A profiled self-adapting location device

Abstract

The utility model relates to the field of automation control and robot technology discloses a kind of self-adapting location-finding devices, comprising: terminal execution mechanism, for executing preset processing task, terminal execution mechanism includes installation base, and two groups of execution units are symmetrically provided on installation base;XY axis self-adapting mechanism, for clamping workpiece, to adjust own position;Z axis positioning mechanism, for adjusting terminal execution mechanism, XY axis self-adapting mechanism position according to workpiece position.The utility model is by being provided with terminal execution mechanism cooperation XY axis self-adapting mechanism, Z axis positioning mechanism, cancels complex kinematics solution, using precision operation mechanism replaces visual identification, laser scanning, realize in mechanism automatic tracing, reduce complex motion example, realize low code or no code operation, realize quick use and simple operation, save human resources, the cost of from production and manufacture, use maintenance, remanufacture etc. obviously reduce, reduce logic error.

Description

Technical Field

[0001] This utility model relates to the field of automation control and robotics technology, specifically, a contour-adaptive positioning device. Background Technology

[0002] Existing automated path-following mechanisms are generally understood as four-axis robots. These robots typically employ servo motors and encoder feedback, combined with visual recognition or laser scanning (such as in track laying), to generate execution code through complex calculations, achieving dynamic path planning. They are primarily used in: industrial automated production lines (such as welding, painting, and precision assembly), complex surface machining (such as aerospace component repair), trajectory reproduction systems in education and research, special environment operations (such as nuclear facility maintenance and pipeline inspection), and medical auxiliary equipment (such as surgical instrument path guidance). However, these technologies have high requirements for software and hardware configurations, high production costs, their dynamic response speed is greatly affected by the environment, and they consume a lot of energy. Utility Model Content

[0003] The purpose of this invention is to provide a contour-adaptive positioning device that solves the problems of high software and hardware configuration requirements, high production costs, significant environmental influence on dynamic response speed, and high energy consumption in current automatic tracking mechanisms.

[0004] This utility model is achieved through the following technical solution: a contour-adaptive positioning device, comprising:

[0005] A terminal actuator is used to perform a preset processing task. The terminal actuator includes a mounting base on which two sets of execution units are symmetrically arranged.

[0006] An XY-axis adaptive mechanism is used to clamp a workpiece and adjust its own position. The XY-axis adaptive mechanism includes a clamping drive and two contoured models that are connected to the clamping drive.

[0007] Z-axis positioning mechanism is used to adjust the position of terminal actuator and XY-axis adaptive mechanism according to the workpiece position. The Z-axis positioning mechanism includes a connecting base, and a connecting plate is provided on the mounting base. The terminal actuator and XY-axis adaptive mechanism are both mounted on the connecting plate.

[0008] The connecting base includes a positioning mounting plate, on which a linear bearing is mounted. A second guide rod is slidably connected to the linear bearing. A Z-direction positioning plate is mounted on the second guide rod. A Y-direction linear guide rail is mounted on the Z-direction positioning plate. A slider connecting plate is mounted on the Y-direction linear guide rail. An X-direction linear guide rail is mounted on the slider connecting plate. The connecting plate is mounted on the X-direction linear guide rail.

[0009] To better realize this utility model, the clamping drive component further includes a limiting cylinder, which is mounted on the connecting plate. The limiting cylinder is provided with a cylinder piston rod, which is slidably connected to the model mounting base. The model mounting base is connected to the contour model, and the model mounting base is connected to the limiting cylinder through a first guide rod.

[0010] To better realize this utility model, the model mounting base is further provided with a dovetail groove, and the contour model is installed in the dovetail groove by connecting bolts.

[0011] To better realize this utility model, a guide rod end plate is further installed at the end of the second guide rod, and the outer diameter of the guide rod end plate is larger than the diameter of the second guide rod.

[0012] To better realize this utility model, the execution unit further includes a lifting cylinder, a gripper cylinder seat, and a clamping component. The output end of the lifting cylinder is operatively connected to the gripper cylinder seat. The clamping component is installed on the gripper cylinder seat and includes a gripper cylinder and a gripper. The gripper is operatively connected to the output end of the gripper cylinder. A pressure head bracket is installed on the gripper cylinder, and a pressure head is installed on the pressure head bracket.

