Alignment device and alignment method for workpiece

Abstract

An alignment device and alignment method for a workpiece (100). The alignment device for the workpiece (100) comprises: a base (2); a push rod assembly (1) disposed on the base (2) and used for abutting against the workpiece (100); an adjustment device connected to the push rod assembly (1) and used for adjusting the position of the push rod assembly (1) in a horizontal direction and / or a vertical direction; and a driving mechanism (3) connected to the push rod assembly (1) and used for driving the push rod assembly (1) to move towards the area of the workpiece (100) to be aligned, and push the workpiece (100).

Description

Workpiece alignment device and alignment method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent applications with application number 202410621334.4 filed with the Chinese Patent Office on May 20, 2024, entitled “Workpiece alignment method, device, system and electronic equipment, storage medium”, and with application number 202311635672.5 filed with the Chinese Patent Office on December 1, 2023, entitled “Workpiece alignment device and alignment method”, and all contents of which are incorporated into this application by reference. Technical Field

[0003] The present application relates to the technical field of workpiece processing, and in particular to a workpiece alignment device and an alignment method. Background Art

[0004] Currently, the workpieces processed by CNC machining centers, CNC boring machines, deep hole drills, and EDM machines for molds and non-standard parts are relatively heavy, weighing hundreds of kilograms or even dozens of tons. The work of calibrating the workpiece is generally done by workers. A dial indicator is installed on the outside of the workpiece, and the measuring end of the dial indicator is brought into contact with the workpiece reference. The percentage value is observed and, if the percentage value changes significantly, a jack or a crowbar is used to adjust the workpiece position. The above adjustment method takes a long time to adjust and is labor-intensive for workers, resulting in low production and processing efficiency of the workpiece. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems, the present application provides a workpiece alignment device and alignment method, which can improve the alignment accuracy of the workpiece and reduce manual and operational errors.

[0006] This application is implemented using the following technical solutions:

[0007] A workpiece alignment device comprises: a base; a push rod assembly, arranged on the base and used to abut against the workpiece; an adjustment device, connected to the push rod assembly, the adjustment device being used to adjust the horizontal orientation and / or vertical position of the push rod assembly; and a drive mechanism, connected to the push rod assembly, being used to drive the push rod assembly to move toward the area to be aligned of the workpiece and to push the workpiece.

[0008] Optionally, the adjusting device includes a lifting mechanism, which is connected to the driving mechanism and can be used to adjust the height of the push rod assembly.

[0009] Optionally, the adjustment device includes a rotating mechanism connected to the base and used to control the rotation of the base.

[0010] Optionally, the adjustment device includes a moving mechanism, which is located below the base and drives the ejector assembly to move and correspond to the workpiece.

[0011] Optionally, the push rod assembly includes a rod body and a movable part, and the movable part is slidably connected to the rod body; a displacement sensor is provided in the rod body, and one end of the displacement sensor is connected to the movable part.

[0012] Optionally, the push rod assembly also includes a seal, which is arranged at the opening position of the rod body, and the movable part passes through the seal; one end of the driving mechanism is also provided with a bracket and a roller, and the roller can rotate relative to the bracket, the bracket is connected to the driving mechanism, and the push rod assembly is overlapped on the roller.

[0013] Optionally, the push rod assembly includes an elastic member, and an abutment block spaced apart from the movable member is provided in the rod body, and both ends of the elastic member abut against the movable member and the abutment block respectively.

[0014] Optionally, the driving mechanism includes a guide rail and a nut seat, the nut seat can slide along the guide rail, and the nut seat is connected to the push rod assembly; the driving mechanism also includes a lead screw, the lead screw is located between the two guide rails, and the nut seat can move along the lead screw.

[0015] In a second aspect, the present application provides an alignment method, which is applied to the workpiece alignment device provided in the first aspect; the method comprises: driving the alignment device to move to a specified position;

[0016] According to the comparison relationship between the number of the push rod assemblies and a preset value, the push rod assemblies are driven to move to touch or push the workpiece.

[0017] Optionally, if the number of the ejector rod assemblies is equal to the preset value;

[0018] The step of driving the push rod assembly to move to touch or push the workpiece according to the comparison relationship between the number of the push rod assemblies and a preset value includes:

[0019] Determine a reference surface among multiple sides of the workpiece, determine two reference points on the reference surface, and calculate the distance difference between the two reference points and the X-axis or the Y-axis to determine the area of ​​the workpiece to be aligned;

[0020] The area to be aligned is used as the pushed area, and the workpiece is pushed to be aligned by pushing the area to be aligned.

[0021] The distance difference between the two reference points and the X-axis or the distance difference to the Y-axis is calculated again to redefine the area to be aligned of the workpiece, and the redetermined area to be aligned is pushed again to push the workpiece for alignment until the distance difference between the two reference points and the X-axis or the distance difference to the Y-axis is zero or within the allowable tolerance range.

[0022] Optionally, the area to be aligned serves as the pushed area, and the step of pushing the area to be aligned to push the workpiece to move for alignment further includes:

[0023] The distance difference between the two reference points and the X-axis is defined as the first difference, and the distance difference between the two reference points and the Y-axis is defined as the second difference;

[0024] The area to be aligned of the workpiece is pushed so that the area to be aligned moves along the Y axis by a distance less than the first difference or moves along the X axis by a distance less than the second difference.

[0025] Optionally, the step of determining a reference surface among multiple side surfaces of the workpiece, determining two reference points on the reference surface, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece includes:

[0026] Determine two reference points on the preset reference surface, and use the probe to detect the distance difference between the two reference points and the X-axis or Y-axis to determine the area to be aligned.

[0027] Optionally, the step of determining a reference surface among multiple side surfaces of the workpiece, determining two reference points on the reference surface, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece includes:

[0028] The side of the workpiece facing the ejector assembly is the reference surface. The ejector assembly moves toward two different areas of the reference surface of the workpiece respectively. The area to be aligned is determined by judging the difference in the moving distance of the ejector assembly.

[0029] Optionally, the step of determining a reference surface among multiple side surfaces of the workpiece, determining two reference points on the reference surface, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece further includes:

[0030] The processing equipment drives the workpiece to move at least twice. Each time the workpiece stops, the push rod assembly is aligned with different areas of the reference surface and moves toward different areas of the workpiece reference surface respectively, abutting against the reference surface. The movable part and the abutment block abut against each other to reach the set contact point, and the movement data of different areas are measured respectively to determine the area to be aligned.

[0031] Optionally, the step of determining a reference surface among multiple side surfaces of the workpiece, determining two reference points on the reference surface, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece includes:

[0032] The workpiece is stationary, and the adjustment device drives the push rod assembly to move at least twice relative to the workpiece so that the push rod assembly can align with different areas of the reference surface. The driving mechanism drives the push rod assembly to move toward different areas, and the movable part and the abutment block abut against each other to reach the set contact point. The movement data of different areas are measured respectively to determine the area to be aligned.

[0033] Optionally, if the number of the ejector rod assemblies is greater than the preset value;

[0034] The step of driving the push rod assembly to move to touch or push the workpiece according to the comparison relationship between the number of the push rod assemblies and a preset value includes:

[0035] Determining the initial extension amount of each push rod assembly according to a preset mapping relationship;

[0036] For each of the push rod assemblies, driving the push rod assembly to move to obtain an initial extension amount corresponding to the push rod assembly;

[0037] All the ejector pin assemblies are driven to move synchronously until each ejector pin assembly abuts against the workpiece.

[0038] Optionally, the step of driving the alignment device to move to a specified position includes:

[0039] driving the alignment device to move along the guide rail to determine whether the current signal from the signal receiving end is empty;

[0040] If not, the current position is determined as the designated position.

