An automated positioning device

Abstract

The application provides an automatic positioning device, comprising: a workbench; a positioning device arranged on the workbench and used for clamping and positioning a workpiece, comprising: a head limiting mechanism fixedly connected with the workbench and having a limiting surface abutting against one end of a head of the workpiece, a tail pressing mechanism movably arranged on the workbench and arranged opposite to the head limiting mechanism and used for pushing a tail of the workpiece towards the head limiting mechanism, a plurality of sets of centering and clamping mechanisms arranged at intervals along a length direction of the workpiece, each set comprising two clamping pieces capable of relatively approaching or moving away and used for clamping a side wall of the workpiece, a workpiece bearing mechanism fixed to the workbench and used for supporting the workpiece; a gantry moving device, comprising: a gantry main body capable of moving forward and backward along the workbench, a mechanical arm movably connected with the gantry main body and having a supporting plate positioning mechanism capable of lifting along a vertical direction, and the supporting plate positioning mechanism being used for mounting a supporting plate and capable of abutting the supporting plate against an outer circumferential wall of the workpiece.

Description

Technical Field

[0001] This utility model relates to the field of positioning device technology, and in particular to an automated positioning device. Background Technology

[0002] With increasing product demand, the existing hydraulic cylinder bracket device has fixed hinge points, requires many clamping and positioning auxiliary devices, is cumbersome to operate, and requires manual measurement, resulting in poor positioning accuracy. It cannot achieve multiple varieties with one machine, resulting in a set of tooling for one positioning device, low production efficiency, increased production costs, and inability to meet the needs of mass production. Utility Model Content

[0003] To address the aforementioned technical problems, this utility model provides an automated positioning device, which solves the problem that a positioning device combined with a set of tooling results in low production efficiency, increased production costs, and an inability to meet the needs of mass production.

[0004] This application provides an automated positioning device, comprising:

[0005] Workbench;

[0006] A positioning device, mounted on a worktable, is used to clamp and position a workpiece, including:

[0007] The head limiting mechanism is fixedly connected to the worktable and has a limiting surface that abuts against one end of the workpiece head.

[0008] The tail clamping mechanism is movably mounted on the worktable, and is arranged opposite to the head limiting mechanism to push the tail of the workpiece toward the head limiting mechanism.

[0009] Several sets of centering and clamping mechanisms are arranged at intervals along the length of the workpiece. Each set includes two clamping members that can be relatively close to or far apart, used to clamp the side wall of the workpiece.

[0010] The workpiece support mechanism is fixed to the worktable and is used to support the workpiece.

[0011] The gantry moving device includes:

[0012] The main body of the gantry frame can move back and forth along the worktable;

[0013] The robotic arm is movably connected to the gantry frame body and has a pallet positioning mechanism that can be raised and lowered vertically. The pallet positioning mechanism is used to install the pallet and can abut the pallet against the outer peripheral wall of the workpiece.

[0014] In some embodiments of this application, the positioning device further includes a support platform located between the workpiece carrying mechanism and the tail clamping mechanism, and the height of the support platform is the same as the height of the workpiece carrying mechanism.

[0015] In some embodiments of this application, the tightening surface of the tail limiting mechanism is provided with a tightening frame, one side frame of the tightening frame is detachably connected to the tail tightening mechanism, and the other side frame of the tightening frame is used to push the tail of the workpiece toward the head limiting mechanism.

[0016] In some embodiments of this application, the gantry frame body is provided with an X-axis rolling screw pair, and the robotic arm is provided with a Z-axis rolling screw pair. The robotic arm is driven to move along the width direction of the workpiece via the X-axis rolling screw pair, and the robotic arm is driven to move along the height direction of the workpiece via the Z-axis rolling screw pair. Each set of centering and clamping mechanisms is movably connected to the worktable via X-axis left and right rolling screw pairs. The tail clamping mechanism and the gantry frame body are movably connected to the worktable via Y-axis rolling screw pairs.

[0017] The X-axis ball screw pair facing the robotic arm, the Z-axis ball screw pair facing the gantry frame, and the upper part of the X-axis left-right and Y-axis ball screw pairs are all equipped with accordion-style flexible plates. Protective covers are provided around the outer periphery of the X-axis left-right and Y-axis ball screw pairs.