[0013] To better realize this utility model, the execution unit further includes a buffer spring sleeve and a connecting piece. The output end of the lifting cylinder is connected to one end of the buffer spring sleeve, and the other end of the buffer spring sleeve is connected to the connecting piece. The connecting piece is installed on the gripper cylinder seat.

[0014] To better realize this utility model, the mounting base further includes a mounting base plate, a compensation block mounted on the mounting base plate, a linear guide rail mounting plate mounted on the compensation block, a transverse linear guide rail and a longitudinal linear guide rail mounted on the linear guide rail mounting plate, a gripper cylinder seat slidably connected to the longitudinal linear guide rail, a lifting cylinder mounting block slidably connected to the transverse linear guide rail, a lifting cylinder bracket mounted on the lifting cylinder mounting block, and the lifting cylinder mounted on the lifting cylinder bracket.

[0015] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0016] This invention eliminates complex kinematics calculations by setting up a terminal execution mechanism in conjunction with an XY-axis adaptive mechanism and a Z-axis positioning mechanism. It replaces visual recognition and laser scanning with a precision operating mechanism, enabling automatic tracking within the mechanism, reducing complex motion calculations, achieving low-code or no-code operation, enabling rapid use and simple operation, saving human resources, and significantly reducing costs in production, maintenance, and remanufacturing, while also reducing logical errors. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the terminal actuator structure.

[0019] Figure 3 This is a schematic diagram of the XY-axis adaptive mechanism.

[0020] Figure 4 This is a schematic diagram of the Z-axis positioning mechanism.

[0021] Wherein: 10-Terminal actuator; 20-XY axis adaptive mechanism; 30-Z axis positioning mechanism; 101-Mounting base plate; 102-Compensation block; 103-Linear guide rail mounting plate; 104-Lifting cylinder mounting block; 105-Lifting cylinder; 106-Buffer spring sleeve; 107-Gripper cylinder seat; 108-Transverse linear guide rail; 109-Connecting piece; 110-Vertical linear guide rail; 111-Gripper cylinder; 112-Gripper; 113-Pressure head bracket; 114 - Pressure head; 115- Lifting cylinder bracket; 201- Copying model; 202- Model mounting base; 203- Limiting cylinder; 204- First guide rod; 205- Cylinder piston rod; 206- Connecting bolt; 301- Positioning mounting plate; 302- Second guide rod; 303- Linear bearing; 304- Guide rod end plate; 305- Connecting plate; 306- X-direction linear guide rail; 307- Y-direction linear guide rail; 308- Z-direction positioning plate; 309- Slider connecting plate. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Example 1:

[0025] This embodiment provides a contour-following adaptive positioning device, specifically as follows: Figure 1 , Figure 3 , Figure 4 As shown, it includes:

[0026] The terminal execution mechanism 10 is used to execute a preset processing task. The terminal execution mechanism 10 includes a mounting base, on which two sets of execution units are symmetrically arranged.

[0027] XY-axis adaptive mechanism 20 is used to clamp the workpiece and adjust its own position. The XY-axis adaptive mechanism 20 includes a clamping drive and two contouring models 201 that are connected to the clamping drive. The shape of the contouring model 201 matches the contour of the workpiece to be detected and can fit against the surface of the workpiece.

[0028] Z-axis positioning mechanism 30 is used to adjust the position of terminal actuator 10 and XY-axis adaptive mechanism 20 according to the workpiece position. Z-axis positioning mechanism 30 includes a connecting base, and a connecting plate 305 is provided on the mounting base. Terminal actuator 10 and XY-axis adaptive mechanism 20 are both mounted on the connecting plate 305.

