A micro-angle positioning control system and a mechanical device comprising the same

Abstract

The utility model provides a kind of micro-angle positioning control system and the mechanical equipment containing it, it is related to mechanical equipment technical field, solve the technical problem that disc-shaped product small protrusion is difficult to locate and the high error rate of identification failure.The micro-angle positioning control system, including feeding mechanism, jacking mechanism, rotary clamping mechanism, angle sensing mechanism, limit receiving mechanism and transfer mechanism;Jacking mechanism is movably arranged on the conveying route of feeding mechanism;Rotary clamping mechanism is arranged above jacking mechanism;Angle sensing mechanism is arranged on the side of rotary clamping mechanism;Limit receiving mechanism is movably arranged on the side of rotary clamping mechanism;Transfer mechanism is arranged on the side of limit receiving mechanism.The utility model is used to complete the angle positioning of product, ensure that part does not appear angular deviation in the process of grabbing transplanting, simultaneously can adapt to the compatibility of multiple sizes and multiple varieties of products.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a micro-angle positioning control system and mechanical equipment including the same. Background Technology

[0002] For disc products requiring angular positioning during machining, the small difference in their outer diameter makes positioning difficult, leading to the following technical problems in production:

[0003] 1. When there are tiny protrusions on the outer edge of a round-cap product, and the protrusion shovel needs to be assembled at a fixed angle during assembly, automatic identification and positioning are required during assembly. Existing ordinary photoelectric sensors are difficult to capture tiny protrusions or have a high probability of identification errors.

[0004] 2. After the product is positioned at an angle, if there is no limit to the range of motion during the feeding and rotation movement, an angle offset will occur during the subsequent rotation movement. At the same time, during the gripping and transfer process, due to the influence of the centering, the contact time of the three jaws of the gripper with the product is inconsistent, which may result in an angle offset, causing the already positioned product to be assembled with an angle offset again.

[0005] 3. With a large number of production models, there will be many changes in the corresponding external dimensions. For example, there will be many changes in conventional mechanisms and tooling, which will affect production efficiency. Utility Model Content

[0006] The purpose of this utility model is to provide a micro-angle positioning control system and a mechanical device containing the same, so as to solve the technical problems of difficulty in positioning the tiny protrusions of disc products and high recognition error rate in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] This utility model provides a micro-angle positioning control system, comprising a feeding mechanism, a lifting mechanism, a rotating clamping mechanism, an angle sensing mechanism, a limiting receiving mechanism, and a transfer mechanism; wherein:

[0009] The lifting mechanism is movably mounted on the conveying route of the feeding mechanism;

[0010] The rotating clamping mechanism is located above the lifting mechanism;

[0011] The angle sensing mechanism is located beside the rotary clamping mechanism;

[0012] The limiting receiving mechanism is movably disposed beside the rotary clamping mechanism;

[0013] The transfer mechanism is located next to the limiting receiving mechanism.

[0014] This utility model's micro-angle positioning control system uses a lifting mechanism to lift the product conveyed in the feeding mechanism to the position of the rotary clamping mechanism. The rotary clamping mechanism then grips and rotates the lifted product. During rotation, an angle sensing mechanism senses the micro-protrusions on the product, thereby completing the angle positioning of the product. During the rotational positioning process, the lifting mechanism descends to await the lifting of the next product. After angle positioning, the product limiting and receiving mechanism moves below the rotary clamping mechanism to perform product limiting and receiving. The received product is moved to a designated position by the limiting and receiving mechanism, and then clamped and transported to the next process by the transfer mechanism. The entire system can perform part angle positioning and ensures that the part does not deviate in angle during gripping and transfer through the limiting and receiving mechanism. It is also compatible with multiple sizes and varieties of products, solving the problems of sensing and positioning with minute changes and its positioning accuracy, solving the problem of angle deviation during gripping and transfer, and solving the problem of compatibility with multiple varieties and sizes of production models.