[0041] Optionally, after the step of driving the alignment device to move to a specified position, the method further comprises:

[0042] Obtaining the orientation information of the workpiece;

[0043] The adjusting device is driven according to the direction information so that the moving end of the ejector assembly faces the workpiece.

[0044] Optionally, before the step of obtaining the direction information of the workpiece, the method further includes:

[0045] Get the height information of the workpiece;

[0046] The adjusting device is driven according to the height information so that the ejector assembly and the workpiece are in the same plane.

[0047] Optionally, after the step of driving all the ejector rod assemblies to move synchronously until each ejector rod assembly abuts against the workpiece, the method further comprises:

[0048] Obtaining the current position of the alignment device;

[0049] Calculating the offset information between the current position and the specified position;

[0050] The pushing distances of the plurality of push rod assemblies are adjusted according to the offset information.

[0051] Compared with the prior art, the alignment device of the present application has the following advantages and positive effects:

[0052] The alignment device of the present application adjusts the position of the push rod assembly in the horizontal and / or vertical directions through the adjustment device, so that the push rod assembly can be aligned with workpieces in different directions, thereby improving the adjustment accuracy of the alignment device. At the same time, the driving mechanism can drive the push rod assembly to move toward the area to be aligned of the workpiece and push the workpiece, thereby achieving the purpose of aligning the workpiece, reducing errors in manual operations and reducing labor costs.

[0053] After reading the detailed description of the embodiments of the present application in conjunction with the accompanying drawings, other features and advantages of the present application will become more apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] FIG1 is a schematic structural diagram of a workpiece alignment device provided in an embodiment of the present application;

[0055] FIG2 is a schematic structural diagram of a workpiece alignment device provided in an embodiment of the present application from another perspective;

[0056] FIG3 is a schematic structural diagram of a push rod assembly provided in an embodiment of the present application;

[0057] FIG4 is a schematic cross-sectional view of the structure taken along line AA in FIG3 ;

[0058] FIG5 is a front view of a workpiece alignment device provided in an embodiment of the present application;

[0059] FIG6 is a schematic cross-sectional view of the structure taken along line AA in FIG5 ;

[0060] FIG7 is a schematic diagram of a partially enlarged structure in FIG6 ;

[0061] FIG8 is a schematic structural diagram of a rotating structure of a workpiece alignment device provided in an embodiment of the present application;

[0062] FIG9 is a schematic structural diagram of another workpiece alignment device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The specific implementation of the present application is described in detail below with reference to the accompanying drawings.

[0064] As shown in Figures 1, 2 and 6, the workpiece alignment device provided in this embodiment includes a base 2, which is used to support the push rod assembly 1 and the driving mechanism 3. The base 2 can be adjusted in the horizontal and / or vertical direction by an adjustment device, and the push rod assembly 1 on the base 2 is further set toward the workpiece 100, so that the push rod assembly 1 is aligned with the workpiece 100. At the same time, the driving mechanism 3 can drive the push rod assembly 1 to move toward the area to be aligned of the workpiece 100 and push the workpiece 100 to achieve alignment of the workpiece 100. Through the alignment device provided in this embodiment, the output cost of manpower and the errors caused by manual alignment are reduced, and the automated alignment of the workpiece 100 is also achieved.

[0065] Optionally, the connection described in this embodiment can be a direct connection or an indirect connection, and the connection between the top rod assembly 1 and the base 2 is an indirect connection, that is, the connection between the top rod assembly 1 and the base 2 is achieved through the lifting mechanism 7 and the driving mechanism 3.

[0066] Optionally, there may be one or more push rod assemblies 1 .

[0067] Optionally, the adjustment device includes multiple mechanisms, some of which are responsible for adjusting the horizontal position of the top rod assembly 1, and other mechanisms are responsible for adjusting the vertical direction of the top rod assembly 1. Sometimes, the vertical height position of the top rod assembly 1 can be adjusted by the lifting mechanism 7, or the horizontal position of the top rod assembly 1 can be adjusted by the rotating mechanism 6 or the moving mechanism 8; in some cases, it is necessary for the above-mentioned multiple mechanisms to work simultaneously to adjust the horizontal and vertical positions of the top rod assembly 1 at the same time.

[0068] As shown in Figures 2 and 5, the alignment device of this embodiment optionally further includes a probe 91. Probe 91 is connected to the processing equipment 9 and positioned above the workpiece 100. Probe 91 can be used to obtain position data of any two points on the same plane on either side of the workpiece 100. The processing equipment obtains the distance difference between the two reference points and the X-axis or the Y-axis and sends it to the host computer system, or the host computer system reads the position data, and the host computer system or PLC can determine the area of ​​the workpiece 100 to be aligned. Probe 91 and the host computer system are electrically connected to the host computer system. Probe 91 selects a reference point on a preset reference plane. The reference plane can be a side parallel to the X-axis or a side parallel to the Y-axis. If the reference plane is parallel to the X-axis, the difference in distance between the two reference points and the X-axis is determined to determine whether the workpiece 100 needs alignment. If the side parallel to the Y-axis is selected, the difference in distance between the two reference points and the Y-axis is determined to determine whether the workpiece 100 needs alignment.

[0069] Optionally, the probe 91 is driven to move by the processing equipment 9 so that the contact of the probe 91 contacts the reference surface at least twice, thereby obtaining the coordinates of two reference points.

[0070] For example: the probe 91 moves to one of the side surfaces of the workpiece 100 and is spaced apart from the side surface, then moves toward the side surface so that the contactor contacts the side surface, and the contact position is the reference point, then contacts a different position of the same side surface again, and the contact position is another reference point, thereby determining two reference points. In addition, during the contact process, the probe will also measure the coordinate value of the reference point. The processing equipment 9 measures the coordinate system through the probe 91 and sends it to the host computer system, or the coordinate system is read by the host computer system, and the host computer system or PLC determines whether the workpiece 100 needs to be aligned. At the same time, it can further determine which reference point of the workpiece 100 needs to be aligned and determine the alignment data. Preferably, it is the side facing the push rod assembly 1. Of course, the two reference points contacted by the probe 91 are as close to the two ends of the reference surface of the workpiece 100 as possible, so that the push rod assembly 1 can push the workpiece 100 and align the workpiece 100. If the distance between the two reference points is too close, the error will be large. Since the probe 91 moves according to the initial coordinate system, after the probe contacts the two reference points, the coordinates of the two reference points will also be determined. There will be a difference in the shortest distances from the two reference points on the side to the X-axis, indicating that the workpiece 100 is offset, and the Z-axis direction where the reference point with the shortest distance to the X-axis is located is the area to be aligned, because this area is closest to the push rod assembly 1. Pushing this area by the push rod assembly 1 can move the area to be aligned away from the X-axis, so that the distances from the two reference points to the X-axis are equal or the difference is within the tolerance range, thereby achieving alignment of the workpiece 100. For example: the two reference points are point A and point B. For example, the distance from point A to the X-axis is 10 cm, and the distance from point B to the X-axis is 5 cm. At this time, the Z-axis direction of point B is the area to be aligned, because this area is closest to the push rod assembly 1. The push rod assembly 1 pushes the area near point B, so that the workpiece 100 at the end of point B moves away from the X-axis direction, that is, along the Y-axis direction, so that the distances from both ends A and B to the X-axis are equal or within the tolerance range, thereby realizing automatic alignment of the workpiece 100.

[0071] Of course, in some cases, the preset reference plane may be based on the Y-axis. For example, two reference points A and B are selected on the side facing the Y-axis. The distance from point A to the Y-axis is 10 cm, and the distance from point B to the Y-axis is 5 cm, indicating that point B is closer to the push rod assembly 1. The Z-axis direction where point B is located is the area to be aligned.

[0072] Optionally, the initial coordinate system can be that the processing equipment 9 takes the length direction of the first ground rail 82 or the processing equipment 9 as the X-axis and the width direction of the first ground rail 82 or the processing equipment 9 as the Y-axis.

