also includes a second position sensor (402) which is oriented toward the target position of the workpiece (901) in the second direction; The number of the second position sensors (402) is two, and the two second position sensors (402) are arranged at intervals in the second direction, respectively corresponding to the upper limit and lower limit of the interval of the target position.

3. The workpiece positioning device according to claim 1, characterized in that, It also includes a first rolling element (102), which is disposed on the fixed platform (101). The first rolling element (102) is at least able to rotate about an axis parallel to the first direction. The first rolling element (102) supports the workpiece (901). The first rolling element (102) is a ball.

4. The workpiece positioning device according to claim 3, characterized in that, It also includes a second rolling element (302), which is disposed on the limiting member (301). The second rolling element (302) is at least able to rotate about an axis parallel to the second direction. The second rolling element (302) abuts against the side of the workpiece (901). The second rolling element (302) is a ball.

5. The workpiece positioning device according to claim 1, characterized in that, It also includes a first drive assembly, which includes a cable tray plate (202) and a plurality of first linear modules (203). The first linear modules (203) extend in the second direction, and the plurality of first linear modules (203) are spaced apart in the first direction. The cable tray plate (202) is mounted between the plurality of first linear modules (203), and the movable platform (201) is mounted on the cable tray plate (202).

6. The workpiece positioning device according to claim 5, characterized in that, It also includes a second drive assembly, which includes a lifting cylinder (204) and a first guide post (205). The lifting cylinder (204) is disposed on the cable tray plate (202), and the movable platform (201) is disposed on the lifting cylinder (204). The first guide post (205) extends in the vertical direction, with one end of the first guide post (205) disposed on the movable platform (201) and the other end of the first guide post (205) passing through the cable tray plate (202).

7. The workpiece positioning device according to claim 5, characterized in that, The number of fixed platforms (101) is multiple, and the multiple fixed platforms (101) are arranged at intervals in the first direction. The movable platform (201) is located between adjacent fixed platforms (101).

8. The workpiece positioning device according to claim 7, characterized in that, It also includes a base (103), the fixed platform (101) is disposed on the base (103), the base (103) and the first linear module (203) correspond one-to-one, the base (103) forms a receiving chamber, the receiving chamber accommodates the upstream end of the first linear module (203).

9. The workpiece positioning device according to claim 7, characterized in that, It also includes a third drive component, which includes a pair of second linear modules (303) extending in the first direction, and the limiting member (301) is disposed on the second linear module (303).

10. A feeding device, characterized in that, include: The workpiece positioning device according to any one of claims 1 to 9; A feeding device is located downstream of the workpiece positioning device for acquiring the workpiece (901) from the movable platform (201) and conveying it downstream.

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