[0015] Based on the above technical solution, the present invention can be further improved as follows.

[0016] As a further improvement of this utility model, the lifting mechanism includes a lifting cylinder, a lifting buffer module, and a tray; wherein:

[0017] The lifting cylinder is connected to the pallet through the lifting buffer module, and can drive the pallet to rise and fall vertically.

[0018] As a further improvement of this utility model, the lifting buffer module includes a cylinder base, a lifting base, an elastic element, and a guide sleeve; wherein:

[0019] The cylinder body of the lifting cylinder is mounted on the cylinder base, and the piston rod is connected to the lifting base;

[0020] The tray is fixed to the lifting base;

[0021] The elastic element and the guide sleeve are installed between the cylinder base and the lifting base.

[0022] As a further improvement of this utility model, the rotary clamping mechanism includes a rotary motor, a transmission wheel, a driven wheel, a rotating base, a clamping cylinder, a gripper, and a positioning sensor; wherein:

[0023] The rotary motor is fixed on the rotary base;

[0024] The transmission wheel is mounted on the rotary motor;

[0025] The driven wheel is fixed on the rotating base and is connected to the transmission wheel in a driving connection.

[0026] The clamping cylinder is connected to the driven wheel and can rotate horizontally under the drive of the driven wheel;

[0027] The gripper is connected to the gripping cylinder;

[0028] The positioning sensor is located beside the gripper and on the lifting path of the lifting mechanism.

[0029] As a further improvement of this utility model, the angle sensing mechanism includes a sensing base, a spring, a lever, a base plate, a rotating shaft, and a contact sensor; wherein:

[0030] One end of the lever is rotatably connected to the base plate via the rotating shaft;

[0031] One end of the spring is connected to the sensing base, and the other end of the spring is connected to the other end of the lever;

[0032] The contact sensor is mounted on the sensing base and is positioned corresponding to the end of the lever.

[0033] This invention uses a lever-type angle sensing mechanism to magnify and identify minute protrusions on the outer edge of a product, facilitating angle positioning. A rotating clamping mechanism rotates the product in conjunction with the lever-type angle sensing mechanism to position the protrusions on the outer edge of the product, improving positioning accuracy and precision. A spring connects the sensing base and the lever, allowing the entire angle sensing mechanism to automatically adjust to the product size, ensuring compatibility with the production of products of different sizes without the need to change tooling.

[0034] As a further improvement of this utility model, the lever cross-section has a Z-shaped structure.

[0035] As a further improvement of this utility model, the limiting receiving mechanism includes a rotary drive cylinder, a transverse cylinder, a fixed plate, a receiving base, a transverse base, a limiting receiving fixture, a rack, and a rotary gear; wherein:

[0036] The rotary drive cylinder is mounted on the fixed plate;

[0037] The rack is connected to the rotary drive cylinder;

[0038] The rotating gear is rotatably mounted on the fixed plate and connected to the receiving base;

[0039] The rack and the rotating gear are meshed together.

[0040] The transverse cylinder is mounted on the receiving base and is connected to the transverse base in a transmission manner;

[0041] The transverse base is slidably disposed on the top of the receiving base;

[0042] The limiting receiving fixture is installed on the transverse base.

[0043] As a further improvement of this utility model, the limiting receiving fixture includes a receiving seat and a limiting block; wherein:

[0044] The number of limiting blocks is several, and all the limiting blocks are evenly arranged along the circumference of the receiving seat to form a limiting groove for placing the product.

[0045] As a further improvement of this utility model, each set of limiting blocks includes a mounting base and two limiting posts; wherein:

[0046] The mounting base is fixed on the receiving base;

[0047] The two limiting posts are spaced apart on both sides of the mounting base, and the distance between the two limiting posts is adapted to the width of the micro boss on the product.