[0073] Optionally, the alignment device also includes a host computer system (not shown in the figure), which is electrically connected to the probe 91 and the processing equipment 9. When the probe 91 determines that the workpiece 100 is offset, it will send instructions to the drive mechanism 3 and the adjustment device to control the push rod assembly 1. The processing equipment 9 measures the coordinate system through the probe 91. The processing equipment 9 will obtain the coordinate values ​​of the two reference points and upload them to the host computer system or the host computer system reads the coordinate system. The host computer system or PLC determines whether the workpiece 100 needs to be aligned. At the same time, it can further determine which reference point of the workpiece 100 needs to be aligned and determine the alignment data.

[0074] Optionally, the host computer system can also calculate how much force is needed to push the area to be aligned of the workpiece 100 to move a distance of half the first difference along the Y-axis or a distance of half the second difference along the X-axis. The above calculation process can be calculated through programming with existing technology. At the same time, it is also necessary to consider comprehensive factors such as the weight of the workpiece 100 itself and the acceleration and speed of the push rod assembly 1 and the friction between the workpiece 100 and the suction cup 10.

[0075] Of course, the distance that the area to be aligned of the workpiece 100 is moved along the Y-axis may be smaller than the first difference, or the distance that is moved along the X-axis may be smaller than the second difference.

[0076] As shown in FIG. 2 and FIG. 5 , optionally, the probe 91 is mounted on the spindle of the processing equipment 9 .

[0077] As shown in Figures 1 and 2, optionally, the workpiece 100 is generally placed horizontally on the suction cup 10 of the processing equipment 9 and placed along the X-axis. However, the workpiece 100 may be offset, that is, the axis of the workpiece 100 along the X-axis direction may be offset relative to the X-axis, with one end being closer to the ejector assembly 1, or the other end being closer to the ejector assembly 1. The area to be aligned in this embodiment refers to the area where the workpiece 100 is closer to the end of the ejector assembly 1. Because when the ejector assembly 1 pushes the area to be aligned, the area of ​​the workpiece 100 closer to the end of the ejector assembly 1 will move away from the X-axis, so as to ensure that one axis of the workpiece 100 is parallel to the X-axis, thereby achieving the purpose of aligning the workpiece 100.

[0078] Optionally, the workpiece 100 can be transported to the suction cup 10 by automatic loading and unloading equipment, such as a transport vehicle.

[0079] As shown in Figure 1, as an embodiment, the adjustment device includes a lifting mechanism 7, which is connected to the driving mechanism 3 and can be used to adjust the height of the push rod assembly 1. By setting the lifting mechanism 7, the height position of the push rod assembly 1 can be adjusted so that the push rod assembly 1 can be aligned with the workpiece 100, thereby improving the accuracy of the alignment device in aligning the workpiece 100.

[0080] As shown in Figures 2, 5, and 6, the drive mechanism 3 optionally includes a guide rail seat 31, on which a guide rail 32 is mounted. The lifting mechanism 7 includes a first drive motor 71, a lifting guide rail 72, and a lifting seat 73. The first drive motor 71 can drive the lifting seat 73 to slide along the lifting guide rail 72. The lifting guide rail 72 is arranged in a vertical direction, thereby adjusting the height position of the push rod assembly 1. The guide rail seat 31 is mounted on the lifting seat 73. When the lifting seat 73 moves in the vertical direction, it also drives the guide rail seat 31 to move in the vertical direction.

[0081] As shown in Figures 2, 5 and 6, as an embodiment, the adjustment device includes a rotating mechanism 6, which is connected to the base 2 and is used to control the rotation of the base 2. By setting the rotating mechanism 6, the base 2 can be driven to rotate, and the push rod assembly 1 can be further driven to rotate, so that the push rod assembly 1 can achieve 360° circular rotation, which makes it easier for the push rod assembly 1 to align with the workpiece 100 in different directions, which is beneficial to the construction within the factory, and can also improve the alignment accuracy of the alignment device for the workpiece 100.

[0082] As shown in Figures 5, 6 and 8, optionally, the rotating mechanism 6 includes a rotating bearing 61 and a second drive motor 62, and the second drive motor 62 is transmission-connected to the rotating bearing 61. The rotating bearing 61 and the second drive motor 62 are arranged below the base 2. The rotating bearing 61 has a fixed part 611 and a rotating part 612. The rotating part 612 is rotatably arranged on the inner peripheral side of the fixed part 611, and the rotating part 612 can rotate relative to the fixed part 611. The second drive motor 62 is fixed on the outer peripheral side of the fixed part 611, and the fixed part 611 of the rotating bearing 61 is respectively fixedly connected to the base 83. The rotating part 612 of the rotating bearing 61 is connected to the base 2 for driving the base 2 to rotate. Since the fixed part 611 is connected to the base 83, when the moving mechanism 8 moves, it can drive the base 2 and the top rod assembly 1 to move.

[0083] By setting up the rotating mechanism 6, the rotation of the base 2 is realized, and the rotation of the push rod assembly 1 is further realized. When the workpiece 100 is located on different sides of the first ground rail 82, the direction of the push rod assembly 1 can be adjusted by the rotating mechanism 6 so that the push rod assembly 1 can be aligned with the workpiece 100, which facilitates the alignment of the workpiece 100 by the alignment device.

[0084] As shown in Figures 1, 2, 5 and 6, as an embodiment, the adjustment device includes a moving mechanism 8, which is located below the base 2. The moving mechanism 8 drives the push rod assembly 1 to move in the X-axis direction, so that the push rod assembly 1 can correspond to or be aligned with the workpiece 100. The moving mechanism 8 cooperates with the driving mechanism 3 to enable the push rod assembly 1 to move accurately toward the workpiece 100 in the horizontal direction.

[0085] As shown in Figures 1 and 6, optionally, the moving mechanism 8 includes a third drive motor 81, a first ground rail 82 and a base 83. The base 83 can slide relative to the first ground rail 82. The base 83 is connected to the rotating mechanism 6. When the base 83 slides relative to the first ground rail 82, it can drive the rotating mechanism 6, the drive mechanism 3 and the top rod assembly 1 to move synchronously. The third drive motor 81 is configured to drive the base 83 to move on the first ground rail 82.

[0086] As shown in Figures 1 and 6, optionally, the moving mechanism 8 also includes a pulley 84 with teeth arranged under the base 83. The first ground rail 82 is toothed, and the teeth on the pulley 84 can engage with the teeth on the first ground rail 82, thereby enabling the base 83 to slide relative to the first ground rail 82.

[0087] The position of the ejector assembly 1 in the X-axis direction of the horizontal plane is adjusted by the moving mechanism 8, which facilitates the ejector mechanism to align with the workpiece 100, thereby improving the alignment accuracy of the alignment device, while also reducing labor costs and realizing automated alignment.

[0088] As shown in FIG. 1 and FIG. 6 , optionally, the moving mechanism 8 further includes a second ground rail 85 arranged parallel to the first ground rail 82 , and the base 83 can slide relative to the second ground rail 85 , thereby improving the smoothness of the moving mechanism 8 .

[0089] As shown in FIG. 5 , optionally, the moving mechanism 8 further includes a base 86 , and the first ground rail 82 and the second ground rail 85 are both mounted on the base 86 . The base 86 provides a stable supporting structure for the first ground rail 82 and the second ground rail 85 .