[0018] In some embodiments of this application, a limiting baffle is provided between two clamping members, with the long side of the limiting baffle extending along the length direction of the workpiece and the short side of the limiting baffle extending along the width direction of the workpiece.

[0019] In some embodiments of this application, a plurality of spaced-apart pads are provided on the bearing surface of the workpiece bearing mechanism and on the clamping surfaces of the plurality of centering and clamping mechanisms. The pads on the clamping surfaces are distributed along the height direction of the workpiece, while the pads on the bearing surfaces are distributed along the length direction of the workpiece.

[0020] In some embodiments of this application, the centering clamping mechanism includes a front group and a rear group, and the two clamping members of the front group have a clearance notch extending from the upper end to the middle area on the side away from the clamping surface.

[0021] In some embodiments of this application, multiple pallets are spaced apart along the width direction of the workpiece. A fixed shaft is provided on the side of the pallet positioning mechanism facing the width direction of the workpiece. A through hole is provided on the pallet, and the pallet is sleeved onto the fixed shaft through the through hole. The end of the pallet away from the through hole is fixedly connected to the workpiece. A spacer sleeve is sleeved on the fixed shaft, and the spacer sleeve is located between two adjacent pallets.

[0022] In some embodiments of this application, a reinforcing horizontal plate and a reinforcing vertical plate are fixedly connected between two trays. The reinforcing horizontal plate is located above the reinforcing vertical plate, and both ends of the reinforcing horizontal plate are fixedly connected to the trays on the same side, and both ends of the reinforcing vertical plate are fixedly connected to the trays on the same side.

[0023] The advantages of this invention compared to existing technologies are as follows: The embodiments of this application, by incorporating an automated positioning device, improve the positioning accuracy of the cylinder bracket, simplify the assembly process, reduce production costs, increase the production efficiency of the cylinder bracket, and save on manual measurement costs. Furthermore, because the gantry moving device and positioning device are movable, the automated positioning device can be applied to cylinder brackets of different specifications, making its application range more flexible and facilitating the mass production of cylinder brackets. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the automated positioning device for clamping a workpiece at a first angle, as provided in an embodiment of this application.

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

[0026] Figure 3 This is a schematic diagram of the structure of the automated positioning device provided in the embodiments of this application;

[0027] Figure 4 This is a schematic diagram of the structure of the automated positioning device for clamping a workpiece at a second angle, as provided in an embodiment of this application.

[0028] Figure 5 for Figure 4 Enlarged view of point B in the middle.

[0029] Figure label:

[0030] 100. Workpiece;

[0031] 11. Workbench; 12. Protective cover; 13. Bellows flexible panel; 14. Limiting baffle;

[0032] 2. Positioning device; 21. Head limiting mechanism; 211. Limiting surface; 22. Tail clamping mechanism; 221. Clamping surface; 222. Clamping frame; 23. Centering clamping mechanism; 23a. Pad; 231. Clamping component; 2311. Clearance notch; 2312. Clamping surface; 24. Workpiece bearing mechanism; 241. Bearing surface; 25. Bearing platform;

[0033] 3. Gantry moving device; 31. Gantry frame main body; 311. Column; 312. Crossbeam; 32. Robotic arm; 33. Pallet positioning mechanism; 331. Fixed shaft; 3311. Spacing sleeve;

[0034] 4. Support plate; 41. Through hole;

[0035] 5a. Reinforce the horizontal plates; 5b. Reinforce the vertical plates;

[0036] 6. Control panel. Detailed Implementation

[0037] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0038] In the embodiments of this application, 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 technical features indicated. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0039] In the description of the embodiments of this application, the term "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be a single item or a plurality of items.

[0040] In the description of the embodiments of this application, the term "and / or" refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" describes an association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "or" relationship.

[0041] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, "linking" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after the connection. Furthermore, the directional terms mentioned in the embodiments of this application, such as "inner" and "outer," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, 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. Therefore, they should not be construed as limitations on the embodiments of this application.