[0048] The miniature protrusion of the product is placed in the groove between the limiting posts. Restricted by the two sides of the groove between the limiting posts, the product cannot rotate. When the limiting receiving mechanism rotates 90 degrees in the opposite direction, it ensures that the angle of the product does not deflect during the rotation of the mechanism. Finally, it is clamped by the lifting and clamping mechanism of the transfer mechanism. Restricted by the limiting posts, the position of the miniature protrusion of the product is restricted within the groove between the limiting posts during the clamping process and will not deflect, thus realizing the angle limitation of the entire product picking and unloading process.

[0049] As a further improvement of this utility model, the transfer mechanism includes a fixed frame, a transverse servo mechanism, and a lifting and clamping mechanism; wherein:

[0050] The transverse servo mechanism is mounted on the fixed frame;

[0051] The lifting and gripping mechanism is mounted on the transverse servo mechanism.

[0052] The product is picked up by the transplanting mechanism and placed in the limiting receiving fixture with angle correction and positioning to ensure that the product angle does not deviate.

[0053] The present invention provides a mechanical device, including the micro-angle positioning control system. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a three-dimensional structural schematic diagram (I) of the micro-angle positioning control system of this utility model;

[0056] Figure 2 This is a three-dimensional structural schematic diagram (II) of the micro-angle positioning control system of this utility model;

[0057] Figure 3 This is a three-dimensional structural schematic diagram (III) of the micro-angle positioning control system of this utility model;

[0058] Figure 4 This is a three-dimensional structural schematic diagram (IV) of the micro-angle positioning control system of this utility model;

[0059] Figure 5 This is the front view of the micro-angle positioning control system of this utility model;

[0060] Figure 6 This is a side view of the micro-angle positioning control system of this utility model;

[0061] Figure 7 This is a top view of the micro-angle positioning control system of this utility model;

[0062] Figure 8 This is a three-dimensional structural diagram of the lifting mechanism in the micro-angle positioning control system of this utility model;

[0063] Figure 9 This is a three-dimensional structural diagram (I) of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0064] Figure 10 This is a three-dimensional structural diagram (II) of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0065] Figure 11 This is a three-dimensional structural diagram (III) of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0066] Figure 12 This is a three-dimensional structural diagram (IV) of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0067] Figure 13 This is a front view of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0068] Figure 14 This is a side view of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0069] Figure 15 This is a top view of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0070] Figure 16 This is a bottom view of the rotary clamping mechanism in the micro-angle positioning control system of this utility model;

[0071] Figure 17 This is a three-dimensional structural diagram of the angle sensing mechanism in the micro-angle positioning control system of this utility model;

[0072] Figure 18 This is a top view of the angle sensing mechanism in the micro-angle positioning control system of this utility model;

[0073] Figure 19 This is a three-dimensional structural diagram of the limiting material receiving mechanism in the micro-angle positioning control system of this utility model;

[0074] Figure 20 This is a three-dimensional structural diagram of the limiting receiving tooling in the limiting receiving mechanism of the micro-angle positioning control system of this utility model;

[0075] Figure 21 This is a top view of the limiting receiving fixture in the limiting receiving mechanism of the micro-angle positioning control system of this utility model;

[0076] Figure 22 This is a front view of the limiting receiving tooling in the limiting receiving mechanism of the micro-angle positioning control system of this utility model;

[0077] Figure 23 This is a diagram showing the movement path of the limiting material receiving mechanism in the micro-angle positioning control system of this utility model;

[0078] Figure 24 This is the front view of the transfer mechanism in the micro-angle positioning control system of this utility model.