[0090] As shown in Figures 1, 4 and 7, as an embodiment, the push rod assembly 1 includes a rod body 11 and a movable part 17. The movable part 17 is slidably connected to the rod body 11 so that the movable part 17 can move relative to the rod body 11. A displacement sensor 15 is provided in the rod body 11. One end of the displacement sensor 15 is connected to the movable part 17, and the other end can be electrically connected to the drive mechanism 3 through a wire or other wireless transmission methods. When the movable part 17 can no longer move, the displacement sensor 15 also reaches the set contact point. The set contact point is a preset detection point and can also be the starting point of the top alignment data. The displacement sensor 15 can transmit an electrical signal to the drive mechanism 3. The host computer system or PLC enables the drive mechanism 3 to continue to push the workpiece 100 through the push rod assembly 1 to achieve the purpose of alignment.

[0091] As shown in Figures 4 and 7, optionally, a first accommodating groove 16 is provided in the rod body 11, and the movable part 17 can move in the first accommodating groove 16. When the end of the movable part 17 abuts against the workpiece 100, the speed of the rod body 11 slows down. At this time, the driving mechanism 3 will continue to drive the push rod assembly 1 to move toward the workpiece 100. When the movable part 17 contacts the bottom wall of the first accommodating groove 16 and can no longer move, the displacement sensor 15 also reaches the set contact point. The displacement sensor 15 gives a signal to the drive motor 33, where the workpiece 100 pushes to zero position, and the probe 91 measures the two reference points of the workpiece 100 toward the side of the rod body 11. Point, the distance difference between the two reference points and the X-axis is defined as the first difference, the upper computer system or PLC determines the area to be aligned, and the upper computer system or PLC controls the drive motor 33, and pushes the workpiece 100 through the push rod assembly 1, so that the area to be aligned can move along the Y-axis direction by half of the first difference. Of course, the area to be aligned can also be moved along the Y-axis by a distance less than the first difference, and then the rod body 11 is retracted, the first difference is repeatedly measured, and alignment is performed through the push rod assembly 1 until the difference is zero or within the allowable tolerance range, thereby realizing automatic alignment of the workpiece 100 and reducing the output cost of manpower and the errors caused by manual alignment.

[0092] Of course, the above is based on the X-axis. If the Y-axis is used as the reference, the principle is the same as that based on the X-axis. At the same time, the preset reference plane should also be the side surface based on the Y-axis. The distance difference between the two reference points and the Y-axis is defined as the second difference. The drive motor 33 drives the push rod assembly 1, so that the push rod assembly 1 pushes the area to be aligned along the X-axis direction by half of the second difference, and can also push the area to be aligned along the X-axis direction by a distance less than the second difference.

[0093] As shown in Figure 7, optionally, the displacement sensor 15 is composed of two parts, wherein the follower part 151 is connected to the movable part 17, and the transmission part 152 is spaced apart from the follower part 151, and the spacing distance is the depth of the first accommodating groove 16. When the movable part 17 abuts the bottom wall of the first accommodating groove 16, the movable part 17 cannot continue to move relative to the rod body 11. At this time, the follower part 151 and the transmission part 152 are in contact, and the transmission part 152 sends an electrical signal to the drive motor 33, so that the drive motor 33 can then drive the push rod assembly 1 to push the workpiece 100, so that the alignment device has a buffer period in the process of aligning the workpiece 100, thereby improving the alignment accuracy and avoiding the push rod assembly 1 directly pushing the workpiece 100, causing the workpiece 100 to move too large or too small a distance, resulting in inaccurate alignment.

[0094] As shown in Figures 3 and 4, as an embodiment, the top rod assembly 1 also includes a sealing member 13, which is arranged at the opening position of the rod body 11. The movable member 17 passes through the sealing member 13. By providing the sealing member 13, the movable member 17 can be easily installed, and the movable member 17 can also be limited to prevent the movable member 17 from falling out of the first accommodating groove 16.

[0095] As shown in Figures 4 and 7, as an embodiment, the push rod assembly 1 includes an elastic member 12, and an abutment block 14 is provided in the rod body 11, which is spaced apart from the movable member 17. The two ends of the elastic member 12 abut against the movable member 17 and the abutment block 14 respectively. By providing the abutment block 14, the abutment block 14 and the movable member 17 limit the activity space of the elastic member 12. In addition, by providing the elastic member 12, when the movable member 17 is not in contact with the workpiece 100, the elastic member 12 always provides elastic force to the movable member 17. When the movable member 17 contacts the workpiece 100, the movable member 17 will compress the elastic member 12, and when the movable member 17 contacts the workpiece 100, the movable member 17 will compress the elastic member 12. When the workpiece 100 just contacts, the movable part 17 will continue to compress the elastic part 12, so that the elastic part 12 provides a buffer space for the push rod assembly 1 to push the workpiece 100, and in the process of gradually compressing the elastic part 12, the follower part 151 and the transmission part 152 gradually approach each other. When the movable part 17 abuts against the bottom wall of the first accommodating groove 16 and cannot move further, the follower part 151 contacts the transmission part 152, and the transmission part 152 sends an electrical signal to the drive motor 33, so that the drive motor 33 pushes the workpiece 100 through the push rod assembly 1. During the movement of the movable part 17, the drive motor does not need to use high power to drive the push rod assembly, thereby reducing energy output.

[0096] Optionally, the elastic member 12 may be a spring, which is installed in the second accommodating groove, and the second accommodating groove is communicated with the first accommodating groove 16 .

[0097] Optionally, the follower portion 151 of the displacement sensor 15 passes through the abutment block 14 and is connected to the movable member 17 , and the transmission portion 152 of the displacement sensor 15 can be fixed to the rod body 11 through other block structures, or directly fixed in the rod body 11 .

[0098] As shown in Figures 2, 5 and 6, as an embodiment, the driving mechanism 3 includes a guide rail 32 and a nut seat 34. The nut seat 34 can slide along the guide rail 32. The nut seat 34 is connected to the push rod assembly 1. By setting the nut seat 34, a fixed support function is provided for the push rod assembly 1 to ensure the stability between the push rod assembly 1 and the driving mechanism 3.

[0099] Optionally, the driving mechanism 3 further includes a driving motor 33 , which can drive the nut seat 34 to slide along the guide rail 32 .

[0100] Optionally, the driving mechanism 3 further includes a lead screw 35 , which is located between the two guide rails 32 , and the nut seat 34 can move along the lead screw 35 to improve the stability of the nut seat 34 .

[0101] As shown in Figures 1 and 6, as an embodiment, a bracket 4 and a roller 5 are further provided at one end of the driving mechanism 3. The roller 5 can rotate relative to the bracket 4. The bracket 4 is connected to the driving mechanism 3. The top rod assembly 1 is overlapped on the roller 5, so that the roller 5 can provide support for the rod body 11. In addition, when the driving motor 33 drives the rod body 11 to move along the guide rail 32, the rod body 11 will cause the roller 5 to rotate synchronously during the movement, thereby improving the smoothness of the movement of the rod body 11 along the first track direction.

[0102] Optionally, the bracket 4 is installed on the guide rail seat 31 .

[0103] Example 2

[0104] The alignment method provided in this embodiment is applied to the alignment device provided in the first aspect, and the method includes:

[0105] S10, driving the alignment device to move to a specified position;

[0106] S20 . According to a comparison relationship between the number of the push rod assemblies and a preset value, drive the push rod assemblies to move so as to touch or push a workpiece.

[0107] As shown in FIG. 1 and FIG. 5 , in this embodiment, the preset value is 1, and the number of push rod assemblies in this embodiment is equal to the preset value, that is, the alignment device in this embodiment has one push rod assembly.

[0108] The step of driving the push rod assembly to move to touch or push the workpiece according to a comparison relationship between the number of the push rod assemblies and a preset value includes:

[0109] S1. Determine a reference surface among multiple side surfaces of the workpiece, determine two reference points on the reference surface, and calculate the distance difference between the two reference points and the X axis or the Y axis to determine the area of ​​the workpiece to be aligned;

[0110] S2, the area to be aligned is used as the pushed area, and the workpiece is pushed to move for alignment by pushing the area to be aligned;

[0111] S3. Calculate the distance difference between the two reference points and the X-axis or the Y-axis again to redefine the area to be aligned of the workpiece, and push the redetermined area to be aligned again to push the workpiece for alignment until the distance difference between the two reference points and the X-axis or the Y-axis is zero or within the allowable tolerance range.