[0042] In the description of embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0043] Before introducing the automated positioning device of the embodiments of this application, an example of the workpiece 100 to which the automated device of the embodiments of this application is applicable will be given. The workpiece 100 to which the automated positioning device is applicable can be a cylinder (such as the cylinder assembly of a crane, the cylinder assembly of a railway platform, and the cylinder assembly of a boom), a shaft, a box, a frame, and irregular structures, etc.

[0044] For ease of description in the embodiments below, an XYZ coordinate system is established for workpiece 100. Specifically, the extension direction of the width of workpiece 100 is the X-axis direction (i.e., the left-right direction of workpiece 100), the extension direction of the height of workpiece 100 is the Z-axis direction (i.e., the up-down direction of workpiece 100), and the direction perpendicular to both the X-axis and Z-axis directions is the Y-axis direction, which is also the extension direction of the length of workpiece 100 (the front-back direction of workpiece 100). It is understood that the coordinate system settings of workpiece 100 can be flexibly set according to actual needs, and are not specifically limited here.

[0045] Please see Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of the structure of the automated positioning device provided in this application, which clamps the workpiece 100 at a first angle. Figure 2 for Figure 1 Enlarged view of point A in the middle. Figure 3 This is a schematic diagram of the structure of the automated positioning device provided in the embodiment of this application. The automated positioning device includes a workbench 1, a positioning device 2, and a gantry moving device 3.

[0046] The aforementioned positioning device 2 is mounted on the worktable 1 and is used to clamp and position the workpiece 100. The positioning device 2 includes: a head limiting mechanism 21, a tail clamping mechanism 22, several sets of centering clamping mechanisms 23, and a workpiece carrying mechanism 24. Specifically, the head limiting mechanism 21 is fixedly connected to the worktable 1, and the head limiting mechanism 21 has a limiting surface 211 that abuts against one end of the head of the workpiece 100.

[0047] The tail clamping mechanism 22 is movably mounted on the worktable 1. The tail clamping mechanism 22 is arranged opposite to the head limiting mechanism 21 and is used to push the tail of the workpiece 100 toward the head limiting mechanism 21.

[0048] In some examples, a clamping frame 222 can be provided on the clamping surface 221 of the tail limiting mechanism. One side of the clamping frame 222 is detachably connected to the tail clamping mechanism 22, and the other side of the clamping frame 222 is used to push the tail of the workpiece 100 toward the head limiting mechanism 21. In this way, by providing the clamping frame 222, the tail clamping mechanism 22 is lengthened in the Y-axis direction, so that the automated positioning device can clamp workpieces 100 of various lengths, which helps to increase the applicability of the automated positioning device. Furthermore, the clamping frame 222 is a frame structure, which has the characteristics of simple structure and reduces the processing cost of the tail clamping mechanism 22.

[0049] Several sets of centering and clamping mechanisms 23 are arranged at intervals along the length of the workpiece 100. Each set includes two clamping members 231 that can be brought closer or further apart, used to clamp the side wall of the workpiece 100. The workpiece carrying mechanism 24 is fixed to the worktable 1 and used to support the workpiece 100.

[0050] In some examples, a plurality of spaced-apart pads 23a may be provided on the bearing surface 241 of the workpiece bearing mechanism 24 and on the clamping surfaces 2312 of the plurality of sets of centering clamping mechanisms 23. The pads 23a on the clamping surfaces 2312 are distributed along the height direction of the workpiece 100, and the pads 23a on the bearing surfaces 241 are distributed along the length direction of the workpiece 100. In this way, by providing the pads 23a, the contact area between the clamping surfaces 2312 and the bearing surfaces 241 and the workpiece 100 is reduced, thereby reducing the friction area between the workpiece 100 and the clamping surfaces 2312 and the bearing surfaces 241, which is beneficial for protecting the outer peripheral wall of the workpiece 100.