[0079] 1. Feeding mechanism in the diagram;

[0080] 2. Lifting mechanism;

[0081] 21. Lifting cylinder; 22. First base; 23. Second base; 24. Third base; 25. Fourth base; 26. Tray; 27. Lifting buffer spring; 28. Guide sleeve;

[0082] 3. Rotary clamping mechanism;

[0083] 31. Rotary motor; 32. Transmission wheel; 33. Driven wheel; 34. Rotating base; 35. Clamping cylinder; 36. Gripper; 37. Position sensor;

[0084] 4. Angle sensing mechanism;

[0085] 41. Mounting plate; 42. Sensing buffer spring; 43. Sensing base; 44. Spring; 45. Rotating shaft; 46. Base plate; 47. Lever; 48. Contact sensor;

[0086] 5. Limiting material receiving mechanism;

[0087] 51. Fixed plate; 52. Rotary drive cylinder; 53. Rack; 54. Rotary gear; 55. Lateral movement base; 56. Lateral movement cylinder; 57. Receiving base; 58. Limiting receiving fixture;

[0088] 581. Receiving seat; 582. Mounting seat; 583. Limiting post; 584. Guide slope;

[0089] 6. Transfer mechanism;

[0090] 61. Fixed frame; 62. Lateral servo mechanism; 63. Lifting and gripping mechanism;

[0091] 100. Products;

[0092] 200. Miniature boss. Detailed Implementation

[0093] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0094] like Figures 1-24 As shown, this utility model provides a micro-angle positioning control system, which mainly includes six parts: a feeding mechanism 1, a lifting mechanism 2, a rotating clamping mechanism 3, an angle sensing mechanism 4, a limiting receiving mechanism 5, and a transfer mechanism 6; wherein:

[0095] The lifting mechanism 2 is set on the conveying route of the feeding mechanism 1 to lift the product 100 conveyed by the feeding mechanism 1. It should be noted that the feeding mechanism 1 can be a conveyor line or a feeding robot, and the specific form is not limited. When the product 100 enters the position of the lifting mechanism 2, the lifting mechanism 2 rises to lift the product 100.

[0096] The rotary clamping mechanism 3 is located above the lifting mechanism 2. When the rotary clamping mechanism 3 detects that the product 100 has been lifted into place, the rotary clamping mechanism 3 will clamp the product 100. After clamping, it will rotate, and at the same time the lifting mechanism 2 will descend to prepare for lifting again.

[0097] An angle sensing mechanism 4 is located next to the rotary clamping mechanism 3; during the process of the product 100 being rotated by the rotary clamping mechanism 3, the angle sensing mechanism 4 is used to sense the micro boss 200, thereby determining the direction of the product 100 and positioning it.

[0098] The limiting receiving mechanism 5 is movably set next to the rotary clamping mechanism 3; after positioning is completed, the limiting receiving mechanism 5 moves from its original position to below the rotary clamping mechanism 3, receives the product 100 that has completed directional positioning, and then returns to its original position.

[0099] The transfer mechanism 6 is located next to the limiting receiving mechanism 5. After the limiting receiving mechanism 5 returns to its original position, the transfer mechanism 6 moves above the limiting receiving mechanism 5 to transfer and transport product 100 to the next process.

[0100] The micro-angle positioning control system of this utility model uses a lifting mechanism 2 to lift the product 100 conveyed in the feeding mechanism 1 to the position of the rotary clamping mechanism 3. The rotary clamping mechanism 3 then clamps and rotates the lifted product 100. During the rotation, an angle sensing mechanism 4 senses the micro-protrusions 200 on the product 100, thereby completing the angle positioning of the product 100. During the rotation positioning process, the lifting mechanism 2 descends to wait for the next product 100 to be lifted. After the angle positioning is completed, the limiting receiving mechanism 5 of the product 100 moves to the rotary clamping mechanism. Below the holding mechanism 3, the product 100 is received in a limiting manner. The received product 100 is moved to a designated position by the limiting receiving mechanism 5, and then clamped and transported to the next process by the transfer mechanism 6. The whole system can perform part angle positioning and ensure that the part does not deviate in angle during the gripping and transfer process through the limiting receiving mechanism 5. At the same time, it can adapt to the compatibility of multiple sizes and varieties of products 100, solve the problem of sensing and positioning with small changes and its positioning accuracy, solve the problem of angle deviation during gripping and transfer, and solve the problem of compatibility of multiple varieties and sizes of production models.