[0112] Optionally, the determined reference surface is established to facilitate the push rod assembly to push the workpiece. Of course, according to the actual layout requirements of the processing equipment, two reference points can be determined on the reference surface by the probe, and the distance difference between the two reference points and the X-axis or the distance difference to the Y-axis is used to determine the area of ​​the workpiece to be aligned by the host computer system or PLC. This area is the area closest to the push rod assembly.

[0113] Whether the distance difference to the X axis or the distance difference to the Y axis is based on the reference plane determined by the actual probe.

[0114] Of course, in some cases, the reference surface can also be preset.

[0115] After determining the area to be aligned of the workpiece, the host computer system or PLC sends a signal to the adjustment device, and one or more of the lifting mechanism, rotating mechanism and moving mechanism cooperate to align the push rod assembly with the area to be aligned. The host computer system or PLC then sends a signal to the drive motor, so that the drive motor can make the push rod assembly push the workpiece to the area to be aligned, thereby achieving the alignment of the workpiece.

[0116] After the workpiece is pushed for the first time, the workpiece may still be offset in the X-axis direction. At this time, it is necessary to continue to align and recalculate the distance difference between the two reference points and the X-axis or the distance difference to the Y-axis. Since the workpiece has been pushed before, it is necessary to redetermine the area of ​​the workpiece to be aligned, and again push the push rod assembly to push the redetermined area to be aligned to achieve the purpose of pushing the workpiece for alignment. After multiple pushes, the distance difference between the two reference points and the X-axis or the distance difference to the Y-axis is zero or within the allowable tolerance range. The alignment process of the workpiece is completed, and an automated alignment process is realized, while also reducing labor costs.

[0117] Optionally, the preset reference plane can be defined as the side to which the push rod assembly points, thereby facilitating the alignment of the push rod assembly and shortening the moving distance of the push rod assembly. Of course, the reference plane can also be preset in advance, and the movement of the push rod assembly can be controlled by an adjustment device to align the push rod assembly with the reference plane.

[0118] As an embodiment, step S2, wherein the area to be aligned serves as the pushed area, and the workpiece is pushed to move for alignment by pushing the area to be aligned, further includes:

[0119] The difference in distances from the two reference points to the X-axis is defined as a first difference, and the difference in distances to the Y-axis is defined as a second difference; the area to be aligned of the workpiece is pushed so that the area to be aligned moves along the Y-axis by a distance less than the first difference or along the X-axis by a distance less than the second difference, thereby preventing the push rod assembly from pushing the workpiece to move too short or too far, thereby improving the accuracy of the workpiece alignment method.

[0120] Optionally, in some cases, the area to be aligned of the workpiece can be pushed so that the area to be aligned moves along the Y-axis by half the distance of the first difference or along the X-axis by half the distance of the second difference, because this can prevent the push rod assembly from pushing the area to be aligned far away, thereby reducing the number of alignment times for the workpiece; of course, in some cases, the moving distance can be adjusted according to actual conditions.

[0121] Optionally, when the X-axis is used as a reference, the pushed area to be detected moves along the Y-axis direction; when the Y-axis is used as a reference, the pushed area to be detected needs to move along the X-axis direction.

[0122] As an embodiment, in step S1, a reference surface is determined among multiple side surfaces of a workpiece, two reference points are determined on the reference surface, and the difference in distances between the two reference points and the X-axis or the Y-axis is calculated to determine the area of ​​the workpiece to be aligned. In this step, a probe is used to determine two reference points on a preset reference surface, and the area to be aligned is determined based on the detection results. The probe moves within the initial coordinate system of the machining equipment, which is a pre-set coordinate system, and the workpiece is measured by the movement of the probe.

[0123] The processing equipment moves based on the initial coordinate system according to a pre-set program. The probe moves along the X-axis or Y-axis and maintains a certain distance from the reference surface. Then, the probe moves toward the reference surface so that the contact on the probe contacts the reference surface. The contact position is the first reference point. Since the probe moves based on the initial coordinate system, the position where the probe contacts the reference surface will also determine the position of the reference point in the initial coordinate system through the host computer system. Then the probe contacts other positions of the reference surface, which is the second reference point. At the same time, the host computer system will also determine the position of the second reference point in the initial coordinate system. The processing equipment measures the coordinate value through the probe and sends it to the host computer system or the coordinate value is read by the host computer system. The host computer system or PLC determines whether alignment is required, which position requires alignment, and determines the alignment data.

[0124] In addition, the distance the probe moves can also be used to determine whether the workpiece needs to be aligned, because when the probe selects the reference point, it moves along the X-axis or Y-axis. For example, if it moves along the X-axis, two reference points are selected along the X-axis respectively. At the same time, each time it moves toward the reference plane, it moves along the Y-axis. If there is a difference between the two distances the probe moves along the Y-axis, and the difference is greater than the tolerance range, it means that the workpiece needs to be aligned; if it moves along the Y-axis, the same is true, which will not be repeated here.

[0125] That is, the probe will be driven to the reference surface of the workpiece through the processing equipment and contact the reference surface of the workpiece at least twice. The contact position is the selected reference point. The coordinates of the two reference points are determined by the positions of the two contacts. The processing equipment measures the coordinate value through the probe and sends it to the host computer system or the coordinate value is read by the host computer system. The host computer system or PLC determines whether alignment is required, which position requires alignment, and determines the alignment data.

[0126] Optionally, in this embodiment, before the push rod assembly aligns the workpiece, the push rod assembly needs to be aligned with the center position of the initial coordinate system, so that the upper computer system or PLC can control the push rod assembly to align the workpiece. At the same time, it can also shorten the movement distance of the push rod assembly during the alignment process, shorten the alignment time, and improve the alignment efficiency. In addition, after the push rod assembly aligns the workpiece each time, the adjustment device needs to adjust the movement of the push rod assembly so that the push rod assembly is aligned with the center position of the initial coordinate system for the next alignment.

[0127] As a parallel implementation, this embodiment differs from the above embodiments in that the area to be aligned of the workpiece does not need to be determined by a probe, but in step S1, the area to be aligned includes: the side of the workpiece facing the ejector assembly is the reference surface, the ejector assembly moves toward two different areas of the reference surface of the workpiece respectively, and abuts against the reference surface, the movable part and the abutment block abut to reach the set contact point, and the area to be aligned is determined by judging the difference in the moving distance of the ejector assembly. If the workpiece is offset, the moving distance of the ejector assembly to the two areas of the reference surface is different. For example, the area close to the ejector assembly will have a shorter distance to reach the area than the other areas. In this case, the area is the area to be aligned, and the ejector assembly is driven by the driving mechanism to push the workpiece.

[0128] As an implementation method, there are two different schemes for determining the area to be aligned by the push rod assembly, one of which is that the workpiece is moved relative to the push rod assembly along the X-axis direction through the processing equipment. During the movement, the push rod assembly is stationary. After the workpiece stops for the first time, the push rod assembly moves toward the reference plane of the workpiece and abuts against the reference plane. The movable part and the abutment block abut against each other to reach a set contact point. The first movement distance is calculated, and the push rod assembly withdraws to the initial position; then the workpiece moves relative to the push rod assembly again so that the push rod assembly can align with different areas of the same reference plane. After the movement stops, the push rod assembly moves toward the workpiece again and abuts against the reference plane. The movable part and the abutment block abut against each other to reach a set contact point. The movement distance is calculated, and the movement data of different areas are measured respectively to determine the area to be aligned. That is, if there is a difference between the two movement distances and the difference does not meet the tolerance range, it means that the workpiece is offset, and the area closest to the push rod assembly is the area to be aligned, then the host computer system or PLC controls the push rod assembly to align the workpiece, and the specific alignment process is consistent with the above;

[0129] Optionally, the processing equipment includes a conveyor belt, which can be used to transport the workpiece.