[0051] The aforementioned gantry moving device 3 includes a gantry frame body 31 and a robotic arm 32. The gantry frame body 31 can move back and forth along the worktable 1. The gantry frame body 31 may include a pair of columns 311 and a crossbeam 312 disposed above the pair of columns 311. The two columns 311 are respectively disposed on the two side edge regions of the worktable 1 in the X-axis direction. The robotic arm 32 is movably connected to the crossbeam 312 of the gantry frame body 31, and the robotic arm 32 has a pallet positioning mechanism 33 that can be raised and lowered in the vertical direction. The pallet positioning mechanism 33 is used to install the pallet 4 and can abut the pallet 4 against the outer peripheral wall of the workpiece 100.

[0052] In some examples, the automated positioning device may also include a control panel 6, which is fixed to the worktable 1. Specifically, production line workers can set parameters for the workpiece 100 to be clamped by the automated positioning device through terminal equipment (such as computers, electronic control devices, etc.) and link the parameters to the worktable 1. The control panel 6 can serve as a carrier for controlling the automated positioning device.

[0053] Specifically, production line workers use an overhead crane (an established and well-known technology, which will not be detailed here) to place workpiece 100 onto the workpiece carrying mechanism 24. They then use the clamping button on the touch control panel 6 to engage several sets of clamping members 231 of the centering clamping mechanism 23, which clamp the sidewalls of workpiece 100. It should be noted that the clamping members 231 currently only slightly clamp the workpiece 100, serving only to prevent it from falling. The tail clamping mechanism 22 moves towards the tail of workpiece 100, pushing it towards the head limiting mechanism 21 until the head of workpiece 100 abuts against the limiting surface 211 of the head limiting mechanism 21. Then, the tail clamping mechanism 22 moves away from the workpiece 100.

[0054] Subsequently, the clamping members 231 of several sets of centering clamping mechanisms 23 further apply opposing clamping forces to the side walls of the workpiece 100. It should be noted that currently, the clamping members 231 are in a fully clamped state for the workpiece 100. During the fully clamped process, on the one hand, the perpendicularity between the workpiece 100 and the worktable 1 can be adjusted by the opposing clamping forces emitted by the clamping members 231 on both sides (that is, to straighten the workpiece 100 and prevent the workpiece 100 from being clamped in a skewed state), and on the other hand, it can completely fix the workpiece 100.

[0055] The gantry frame body 31 moves along the Y-axis to above the area of ​​the workpiece 100 where the pallet 4 needs to be installed. Then, the robotic arm 32 moves along the X-axis to deliver the pallet positioning mechanism 33 to one side of the position where the pallet 4 needs to be installed. Depending on the height of the pallet 4, the robotic arm 32 can move along the Z-axis to make the pallet 4 abut against the workpiece 100, and then fix the pallet 4 to the workpiece 100. For example, the fixing methods between the workpiece 100 and the pallet 4 include, but are not limited to, welding, threaded connection, or bolt connection.

[0056] Specifically, please refer to Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the structure of the automated positioning device provided in this application, which clamps the workpiece 100 at a second angle. Figure 5 for Figure 4In the enlarged view at point B, multiple pallets 4 are spaced apart along the width direction of the workpiece 100. A fixed shaft 331 is provided on the side of the pallet positioning mechanism 33 facing the width direction of the workpiece 100. The pallets 4 have through holes 41, and are fitted onto the fixed shaft 331 through these holes. The end of the pallet 4 away from the through holes 41 is fixedly connected to the workpiece 100. A spacer sleeve 3311 is fitted onto the fixed shaft 331, used to separate adjacent pallets 4. In this way, the spacer sleeve 3311 serves to separate adjacent pallets 4, and its length is the distance between adjacent pallets 4, saving on manual measurement costs and improving the assembly accuracy between the pallets 4 and the workpiece 100.

[0057] Furthermore, the length of the spacer sleeve 3311 can be customized according to different specifications of the pallet 4, that is, one spacer sleeve 3311 can be used for one or more specifications of workpiece 100.

[0058] In some examples, a reinforcing horizontal plate 5a and a reinforcing vertical plate 5b are fixedly connected between the two pallets 4. The reinforcing horizontal plate 5a is located above the reinforcing vertical plate 5b. Both ends of the reinforcing horizontal plate 5a are fixedly connected to the pallets 4 on the same side, and both ends of the reinforcing vertical plate 5b are fixedly connected to the pallets 4 on the same side. In this way, by setting the reinforcing horizontal plate 5a and the reinforcing vertical plate 5b, the two adjacent pallets 4 are connected and fixed, which can prevent the pallets 4 from moving during the connection between the workpiece 100 and the pallet 4, and help improve the installation accuracy between the workpiece 100 and the pallet 4.