[0101] like Figure 8 As shown, in an optional embodiment of this utility model, the lifting mechanism 2 includes a lifting cylinder 21, a lifting buffer module, and a tray 26; wherein:

[0102] The lifting cylinder 21 is connected to the pallet 26 through the lifting buffer module, and can drive the pallet 26 to rise and fall vertically.

[0103] Furthermore, the lifting buffer module includes a cylinder base, a lifting base, an elastic element, and a guide sleeve 28; wherein:

[0104] The cylinder body of the lifting cylinder 21 is mounted on the cylinder base, and the piston rod is connected to the lifting base;

[0105] The tray 26 is fixed to the lifting base;

[0106] The elastic element and guide sleeve 28 are installed between the cylinder base and the lifting base.

[0107] In this embodiment, considering the strength and stability of the equipment, the cylinder base is composed of a first base 22 and a second base 23, and the lifting base is composed of a third base 24 and a fourth base 25;

[0108] The cylinder body of the lifting cylinder 21 is fixed to the bottom of the first base 22; the piston rod of the lifting cylinder 21 passes through the second base 23 and is connected to the third base 24; a guide sleeve 28 is provided between the first base 22 and the second base 23; the tray 26 is fixed on the third base 24 and extends out of the fourth base 25; the fourth base 25 is fixed on the worktable; a guide sleeve 28 is provided between the third base 24 and the fourth base 25.

[0109] In this embodiment, the elastic element is a lifting buffer spring 27. The lifting base and the cylinder base are connected by the lifting buffer spring 27 to achieve free height adjustment and meet the needs of products with different heights.

[0110] When product 100 enters the lifting tray 26 of the lifting mechanism 2, the lifting cylinder 21 lifts the tray 26 and product 100, and then the gripper 36 of the rotating clamping mechanism 3 supports the inner circle of product 100. The lifting mechanism 2 descends to return to its original position, and the angle sensing mechanism 4 moves forward to contact the outer circle of product 100. The angle sensing mechanism 4 completes the angle positioning of the product, and the limiting receiving mechanism 5 receives the product.

[0111] like Figures 9-16 As shown, in this embodiment, the rotating clamping mechanism 3 includes a rotating motor 31, a transmission wheel 32, a driven wheel 33, a rotating base 34, a clamping cylinder 35, a gripper 36, and a positioning sensor 37; wherein:

[0112] The rotary motor 31 is fixed on the rotating base 34;

[0113] The transmission wheel 32 is mounted on the rotary motor 31 and can rotate under the drive of the rotary motor 31;

[0114] Driven wheel 33 is fixed on rotating base 34 and is connected to drive wheel 32. Driven wheel 33 can rotate with drive wheel 32.

[0115] The clamping cylinder 35 is connected to the driven wheel 33 and can rotate horizontally under the drive of the driven wheel 33;

[0116] The gripper 36 is connected to the gripping cylinder 35; specifically, in this embodiment, the gripper 36 is a three-jaw gripper 36, and the movement of the three grippers 36 can be driven by a gripping cylinder 35 to extend and retract, thereby realizing the gripping and releasing; and the three gripping cylinders 35 can be mounted on the driven wheel 33 by a fixing member;

[0117] The positioning sensor 37 is located beside the gripper 36 and on the lifting path of the lifting mechanism 2.

[0118] It should be noted that the positioning sensor 37 includes a transmitter and a receiver, which are located on both sides of the rotating clamping mechanism 3, as shown below. Figure 7 and Figure 10 As shown, the line connecting the two position sensors 37 represents the schematic path of the emitted light.

[0119] like Figures 17-18 As shown, as a further improvement of this utility model, the angle sensing mechanism 4 includes a sensing base 43, a spring 44, a lever 47, a base plate 46, a rotating shaft 45, and a contact sensor 48; wherein:

[0120] One end of lever 47 is rotatably connected to base plate 46 via rotating shaft 45;

[0121] One end of the spring 44 is connected to the sensing base 43, and the other end of the spring 44 is connected to the other end of the lever 47.