[0130] Optionally, an additional sensor may be placed on the rod body, which can detect the distance moved by the push rod assembly, or the distance moved by the nut seat along the guide rail seat.

[0131] Optionally, the processing equipment drives the workpiece to move at least twice so that the push rod assembly can push at least two different areas of the reference surface. However, sometimes, if the two reference points are too close to each other, the difference in the distance from the two selected reference points to the X-axis or the Y-axis may not meet the tolerance range. However, the workpiece actually needs to be aligned, which may result in the workpiece being missed. Therefore, the processing equipment needs to drive the workpiece to move again, and the push rod assembly needs to redefine the reference point and the area to be aligned.

[0132] Optionally, when the processing equipment drives the workpiece to move, the distance between the two reference points pushed by the push rod assembly should be as far as possible. This will make the difference in the distance from the two reference points to the X-axis or the Y-axis larger, and the determined area to be aligned will be more accurate, thereby improving the alignment accuracy.

[0133] Optionally, the position to which the workpiece needs to be moved is the center position of the initial coordinate system, so that the upper computer system or PLC can control the ejector assembly to align the workpiece. At the same time, it can also shorten the moving distance of the ejector assembly during the alignment process, shorten the alignment time, and improve the alignment efficiency. In addition, after the ejector assembly aligns the workpiece each time, the processing equipment needs to adjust the movement of the workpiece, and the position to which the workpiece moves is the center position of the initial coordinate system, so as to facilitate the next alignment.

[0134] Another method of determining the area to be aligned by the push rod assembly is: the workpiece is stationary, the adjustment device is used to adjust the position of the push rod assembly, so that the push rod assembly moves along the X-axis direction and aligns with the reference surface of the workpiece, and then the push rod assembly is driven to move toward the reference surface of the workpiece, the push rod assembly abuts against the reference surface, and when the movable part and the abutment block abut to reach the set contact point, the movement distance of the push rod assembly is calculated, and then the push rod assembly is retracted; the adjustment device causes the push rod assembly to move a certain distance along the X-axis direction again, so that the push rod assembly can face different areas of the same reference surface of the workpiece, the driving mechanism drives the push rod assembly to move toward the reference surface again, the push rod assembly abuts against the reference surface, and when the movable part and the abutment block abut to reach the set contact point, the movement distance of the push rod assembly is calculated, if there is a difference between the two movement distances, and the difference does not meet the tolerance range, it means that the workpiece is offset, and the area closest to the push rod assembly is the area to be aligned, then the host computer system or PLC controls the push rod assembly to align the workpiece, and the specific alignment process is consistent with the above. Of course, the host computer system or PLC will control the ejector assembly to push the workpiece multiple times to align the workpiece.

[0135] Optionally, the adjustment device drives the push rod assembly to move at least twice relative to the workpiece so that the push rod assembly can push at least two different areas of the reference surface. However, sometimes, if the two reference points pushed by the push rod assembly are too close to each other, the difference in the distance from the two selected reference points to the X-axis or the Y-axis may not meet the tolerance range, but the workpiece actually needs to be aligned, which may result in the workpiece being missed. Therefore, the adjustment device is required to drive the push rod assembly to move again, and the push rod assembly redetermines the reference point and the area to be aligned.

[0136] Optionally, when the adjustment device drives the push rod assembly to move, the two reference points pushed by the push rod assembly should be close to the two sides of the workpiece in the Z-axis direction. This will make the distance difference between the two reference points found to the X-axis or the Y-axis larger, and the determined area to be aligned will be more accurate, thereby improving the alignment accuracy.

[0137] Optionally, in the alignment method where the workpiece is stationary, the processing equipment and the first ground rail need to be parallel to the X-axis or Y-axis in advance so that the push rod assembly can determine whether the workpiece needs to be aligned.

[0138] Optionally, in this embodiment, before the push rod assembly aligns the workpiece, the push rod assembly needs to be aligned with the center position of the initial coordinate system, so that the upper computer system or PLC can control the push rod assembly to align the workpiece. At the same time, it can also shorten the movement distance of the push rod assembly during the alignment process, shorten the alignment time, and improve the alignment efficiency. In addition, after the push rod assembly aligns the workpiece each time, the adjustment device needs to adjust the movement of the push rod assembly so that the push rod assembly is aligned with the center position of the initial coordinate system for the next alignment.

[0139] Example 3

[0140] The alignment method provided in this embodiment is applied to the alignment device provided in the first aspect, and the method includes:

[0141] S10, driving the alignment device to move to a specified position;

[0142] S20 . According to a comparison relationship between the number of the push rod assemblies and a preset value, drive the push rod assemblies to move so as to touch or push a workpiece.

[0143] The preset value in this embodiment is 1, and the number of push rod assemblies in this embodiment is greater than the preset value, that is, the alignment device 200 includes a driving mechanism and a plurality of push rod assemblies 1 arranged in parallel and parallel, and the plurality of push rod assemblies 1 are all connected to the driving mechanism in a transmission manner to approach or move away from the suction cup 10.

[0144] Specifically, referring to FIG9 , there are two push rod assemblies in this embodiment.

[0145] In this embodiment, step S20, the step of driving the push rod assembly to move to touch or push the workpiece according to the comparison relationship between the number of the push rod assemblies and a preset value, includes:

[0146] S100, driving the alignment device to move to a specified position.

[0147] S200: Determine the initial extension amount of each push rod assembly according to a preset mapping relationship.

[0148] S300 , for each push rod assembly, driving the push rod assembly to move to obtain an initial extension amount corresponding to the push rod assembly.

[0149] S400, driving all the ejector pin assemblies to move synchronously until each ejector pin assembly abuts against the workpiece.

[0150] Specifically, the workpiece 100 in this embodiment is placed on the suction cup 10. Since the shape of the workpiece 100 is fixed, when the extension amount of the multiple push rod assemblies 1 reaches a preset value, the multiple push rod assemblies 1 abut against the outer wall of the workpiece to achieve alignment of the workpiece 100.

[0151] Since different workpieces 100 have different shapes and outer contours, the preset values ​​of the extension amounts of the plurality of ejector pin assemblies 1 can be changed according to different mapping relationships so as to be suitable for the alignment of different workpieces 100 .

[0152] During the alignment process, multiple push rod assemblies 1 move synchronously. When the workpiece is offset, some push rod assemblies 1 first abut against the side wall of the workpiece 100 and push the workpiece 100 to rotate, thereby changing the placement posture of the workpiece 100. When the workpiece 100 rotates to the processing position, all push rod assemblies 1 abut against the side wall of the workpiece 100. At this time, all push rod assemblies 1 stop pushing, and it is determined that the alignment of the workpiece 100 is completed.

[0153] This embodiment realizes the alignment of the workpiece 100 by a multi-point positioning method in which multiple push rod assemblies 1 are pushed and judged together. The workpiece 100 can be aligned with a single pushing action. The alignment takes a short time and is highly accurate, which can effectively improve production efficiency.

[0154] Among them, the alignment device 200 in this embodiment is arranged on the first ground rail 82 and the second ground rail 85 and moves along the first ground rail 82 and the second ground rail 85. A signal transmitting end is provided on the processing equipment 9, and a signal receiving end is provided on the alignment device 200. The signal transmitting end and the signal receiving end are both connected to the control mechanism.

[0155] Step S100, driving the alignment device to move to a specified position, includes:

[0156] S110, driving the alignment device to move along the guide rail to determine whether the current signal from the signal receiving end is empty.

[0157] S120: If not, determine the current location as the designated location.