[0059] In this way, by setting up an automated positioning device, the embodiments of this application improve the positioning accuracy of workpiece 100, simplify the assembly process of workpiece 100, reduce production costs, improve the production efficiency of workpiece 100, and save the cost of manual measurement. Furthermore, because the gantry moving device and the positioning device 2 are movable, the automated positioning device can be applied to workpieces 100 of different specifications, making its application range more flexible and beneficial for the mass production of workpiece 100.

[0060] Next, the connection relationship between the robotic arm 32 of the automated positioning device and the gantry frame body 31 will be explained: The crossbeam 312 of the gantry frame body 31 is equipped with an X-axis rolling screw pair (the rolling screw pair is a mature and well-known technology, and its structure will be briefly described below). The X-axis rolling screw pair includes an X-axis servo motor, an X-axis rotary screw, two X-axis slide rails, and an X-axis slider plate. The two X-axis slide rails are respectively located on both sides of the X-axis rotary screw and are arranged parallel to the X-axis rotary screw. The edge area of ​​the X-axis slider plate facing the X-axis slide rail has two X-axis sliders arranged opposite each other, and the middle area has an X-axis sleeve. The X-axis sleeve is threadedly connected to the X-axis rotary screw, and the two X-axis sliders are respectively locked on the X-axis slide rails on the same side.

[0061] The robotic arm 32 is equipped with a Z-axis rolling screw pair, which includes a Z-axis servo motor, a Z-axis rotary screw, two Z-axis slide rails, and a Z-axis slider plate. The edge area of ​​the Z-axis slider plate away from the crossbeam 312 has two Z-axis sliders arranged opposite to each other, and the two Z-axis sliders are respectively locked on the Z-axis slide rails on the same side.

[0062] The X-axis slider plate and the Z-axis slider plate are fastened together by bolts, thereby connecting the robotic arm 32 to the gantry frame body 31.

[0063] The movement principle of the robotic arm 32 and the gantry frame body 31 is as follows: the X-axis servo motor drives the X-axis rotary screw to rotate, which in turn drives the X-axis slider plate to move along the X-axis direction on the X-axis slide rail (moving the X-axis slider plate on the X-axis slide rail can prevent the robotic arm 32 from deviating during movement), and the X-axis slider plate drives the robotic arm 32 to move along the X-axis direction. The Z-axis servo motor drives the Z-axis rotary screw to rotate, and the Z-axis slider plate moves along the Z-axis direction on the Z-axis slide rail (moving the Z-axis slider plate on the Z-axis slide rail can prevent the robotic arm 32 from deviating during movement), and then the robotic arm 32 moves along the Z-axis direction.

[0064] Each centering clamping mechanism 23 is movably connected to the worktable 1 via an X-axis left and right rotary ball screw pair. The structure and movement principle of the X-axis left and right rotary ball screw pairs of several centering clamping mechanisms 23 are similar to the above-mentioned X-axis ball screw pairs. Moreover, the left and right rotary ball screw pairs are mature and well-known technologies, and will not be described in detail here.

[0065] The tail clamping mechanism 22 and the gantry frame body 31 are both movably connected to the worktable 1 through the Y-axis rolling screw pair. The structure and movement principle of the gantry frame body 31 and the tail clamping mechanism 22 are similar to those of the X-axis rolling screw pair mentioned above. Moreover, the rolling screw pair is a mature and well-known technology, and will not be described in detail here.