[0122] The contact sensor 48 is mounted on the sensing base 43 and is positioned corresponding to the end of the lever 47.

[0123] Furthermore, in order to be suitable for different product specifications, the sensing base 43 is connected to the mounting plate 41 through the sensing buffer spring 42. The mounting plate 41 is connected to the telescopic cylinder. The telescopic cylinder can drive the mounting plate 41 to move. When the mounting plate 41 moves, it can ultimately drive the angle sensing mechanism 4 to telescopically move.

[0124] In this invention, the angle sensing mechanism automatically fine-tunes the position of the entire mechanism through the sensing buffer spring 42 and the mounting plate 41, achieving product compatibility. When the rotating clamping mechanism 3 drives the product 100 to rotate, the surface of the product 100 is attached to the substrate 46. The lower edge of the micro protrusion 200 on the product 100 will be at the same horizontal plane as the lower edge of the lever 47. As the product 100 rotates, when the micro protrusion 200 of the product 100 rotates and comes into close contact with the lever 47, it will squeeze the middle of the lever 47 close to the product 100. Through the lever principle, the tail of the lever 47 will have a certain proportional amplified displacement. When the micro protrusion of the product rotates to the maximum squeezing displacement, the lever... The tail of lever 47 contacts contact sensor 48 and releases a signal through contact sensor 48, which serves as the initial angle of the product's miniature boss 200. Based on this initial positioning angle, the required assembly angle of the product can be compared and calculated. The corresponding angle is rotated by the rotating clamping mechanism 3 to achieve precise angle finding and positioning. After the miniature boss 200 of product 100 rotates past lever 47, lever 47 will return to its original position under the action of spring 44. After the product has reached the initial positioning angle and achieved the required angle deflection, it will enter the handling stage.

[0125] This utility model uses a lever-type angle sensing mechanism 4 to magnify and identify the tiny protrusions on the outer edge of the product 100, facilitating angle positioning. The product 100 is rotated by the rotating clamping mechanism 3 in conjunction with the lever-type angle sensing mechanism 4 to position the protrusions on the outer edge of the product 100, improving positioning accuracy and precision. The sensing base 43 and the lever 47 are connected by a spring 44, allowing the entire angle sensing mechanism 4 to automatically adjust with the size of the product 100, ensuring compatibility with the production of products 100 of different sizes without the need to change tooling.

[0126] As a further improvement of this utility model, the lever 47 has a Z-shaped cross-section, which allows the end of the lever 47 to make a small displacement to contact the contact sensor 48 when the contact sensor 48 is arranged on the sensing base 43, thereby achieving angle positioning.

[0127] like Figures 19-23 As shown, as a further improvement of this utility model, the limiting receiving mechanism 5 includes a rotary drive cylinder 52, a transverse cylinder 56, a fixed plate 51, a receiving base 57, a transverse base 55, a limiting receiving fixture 58, a rack 53, and a rotary gear 54; wherein:

[0128] The rotary drive cylinder 52 is mounted on the fixed plate 51;

[0129] The rack 53 is connected to the rotary drive cylinder 52;

[0130] The rotating gear 54 is rotatably mounted on the fixed plate 51 and connected to the receiving base 57;

[0131] The rack 53 and the rotating gear 54 are meshed together;

[0132] The transverse cylinder 56 is mounted on the receiving base 57 and is connected to the transverse base 55 in a transmission manner.

[0133] The transverse base 55 is slidably disposed on top of the receiving base 57;

[0134] The limiting receiving fixture 58 is installed on the transverse base 55.

[0135] In use, the rotary drive cylinder 52 extends and retracts, driving the rack 53 to move. During the movement of the rack 53, the rotary gear 54 rotates. When the rotary gear 54 rotates, it drives the receiving base 57, the transverse base 55, and the limiting receiving fixture 58 to rotate 90 degrees. Then, driven by the transverse cylinder 56, the transverse base 55 and the limiting receiving fixture 58 move forward to the bottom of the rotary clamping mechanism 3 to receive the material. After receiving the material, the transverse cylinder 56 drives the retraction. After the rotary drive cylinder 52 drives the position to return to its original position, the transverse cylinder 56 drives the limiting receiving fixture 58 to move to the loading point of the transfer mechanism 6.