[0029] The connecting base includes a positioning mounting plate 301, on which a linear bearing 303 is mounted. A second guide rod 302 is slidably connected to the linear bearing 303. The second guide rod 302 is fixed to the top surface of a Z-direction positioning plate 308 by M8 bolts with spring washers. The bolt holes use an overfit to ensure axial positioning accuracy. A Y-direction linear guide rail 307 is fixedly connected to the Z-direction positioning plate 308. A slider connecting plate 309 is slidably connected to the Y-direction linear guide rail 307. An X-direction linear guide rail 306 is fixedly connected to the slider connecting plate 309. A connecting plate 305 is slidably mounted on the X-direction linear guide rail 306. A guide rod end plate 304 is mounted at the end of the second guide rod 302. The outer diameter of the guide rod end plate 304 is larger than the diameter of the second guide rod 302 for limiting and preventing the second guide rod 302 from falling off during axial movement.

[0030] Specifically, the connecting plate 305 is machined with high-precision positioning pin holes and bolt mounting holes. One side is fixed to the terminal actuator 10 with M8 socket head cap screws and anti-loosening washers, and the other side is connected to the XY axis adaptive mechanism 20 with M6 cross slot bolts. The bolt spacing conforms to the equal strength distribution principle specified in the mechanical design to ensure uniform load transmission.

[0031] The positioning mounting plate 301 is installed on the robot or robotic arm. When in use, the Z-axis positioning mechanism 30 first measures and positions the height. After reaching the target height, the XY-axis adaptive mechanism 20 starts. At this time, the two contour models 201 move closer to each other until the contour models 201 are completely attached to the workpiece surface. Then the terminal execution mechanism 10 starts to execute the specific task until the task is completed.

[0032] Example 2:

[0033] This embodiment further extends the XY-axis adaptive mechanism 20 based on the above embodiment, specifically as follows: Figure 3 As shown, the clamping drive includes a limiting cylinder 203, which is mounted on the connecting plate 305. A cylinder piston rod 205 is provided on the limiting cylinder 203, and the cylinder piston rod 205 is slidably connected to the model mounting base 202. The model mounting base 202 is connected to the contour model 201, and the model mounting base 202 is connected to the limiting cylinder 203 through a first guide rod 204.

[0034] The model mounting base 202 is provided with a dovetail groove, and the contour model 201 is installed in the dovetail groove by connecting bolts 206.

[0035] This setting enables the two contour models 201 to move synchronously, and the contour model 201 can be quickly assembled and disassembled from the model mounting base 202. After assembly, the dovetail groove provides a secure fit. This makes it suitable for quickly changing the contour model 201 according to the workpiece specifications.

[0036] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0037] Example 3:

[0038] This embodiment further expands the terminal actuator 10 based on the above embodiment, specifically as follows: Figure 2 As shown, the execution unit includes a lifting cylinder 105, a gripper cylinder seat 107, and a clamping component. The output end of the lifting cylinder 105 is operatively connected to the gripper cylinder seat 107. The clamping component is mounted on the gripper cylinder seat 107 and includes a gripper cylinder 111 and a gripper 112. The gripper 112 is operatively connected to the output end of the gripper cylinder 111. A pressure head bracket 113 is mounted on the gripper cylinder 111, and a pressure head 114 is mounted on the pressure head bracket 113. The pressure head bracket 113 and the pressure head 114 can clamp or process the workpiece according to the task requirements. The lifting cylinder 105 is used to adjust the height of the clamping component.

[0039] The execution unit also includes a buffer spring sleeve 106 and a connecting piece 109. The output end of the lifting cylinder 105 is connected to one end of the buffer spring sleeve 106, and the other end of the buffer spring sleeve 106 is connected to the connecting piece 109. The connecting piece 109 is mounted on the gripper cylinder seat 107. The buffer spring sleeve 106 is used to absorb vibrations during the movement of the gripper and maintain the stability of its movement.

[0040] The mounting base includes a mounting base plate 101, on which a compensation block 102 is mounted. The compensation block 102 is fixed to the mounting base plate 101 by M6 cross-slot bolts. Different height compensations are achieved by adding or removing stainless steel shims. A linear guide mounting plate 103 is mounted on the compensation block 102. A transverse linear guide 108 and a longitudinal linear guide 110 are mounted on the linear guide mounting plate 103. A gripper cylinder seat 107 is slidably connected to the longitudinal linear guide 110. A lifting cylinder mounting block 104 is slidably connected to the transverse linear guide 108. A lifting cylinder bracket 115 is mounted on the lifting cylinder mounting block 104, and a lifting cylinder 105 is mounted on the lifting cylinder bracket 115. Threaded locking adhesive is used during guide rail installation and cylinder fixing to ensure connection stability under vibration.