[0066] Please return to the reference. Figure 1In some examples, bellows flexible plates 12 are provided on the side of the crossbeam 312 facing the robotic arm 32, the side of the robotic arm 32 facing the crossbeam 312, and above the X-axis left-right and Y-axis rolling screw pairs. The bellows flexible plates 12 cover each rolling screw pair (e.g., X-axis rolling screw pair, X-axis left-right rolling screw pair, Y-axis rolling screw pair, and Z-axis rolling screw pair) to prevent dust from falling onto the rolling screw pairs and affecting equipment operation, thus extending the service life of the rolling screw pairs. Furthermore, the bellows flexible plates 12 have good tensile and compressive properties. When the gantry frame body 31, several sets of centering and clamping mechanisms 23, the robotic arm 32, and the tail clamping mechanism 22 move under the drive of the servo motor, the bellows flexible plates 12 can stretch or compress accordingly using their properties. In this way, the bellows flexible plates 12 not only prevent dust but also maintain the normal operation of the rolling screw pairs.

[0067] In other examples, protective covers 11 are provided on the outer periphery of both the X-axis left-right rotary ball screw pair and the Y-axis rotary ball screw pair. That is, the rotary ball screw pairs connected to the worktable 1 are all equipped with protective covers 11. This protects the X-axis left-right rotary ball screw pairs and the Y-axis rotary ball screw pairs, preventing other components in the production environment from accidentally contacting them and ensuring the safe operation of the automated positioning device.

[0068] In other examples, the X-axis rolling screw pair, the X-axis left and right rotating rolling screw pair, the Y-axis rolling screw pair, and the Z-axis rolling screw pair can also be covered with a flexible bellows cover. Moreover, the flexible bellows cover is a one-piece molded structure. In this way, the flexible bellows cover can not only prevent dust but also protect the X-axis left and right rotating rolling screw pair and the Y-axis rolling screw pair. The structure is simple and saves the cost of manufacturing the protective cover 11.

[0069] Please continue reading. Figure 4 In some embodiments, the centering clamping mechanism 23 may include a front group and a rear group. The front group is close to the head limiting mechanism 21, and the rear group is close to the tail clamping mechanism 22. The two clamping members 231 of the front group are provided with a clearance notch 2311 extending from the upper end to the middle area on the side away from the clamping surface 2312. In this way, by setting the clearance notch 2311, the collision between the robotic arm 32 and the two clamping members 231 of the front group can be avoided when the robotic arm 32 drives the pallet positioning mechanism 33 to move along the Z-axis direction, thereby ensuring the safety of the robotic arm 32 during the movement process.

[0070] In some embodiments, the positioning device 2 may further include a support platform 25, which is located between the workpiece carrying mechanism 24 and the tail clamping mechanism 22, and the height of the support platform 25 is the same as the height of the workpiece carrying mechanism 24. This allows the automated positioning device to support workpieces 100 of various lengths, increasing its applicability; furthermore, the support platform 25 provides auxiliary support for the workpiece 100, increasing the support area of ​​the automated positioning device and ensuring the stability of the workpiece 100 during the support process.

[0071] In some examples, a limiting baffle 13 is provided between the two clamping members 231. The long side of the limiting baffle 13 extends along the length direction of the workpiece 100, and the short side extends along the width direction of the workpiece 100. In this way, by setting the limiting baffle 13, the two clamping members 231 can be prevented from colliding, thus protecting the clamping members 231.

[0072] In other examples, the long side of the limiting baffle 13 may extend along the width direction of the workpiece 100, and the short side of the limiting baffle 13 may extend along the length direction of the workpiece 100. The main purpose is to prevent the two clamping members 231 from colliding.

[0073] For example, the shape of the limiting baffle 13 includes, but is not limited to, cuboid, cube, cylinder, sphere and other irregular shapes.

[0074] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An automated positioning device, characterized in that, include: Workbench (1); A positioning device (2), disposed on the worktable (1), is used to clamp and position the workpiece (100), comprising: The head limiting mechanism (21) is fixedly connected to the worktable (1) and has a limiting surface (211) that abuts against one end of the head of the workpiece (100). The tail clamping mechanism (22) is movably disposed on the worktable (1), and is disposed opposite to the head limiting mechanism (21) and is used to push the tail of the workpiece (100) toward the head limiting mechanism (21). Several sets of centering clamping mechanisms (23) are arranged at intervals along the length direction of the workpiece (100). Each set includes two clamping members (231) that can be relatively close to or far apart, for clamping the side wall of the workpiece (100). The workpiece bearing mechanism (24) is fixed to the worktable (1) and is used to support the workpiece (100). The gantry moving device (3) includes: The main body of the gantry frame (31) is capable of moving back and forth along the workbench (1); The robotic arm (32) is movably connected to the gantry body (31) and has a pallet positioning mechanism (33) that can be raised and lowered in the vertical direction. The pallet positioning mechanism (33) is used to install the pallet (4) and can abut the pallet (4) against the outer peripheral wall of the workpiece (100).