[0136] like Figure 23 As shown, when the limiting receiving mechanism 5 receives material, step 10 is to first rotate counterclockwise by 90 degrees; step 20 is to then translate it to the unloading point of the rotating clamping mechanism 3; step 30 is to then translate it in the opposite direction; step 40 is to rotate it clockwise by 90 degrees; and step 50 is to finally move it forward to the loading point of the transfer mechanism. Of course, if the loading point of the transfer mechanism and the initial position of the limiting receiving mechanism 5 are the same, the final forward movement step can be reduced to only four steps, as shown below. Figure 23 Steps 10-40 in the process.

[0137] As a further improvement of this utility model, the limiting receiving fixture 58 includes a receiving seat 581 and a limiting block; wherein:

[0138] There are several limiting blocks, and all the limiting blocks are evenly arranged along the circumference of the receiving seat 581 to form a limiting groove for placing the product 100.

[0139] As a further improvement of this utility model, each set of limiting blocks includes a mounting base 582 and two limiting posts 583; wherein:

[0140] Mounting base 582 is fixed on receiving base 581;

[0141] Two limiting posts 583 are spaced apart on both sides of the mounting base 582, and the distance between the two limiting posts 583 is adapted to the width of the micro boss 200 on the product 100.

[0142] To facilitate the insertion of product 100, a guide slope 584 is provided on the top inner side of the limiting post 583.

[0143] The miniature boss 200 of product 100 is placed in the groove between the limiting posts 583. Due to the restriction on both sides of the groove between the limiting posts 583, product 100 cannot rotate. When the limiting receiving mechanism 5 rotates 90 degrees in the opposite direction, it ensures that the angle of product 100 does not deflect during the rotation of the mechanism. Finally, it is clamped by the lifting and clamping mechanism 63 of the transfer mechanism. Due to the restriction of the limiting posts 583, the position of the miniature boss 200 of product 100 is restricted within the groove between the limiting posts 583 during the clamping process and will not deflect, thus realizing the angle limitation of the entire picking and unloading process of product 100.

[0144] like Figure 24 As shown, as a further improvement of this utility model, the transfer mechanism 6 includes a fixed frame 61, a transverse servo mechanism 62, and a lifting and clamping mechanism 63; wherein:

[0145] The transverse servo mechanism 62 is mounted on the fixed frame 61;

[0146] The lifting and gripping mechanism 63 is mounted on the transverse servo mechanism 62.

[0147] The product 100 is picked up by the transplanting mechanism and placed in the limiting receiving fixture 58 with angle correction and positioning to ensure that the angle of the product 100 does not shift.

[0148] The product is conveyed to the unloading position by the limiting receiving mechanism 5, and is picked up by the lifting and clamping mechanism 63 of the transfer mechanism 6. Then, the lifting and clamping mechanism 63 and the product 100 are driven by the transverse servo mechanism 62 to reach the next process.

[0149] It should be noted that the lifting and gripping mechanism 63 in this utility model includes a lifting servo mechanism, a cylinder and a gripper. The cylinder and gripper structure here can be implemented using the structure in the rotary gripping mechanism 3.

[0150] like Figures 1-24 As shown, this utility model provides a mechanical device, including the aforementioned micro-angle positioning control system.

[0151] First, it should be noted that "inward" refers to the direction towards the center of the storage space, while "outward" refers to the direction away from the center of the storage space.