[0041] The other parts of this embodiment are the same as those in the above embodiments, and will not be described again.

[0042] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A contour-following adaptive positioning device, characterized in that, include: The terminal execution mechanism (10) is used to perform a preset processing task. The terminal execution mechanism (10) includes a mounting base on which two sets of execution units are symmetrically arranged. The XY-axis adaptive mechanism (20) is used to clamp the workpiece and adjust its own position. The XY-axis adaptive mechanism (20) includes a clamping drive and two contour models (201) that are connected to the clamping drive. Z-axis positioning mechanism (30) is used to adjust the position of terminal actuator (10) and XY-axis adaptive mechanism (20) according to the workpiece position. The Z-axis positioning mechanism (30) includes a connecting base, and a connecting plate (305) is provided on the mounting base. The terminal actuator (10) and XY-axis adaptive mechanism (20) are both mounted on the connecting plate (305). The connecting base includes a positioning mounting plate (301), on which a linear bearing (303) is mounted. A second guide rod (302) is slidably connected to the linear bearing (303). A Z-direction positioning plate (308) is mounted on the second guide rod (302). A Y-direction linear guide rail (307) is mounted on the Z-direction positioning plate (308). A slider connecting plate (309) is mounted on the Y-direction linear guide rail (307). An X-direction linear guide rail (306) is mounted on the slider connecting plate (309). A connecting plate (305) is mounted on the X-direction linear guide rail (306).

2. The contour-following adaptive positioning device according to claim 1, characterized in that: The clamping drive includes a limiting cylinder (203), which is mounted on the connecting plate (305). The limiting cylinder (203) is provided with a cylinder piston rod (205), which is slidably connected to the model mounting base (202). The model mounting base (202) is connected to the contour model (201), and the model mounting base (202) is connected to the limiting cylinder (203) through a first guide rod (204).

3. The contour-adaptive positioning device according to claim 2, characterized in that: The model mounting base (202) is provided with a dovetail groove, and the contour model (201) is installed in the dovetail groove by connecting bolts (206).

4. The contour-following adaptive positioning device according to claim 1, characterized in that: The second guide rod (302) is equipped with a guide rod end plate (304) at its end, and the outer diameter of the guide rod end plate (304) is larger than the diameter of the second guide rod (302).

5. A contour-adaptive positioning device according to any one of claims 1-4, characterized in that: The execution unit includes a lifting cylinder (105), a gripper cylinder seat (107), and a clamping component. The output end of the lifting cylinder (105) is connected to the gripper cylinder seat (107) in a driving connection. The clamping component is installed on the gripper cylinder seat (107). The clamping component includes a gripper cylinder (111) and a gripper (112). The gripper (112) is connected to the output end of the gripper cylinder (111) in a driving connection. A pressure head bracket (113) is installed on the gripper cylinder (111), and a pressure head (114) is installed on the pressure head bracket (113).

6. The contour-adaptive positioning device according to claim 5, characterized in that: The execution unit also includes a buffer spring sleeve (106) and a connecting piece (109). The output end of the lifting cylinder (105) is connected to one end of the buffer spring sleeve (106), and the other end of the buffer spring sleeve (106) is connected to the connecting piece (109). The connecting piece (109) is mounted on the gripper cylinder seat (107).

7. The contour-adaptive positioning device according to claim 5, characterized in that: The mounting base includes a mounting base plate (101), on which a compensation block (102) is mounted. A linear guide mounting plate (103) is mounted on the compensation block (102). A transverse linear guide (108) and a longitudinal linear guide (110) are mounted on the linear guide mounting plate (103). A gripper cylinder seat (107) is slidably connected to the longitudinal linear guide (110). A lifting cylinder mounting block (104) is slidably connected to the transverse linear guide (108). A lifting cylinder bracket (115) is mounted on the lifting cylinder mounting block (104). The lifting cylinder (105) is mounted on the lifting cylinder bracket (115).

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