2. The automated positioning device according to claim 1, characterized in that, The positioning device (2) further includes a support platform (25), which is located between the workpiece support mechanism (24) and the tail clamping mechanism (22), and the height of the support platform (25) is the same as the height of the workpiece support mechanism (24).

3. The automated positioning device according to claim 1, characterized in that, The tail clamping mechanism (22) has a clamping frame (222) on its clamping surface (221). One side of the clamping frame (222) is detachably connected to the tail clamping mechanism (22), and the other side of the clamping frame (222) is used to push the tail of the workpiece (100) toward the head limiting mechanism (21).

4. The automated positioning device according to claim 1, characterized in that, The gantry frame body (31) is provided with an X-axis rolling screw pair, and the robotic arm (32) is provided with a Z-axis rolling screw pair; the robotic arm (32) is driven to move along the width direction of the workpiece (100) through the X-axis rolling screw pair, and the robotic arm (32) is driven to move along the height direction of the workpiece (100) through the Z-axis rolling screw pair. Each of the centering clamping mechanisms (23) is movably connected to the worktable (1) via a left-right rotating lead screw pair along the X-axis; The tail clamping mechanism (22) and the gantry frame body (31) are movably connected to the worktable (1) via a Y-axis rolling screw pair; Among them, the X-axis rolling screw pair is located on the side facing the robotic arm (32), the Z-axis rolling screw pair is located on the side facing the gantry frame body (31), and the X-axis left and right rotating rolling screw pair and the Y-axis rolling screw pair are all provided with accordion flexible plates (12); the outer periphery of the X-axis left and right rotating rolling screw pair and the Y-axis rolling screw pair are all provided with protective covers (11).

5. The automated positioning device according to claim 1, characterized in that, A limiting baffle (13) is provided between the two clamping members (231). The long side of the limiting baffle (13) extends along the length direction of the workpiece (100), and the short side of the limiting baffle (13) extends along the width direction of the workpiece (100).

6. The automated positioning device according to claim 1, characterized in that, On the bearing surface (241) of the workpiece bearing mechanism (24) and on the clamping surface (2312) of the several sets of centering clamping mechanisms (23), there are several spaced pads (23a). The pads (23a) on the clamping surface (2312) are distributed along the height direction of the workpiece (100), and the pads (23a) on the bearing surface (241) are distributed along the length direction of the workpiece (100).

7. The automated positioning device according to claim 6, characterized in that, The centering clamping mechanism (23) includes a front group and a rear group. The two clamping members (231) of the front group are provided with a clearance notch (2311) extending from the upper end to the middle area on the side away from the clamping surface (2312).

8. The automated positioning device according to claim 1, characterized in that, The pallet (4) is provided with multiple pallets spaced apart along the width direction of the workpiece (100). The pallet positioning mechanism (33) is provided with a fixed shaft (331) on one side facing the width direction of the workpiece (100). The pallet (4) is provided with a through hole (41). The pallet (4) is sleeved on the fixed shaft (331) through the through hole (41). The end of the pallet (4) away from the through hole (41) is fixedly connected to the workpiece (100). A spacer sleeve (3311) is sleeved on the fixed shaft (3311). The spacer sleeve (3311) is located between two adjacent pallets (4).

9. The automated positioning device according to claim 8, characterized in that, A reinforcing horizontal plate (5a) and a reinforcing vertical plate (5b) are fixedly connected between the two trays (4). The reinforcing horizontal plate (5a) is located above the reinforcing vertical plate (5b). The two ends of the reinforcing horizontal plate (5a) are fixedly connected to the trays (4) on the same side, and the two ends of the reinforcing vertical plate (5b) are fixedly connected to the trays (4) on the same side.

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