[0152] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0153] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0154] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0155] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0156] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0157] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A micro-angle positioning control system, characterized in that, It includes a feeding mechanism, a lifting mechanism, a rotary clamping mechanism, an angle sensing mechanism, a limit receiving mechanism, and a transfer mechanism; among which: The lifting mechanism is movably mounted on the conveying route of the feeding mechanism; The rotating clamping mechanism is located above the lifting mechanism; The angle sensing mechanism is located beside the rotary clamping mechanism; The limiting receiving mechanism is movably disposed beside the rotary clamping mechanism; The transfer mechanism is located next to the limiting receiving mechanism.

2. The micro-angle positioning control system according to claim 1, characterized in that, The lifting mechanism includes a lifting cylinder, a lifting buffer module, and a tray; wherein: The lifting cylinder is connected to the pallet through the lifting buffer module, and can drive the pallet to rise and fall vertically.

3. The micro-angle positioning control system according to claim 2, characterized in that, The lifting buffer module includes a cylinder base, a lifting base, an elastic element, and a guide sleeve; wherein: The cylinder body of the lifting cylinder is mounted on the cylinder base, and the piston rod is connected to the lifting base; The tray is fixed to the lifting base; The elastic element and the guide sleeve are installed between the cylinder base and the lifting base.

4. The micro-angle positioning control system according to claim 1, characterized in that, The rotary clamping mechanism includes a rotary motor, a transmission wheel, a driven wheel, a rotating base, a clamping cylinder, grippers, and a positioning sensor; wherein: The rotary motor is fixed on the rotary base; The transmission wheel is mounted on the rotary motor; The driven wheel is fixed on the rotating base and is connected to the transmission wheel in a driving connection. The clamping cylinder is connected to the driven wheel and can rotate horizontally under the drive of the driven wheel; The gripper is connected to the gripping cylinder; The positioning sensor is located beside the gripper and on the lifting path of the lifting mechanism.

5. The micro-angle positioning control system according to claim 1, characterized in that, The angle sensing mechanism includes a sensing base, a spring, a lever, a base plate, a rotating shaft, and a contact sensor; wherein: One end of the lever is rotatably connected to the base plate via the rotating shaft; One end of the spring is connected to the sensing base, and the other end of the spring is connected to the other end of the lever; The contact sensor is mounted on the sensing base and is positioned corresponding to the end of the lever.

6. The micro-angle positioning control system according to claim 5, characterized in that, The lever has a Z-shaped cross-section.

7. The micro-angle positioning control system according to claim 1, characterized in that, The limiting receiving mechanism includes a rotary drive cylinder, a transverse cylinder, a fixed plate, a receiving base, a transverse base, a limiting receiving fixture, a rack, and a rotary gear; wherein: The rotary drive cylinder is mounted on the fixed plate; The rack is connected to the rotary drive cylinder; The rotating gear is rotatably mounted on the fixed plate and connected to the receiving base; The rack and the rotating gear are meshed together. The transverse cylinder is mounted on the receiving base and is connected to the transverse base in a transmission manner; The transverse base is slidably disposed on the top of the receiving base; The limiting receiving fixture is installed on the transverse base.

8. The micro-angle positioning control system according to claim 7, characterized in that, The limiting receiving fixture includes a receiving seat and a limiting block; wherein: The number of limiting blocks is several, and all the limiting blocks are evenly arranged along the circumference of the receiving seat to form a limiting groove for placing the product.

9. The micro-angle positioning control system according to claim 8, characterized in that, Each set of limiting blocks includes a mounting base and two limiting posts; wherein: The mounting base is fixed on the receiving base; The two limiting posts are spaced apart on both sides of the mounting base, and the distance between the two limiting posts is adapted to the width of the micro boss on the product.

10. The micro-angle positioning control system according to claim 1, characterized in that, The transfer mechanism includes a fixed frame, a transverse servo mechanism, and a lifting and gripping mechanism; wherein: The transverse servo mechanism is mounted on the fixed frame; The lifting and gripping mechanism is mounted on the transverse servo mechanism.

11. A mechanical device, characterized in that, Including the micro-angle positioning control system as described in any one of claims 1-10.

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