[0158] Among them, the designated position in this embodiment is the position where the alignment device 200 facilitates the pushing and alignment of the workpiece 100. The alignment device 200 moves on the first ground rail 82 and the second ground rail 85 to adjust the position so that the push rod assembly 1 on the alignment device 200 can push and align the workpiece 100 on the suction cup 10.

[0159] Specifically, in this embodiment, the signal transmitting end is an infrared transmitter, and the signal receiving end is an infrared receiver. The infrared transmitter continuously emits infrared light while the alignment device 200 moves along the first and second floor rails 82 and 85. After the alignment device 200 reaches a designated position, the infrared receiver and the infrared transmitter are positioned opposite each other, and the infrared light emitted by the infrared transmitter is captured by the infrared receiver. At this point, the alignment device 200 reaches the designated position, and the alignment device 200 stops moving.

[0160] Among them, when the push rod assembly 1 pushes a workpiece with an irregular shape, in order to avoid the workpiece being pushed away and unable to rotate due to the bulging side of the workpiece, in this embodiment, when the alignment device 200 reaches the specified position, the center of the workpiece is opposite to the center of the alignment device 200, and the line connecting the center of the workpiece and the center of the alignment device 200 is parallel to multiple push rod assemblies 1, thereby ensuring that the push rod assembly 1 that first abuts against the workpiece can push the workpiece to rotate after abutting against the workpiece.

[0161] Furthermore, the adjustment device in this embodiment includes an angle adjustment mechanism. In this embodiment, after step S100, which is the step of driving the alignment device to move to a specified position, the following steps are included:

[0162] S150, obtaining direction information of the workpiece.

[0163] S160, driving the adjustment device according to the direction information so that the moving end of the ejector assembly faces the workpiece.

[0164] Specifically, the angle adjustment mechanism in this embodiment includes a motor and a slewing bearing. The output end of the motor is in transmission connection with the slewing bearing to drive the slewing bearing to rotate. The slewing bearing is mounted on the alignment device 200 and is connected to the multiple push rod assemblies 1. When the slewing bearing rotates, the multiple push rod assemblies 1 rotate together, thereby adjusting the push rod assemblies 1 to rotate together, so that the moving end of the push rod assembly 1 can be directed toward the workpiece, thereby ensuring that the push direction of the push rod assembly 1 is the intended direction.

[0165] In this embodiment, the adjustment device further includes a height adjustment mechanism, which is connected to the control mechanism and is disposed on the alignment device, and the height adjustment mechanism is respectively connected to the plurality of push rod assemblies.

[0166] Before step S150, the step of obtaining the direction information of the workpiece, the method further includes:

[0167] S130, obtaining height information of the workpiece.

[0168] S140, driving the adjustment device according to the height information so that the ejector assembly and the workpiece are in the same plane.

[0169] Specifically, in this embodiment, the height adjustment mechanism is a pneumatic cylinder, which is mounted on top of the slewing bearing, with the movable end of the cylinder facing upward and the cylinder driven in a vertical direction. The bottoms of the multiple push rod assemblies 1 are connected to the movable end of the cylinder, so that when the movable end of the cylinder moves upward, the multiple push rod assemblies 1 can move upward together, thereby adjusting the height of the push rod assemblies 1 so that the push rod assemblies 1 and the workpiece 100 are in the same plane, thereby ensuring that the push rod assemblies 1 can push the workpiece 100 to move.

[0170] As an implementable manner, the height adjustment mechanism can also be replaced by a matching structure of a motor and a screw rod, which can also achieve the adjustment of the height of the push rod assembly 1.

[0171] In this embodiment, the alignment device further includes a distance measuring mechanism, which is used to measure the distance information between the alignment device 200 and the processing equipment 9.

[0172] After the step S400 of driving all the ejector pin assemblies to move synchronously until each ejector pin assembly abuts against the workpiece, the method further includes:

[0173] S410, obtaining the current position of the alignment device.

[0174] S420: Calculate the offset information between the current position and the specified position.

[0175] S430: Adjust the pushing distances of the plurality of ejector pin assemblies according to the offset information.

[0176] Due to the heavy weight of the workpiece 100, the alignment device 200 is prone to displacement in the opposite direction of the push of the push rod assembly 1 during the process of the push rod assembly 1 pushing the workpiece to adjust its position. When displacement occurs, when multiple push rod assemblies 1 have reached a preset extension, the displacement of the alignment device 200 may cause the workpiece 100 to fail to reach the processing position or some push rod assemblies 1 may have difficulty contacting the workpiece 100. The distance change between the alignment device 200 and the processing equipment 9 measured by the distance measuring mechanism is the offset information of the alignment device 200.

[0177] After obtaining the specific value of the offset information, the extension of all the push rod assemblies 1 can be increased according to the value, that is, the pushing distance of the push rod assemblies 1 can be increased, thereby ensuring that the workpiece 100 can reach the processing position after being pushed by multiple push rod assemblies 1.

[0178] Specifically, the distance measuring mechanism in this embodiment includes a distance meter, which is provided on the alignment device 200 , and the measuring end of the distance meter faces the processing equipment 9 , thereby measuring the distance value between the processing equipment 9 and the alignment device 200 .

[0179] Furthermore, the alignment device in this embodiment further includes a width adjustment mechanism 210 , which is used to adjust the distance between two adjacent push rod assemblies 1 .

[0180] The workpiece alignment method in this embodiment also includes:

[0181] S170 , in response to the adjustment instruction, controlling the width adjustment mechanism to operate to adjust the distance between two adjacent push rod assemblies.

[0182] Specifically, the width adjustment mechanism 210 in this embodiment includes an adjustment motor and a width adjustment screw. Two push rod assemblies 1 are provided in this embodiment, each mounted on a width adjustment screw. The width adjustment screw is mounted on a mounting base, the bottom of which is connected to the movable end of the height adjustment mechanism. The width adjustment screw is connected to the adjustment motor, which drives the width adjustment screw to rotate, moving the two push rod assemblies 1 toward or away from each other.

[0183] When the width of the workpiece 100 is small, the adjustment motor can be driven to move the two push rod assemblies 1 closer together, reducing the width so that both push rod assemblies 1 can push the workpiece 100. Correspondingly, when the width of the workpiece 100 is large, the adjustment motor can be driven to move the two push rod assemblies 1 away from each other, increasing the width so that both push rod assemblies 1 can push the structures on both sides of the center of the workpiece 100, thereby further improving the adjustment accuracy.

[0184] It should be noted that the suction cup 10 in this embodiment is capable of adsorbing the workpiece 100 to prevent the workpiece 100 from excessive displacement due to inertia when being pushed. The end of the ejector assembly 1 in this embodiment that contacts the workpiece is the ejector assembly head, which is made of a conductive material. The two ejector assembly heads are connected to the drive mechanism through wires, and the workpiece 100 is also made of a conductive material. When the two ejector assembly heads are in contact with the workpiece 100, the two ejector assembly heads and the workpiece 100 form a path, at which point a signal is sent to the drive mechanism, causing the drive mechanism to stop driving the ejector assembly 1 to continue extending.

[0185] In this embodiment, the push rod assembly 1 is extended or retracted by means of a screw drive, and each push rod assembly 1 is connected to an independent servo motor to achieve independent control of a single push rod assembly 1.

[0186] Of course, the above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application. Industrial Applicability

[0187] The workpiece alignment device provided in the embodiment of the present application adjusts the position of the push rod assembly in the horizontal direction and / or vertical direction through the adjustment device, so that the push rod assembly can be aligned with workpieces in different directions, thereby improving the adjustment accuracy of the alignment device. At the same time, the driving mechanism can drive the push rod assembly to move toward the area to be aligned of the workpiece and push the workpiece, thereby achieving the purpose of aligning the workpiece, reducing errors in manual operations and reducing labor costs.

[0188] Explanation of reference numerals: 1-rod assembly; 11-rod body; 12-elastic member; 13-sealing member; 14-abutting block; 15-displacement sensor; 151-follower; 152-transmission member; 16-first accommodating groove; 17-movable member; 2-base; 3-driving mechanism; 31-guide rail seat; 32-guide rail; 33-driving motor; 34-nut seat; 35-screw; 4-bracket; 5-roller; 6-rotating mechanism; 61-rotating bearing; 611- Fixed part; 612-rotating part; 62-second drive motor; 7-lifting mechanism; 71-first drive motor; 72-lifting guide rail; 73-lifting seat; 8-moving mechanism; 81-third drive motor; 82-first ground rail; 83-base; 84-pulley; 85-second ground rail; 86-base; 9-processing equipment; 91-probe; 10-suction cup; 100-workpiece; 200-alignment device; 210-width adjustment mechanism.

Claims

1. A workpiece alignment device, characterized in that: include: Pedestal; A push rod assembly, disposed on the base, and used for abutting against a workpiece; An adjusting device connected to the push rod assembly, the adjusting device being used to adjust the position of the push rod assembly in the horizontal direction and / or the vertical direction; A driving mechanism connected to the push rod assembly, used to drive the push rod assembly to move toward the area to be aligned of the workpiece and push the workpiece; The push rod assembly comprises a rod body and a movable part, wherein the movable part is slidably connected to the rod body; a displacement sensor is arranged in the rod body, and one end of the displacement sensor is connected to the movable part.

2. The workpiece alignment device according to claim 1, characterized in that: The adjusting device comprises a lifting mechanism, which is connected to the driving mechanism and can be used to adjust the height of the push rod assembly.

3. The workpiece alignment device according to claim 1, characterized in that: The adjusting device comprises a rotating mechanism, which is connected to the base and is used to control the rotation of the base.

4. The workpiece alignment device according to claim 1, characterized in that: The adjusting device comprises a moving mechanism, and the moving mechanism is located below the base. The moving mechanism drives the ejector assembly to move and correspond to the workpiece.

5. The workpiece alignment device according to claim 1, characterized in that: The push rod assembly further comprises a sealing member, which is arranged at the opening position of the rod body, and the movable member passes through the sealing member; A bracket and a roller are also provided at one end of the driving mechanism. The roller can rotate relative to the bracket. The bracket is connected to the driving mechanism, and the push rod assembly is overlapped on the roller.

6. The workpiece alignment device according to claim 1, characterized in that: The push rod assembly comprises an elastic member, an abutment block spaced apart from the movable member is arranged in the rod body, and two ends of the elastic member abut against the movable member and the abutment block respectively.

7. The workpiece alignment device according to claim 1, characterized in that: The driving mechanism comprises a guide rail and a nut seat, wherein the nut seat can slide along the guide rail and the nut seat is connected to the ejector assembly; The driving mechanism also includes a lead screw, which is located between the two guide rails, and the nut seat can move along the lead screw.

8. A method for alignment, characterized in that: The method used in the workpiece alignment device according to any one of claims 1 to 7 comprises: Driving the alignment device to move to a specified position; According to the comparison relationship between the number of the push rod assemblies and a preset value, the push rod assemblies are driven to move to touch or push the workpiece.

9. The method according to claim 8, characterized in that If the number of the ejector assemblies is equal to the preset value; The step of driving the push rod assembly to move to touch or push the workpiece according to the comparison relationship between the number of the push rod assemblies and a preset value includes: Determine a reference plane among the multiple side surfaces of the workpiece, determine two reference points on the reference plane, and calculate the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece; The area to be aligned serves as a pushed area, and the workpiece is pushed to move for alignment by pushing the area to be aligned; The distance difference between the two reference points and the X-axis or the distance difference to the Y-axis is calculated again to redefine the area to be aligned of the workpiece, and the redetermined area to be aligned is pushed again to push the workpiece for alignment until the distance difference between the two reference points and the X-axis or the distance difference to the Y-axis is zero or within the allowable tolerance range.

10. The alignment method according to claim 9, characterized in that: The step of pushing the workpiece to be aligned by pushing the area to be aligned as the pushed area also includes: The distance difference between the two reference points and the X-axis is defined as the first difference, and the distance difference between the two reference points and the Y-axis is defined as the second difference; The area to be aligned of the workpiece is pushed so that the area to be aligned of the workpiece moves along the Y axis by a distance less than the first difference or moves along the X axis by a distance less than the second difference.

11. The alignment method according to claim 9, characterized in that: The step of determining a reference plane among the multiple side surfaces of the workpiece, determining two reference points on the reference plane, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece includes: Determine two reference points on the preset reference plane, use the probe to detect the distance difference between the two reference points and the X-axis or the Y-axis, and determine the area to be aligned.

12. The alignment method according to claim 9, characterized in that: The step of determining a reference plane among the multiple side surfaces of the workpiece, determining two reference points on the reference plane, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece includes: The side of the workpiece facing the push rod assembly is a reference surface, and the push rod assembly moves toward two different areas of the reference surface of the workpiece respectively, and the area to be aligned is determined by judging the difference in the moving distance of the push rod assembly.

13. The alignment method according to claim 12, characterized in that: The step of determining a reference plane among the multiple side surfaces of the workpiece, determining two reference points on the reference plane, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece also includes: The processing equipment drives the workpiece to move at least twice. Each time the workpiece stops, the push rod assembly is aligned with different areas of the reference surface and moves toward different areas of the workpiece reference surface respectively, abutting against the reference surface. The movable part and the abutment block abut against each other to reach a set contact point, and movement data is measured for different areas respectively to determine the area to be aligned.

14. The alignment method according to claim 12, characterized in that: The step of determining a reference plane among the multiple side surfaces of the workpiece, determining two reference points on the reference plane, and calculating the distance difference between the two reference points and the X-axis or the Y-axis to determine the area to be aligned of the workpiece also includes: The workpiece is stationary, and the adjustment device drives the push rod assembly to move at least twice relative to the workpiece so that the push rod assembly can align with different areas of the reference surface. The driving mechanism drives the push rod assembly to move toward different areas, and the movable part and the abutment block abut against each other to reach a set contact point. The movement data of different areas are measured respectively to determine the area to be aligned.

15. The method according to claim 8, characterized in that If the number of the ejector assemblies is greater than the preset value; The step of driving the push rod assembly to move to touch or push the workpiece according to the comparison relationship between the number of the push rod assemblies and a preset value comprises: According to a preset mapping relationship, determining an initial extension amount of each push rod assembly; For each of the push rod assemblies, driving the push rod assembly to move to obtain an initial extension amount corresponding to the push rod assembly; All the ejector rod assemblies are driven to move synchronously until each ejector rod assembly abuts against the workpiece.

16. The method according to claim 15, characterized in that The step of driving the alignment device to move to a specified position comprises: driving the alignment device to move along the guide rail to determine whether the current signal at the signal receiving end is empty; If not, the current position is determined as the designated position.

17. The method according to claim 15, characterized in that After the step of driving the alignment device to move to the specified position, the method further comprises: Acquiring direction information of the workpiece; The adjusting device is driven according to the direction information to make the moving end of the push rod assembly face the workpiece.

18. The method according to claim 17, characterized in that Before the step of obtaining the direction information of the workpiece, the method further includes: Acquiring height information of the workpiece; The adjusting device is driven according to the height information so that the ejector assembly and the workpiece are in the same plane.

19. The method according to claim 15, characterized in that After the step of driving all the ejector assemblies to move synchronously until each ejector assembly abuts against the workpiece, the method further includes: Obtaining the current position of the alignment device; Calculating the offset information between the current position and the specified position; The pushing distances of the plurality of push rod assemblies are adjusted according to the offset information.

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