CN114044358A - Workpiece position calibration equipment and workpiece position calibration system - Google Patents
Workpiece position calibration equipment and workpiece position calibration system Download PDFInfo
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- CN114044358A CN114044358A CN202111458011.0A CN202111458011A CN114044358A CN 114044358 A CN114044358 A CN 114044358A CN 202111458011 A CN202111458011 A CN 202111458011A CN 114044358 A CN114044358 A CN 114044358A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The application discloses a workpiece position calibration device and a workpiece position calibration system, wherein the workpiece position calibration device comprises a control device, a driving device, an adsorption device and a clamping device; the adsorption device and the clamping device are respectively in driving connection with the driving device; the control device is respectively in communication connection with the adsorption device and the clamping device; the control device is used for controlling the adsorption device to adsorb or release the workpiece to be calibrated; the control device is used for controlling the driving device to respectively output driving forces to the adsorption device and the clamping device; under the driving action of the driving device, the adsorption device can move towards the direction close to or far away from the clamping device, so that the adsorption device drives the workpiece to be calibrated to move towards the direction close to or far away from the clamping device; the adsorption device and the clamping device can move in the horizontal direction; the control device is also used for controlling the clamping device to clamp the workpiece to be calibrated when the workpiece to be calibrated on the adsorption device moves to the preset position so as to calibrate the position of the workpiece to be calibrated.
Description
Technical Field
The application relates to the technical field of workpiece calibration, in particular to workpiece position calibration equipment and a workpiece position calibration system.
Background
The products are positioned in the initial feeding tray before being placed on the product detection device, the products to be detected in the initial feeding tray are in a coarse positioning state, and the position of the products to be detected needs to be accurately positioned in the mechanism design.
In the prior art, an independent intermediate work station is generally arranged to be independently used for accurately positioning a product to be detected; when a product to be detected is detected, the product to be detected needs to be clamped from a disc of initial incoming materials and then is placed on the arranged middle work platform to position the product to be detected; then, conveying the positioned product to be detected to a product detection device from the middle working platform; the design mode not only increases the cost, but also occupies the equipment space, and has complex flow and low efficiency.
Disclosure of Invention
In order to solve the technical problem, the workpiece position calibration equipment disclosed by the application has the advantages that through the arranged adsorption device and the clamping device, when the clamping device clamps a workpiece to be calibrated on the adsorption device in the air, the position calibration of the workpiece to be calibrated is directly realized.
In order to achieve the above object, the present application provides a workpiece position calibration apparatus, comprising a control device, a driving device, an adsorption device, and a clamping device; the adsorption device and the clamping device are respectively in driving connection with the driving device; the control device is respectively in communication connection with the adsorption device and the clamping device;
the control device is used for controlling the adsorption device to adsorb or release the workpiece to be calibrated;
the control device is used for controlling the driving device to respectively output driving forces to the adsorption device and the clamping device;
under the driving action of the driving device, the adsorption device can move towards the direction close to or away from the clamping device, so that the adsorption device drives the workpiece to be calibrated to move towards the direction close to or away from the clamping device;
under the driving action of the driving device, the adsorption device and the clamping device can move in the horizontal direction;
the control device is also used for controlling the clamping device to clamp the workpiece to be calibrated when the workpiece to be calibrated on the adsorption device moves to a preset position so as to calibrate the position of the workpiece to be calibrated.
In some embodiments, the gripping device comprises a gripping assembly and a gripping drive mechanism in driving connection with the drive device;
the adsorption device comprises an adsorption component, and the adsorption component is used for adsorbing or releasing the workpiece to be calibrated;
when the workpiece to be calibrated on the adsorption assembly moves to a preset position, the clamping driving mechanism drives the clamping assembly to clamp the workpiece to be calibrated.
In some embodiments, the clamp assembly comprises a first jaw and a second jaw;
the control device is used for controlling the clamping driving mechanism to respectively output driving forces to the first clamping jaw and the second clamping jaw;
under the driving action of the clamping driving mechanism, the first clamping jaw and the second clamping jaw can move towards or away from each other in a coordinated manner, so that the clamping assembly clamps or releases a workpiece to be calibrated;
the suction assembly is positioned between the first jaw and the second jaw;
the control device is configured to control the first clamping jaw and the second clamping jaw to clamp the workpiece to be calibrated when the workpiece to be calibrated on the adsorption assembly moves to a preset position between the first clamping jaw and the second clamping jaw.
In some embodiments, the first jaw comprises a first connection end and a first gripping end that are fixedly connected;
the second clamping jaw comprises a second connecting end and a second clamping end which are fixedly connected;
the first connecting end and the second connecting end are respectively connected with the clamping driving mechanism;
the clamping driving mechanism is used for driving the first connecting end and the second connecting end to move towards or away from each other in a coordinated manner so as to drive the first clamping end and the second clamping end to move towards or away from each other.
In some embodiments, the second clamping end is provided with at least one opening and a guide structure disposed on a sidewall of the opening;
the opening of the opening part faces to the first clamping jaw, and the opening part is used for accommodating the workpiece to be calibrated;
in the process that the workpiece to be calibrated is clamped by the first clamping end and the second clamping end, the workpiece to be calibrated can be guided by the guide structure, so that the workpiece to be calibrated enters the opening part.
In some embodiments, the suction device further comprises a fixture;
the adsorption component is in driving connection with the driving device through the fixing piece;
the driving device is used for driving the fixing piece to move, so that the fixing piece drives the adsorption assembly to move towards the direction close to or away from the clamping device.
In some embodiments, the adsorbent assembly comprises an adsorbent plate and at least one adsorbent member; the adsorption plate is fixedly connected with the connecting piece;
the adsorption plate is provided with an accommodating cavity of the adsorption piece, and the adsorption piece is positioned in the accommodating cavity; one end of the adsorption piece, which is far away from the adsorption plate, is used for adsorbing or releasing a workpiece to be calibrated.
In some embodiments, the adsorption member is provided with a silica gel suction cup and a pressure container;
the pressure container can provide adsorption force for the silica gel sucker in a negative pressure state so that the silica gel sucker can adsorb the workpiece to be calibrated;
the pressure container can make under non-negative pressure state the silica gel sucking disc loses the adsorption affinity, so that the silica gel sucking disc releases treat the calibration work piece.
In some embodiments, the drive arrangement comprises a mover structure and a stator structure;
the clamping device is in driving connection with the stator structure;
and the adsorption device is in driving connection with the rotor structure.
The application also describes a workpiece position calibration system, which comprises a workpiece placing table, workpiece position calibration equipment and a workpiece detection jig; the workpiece position calibration device is the workpiece position calibration device;
the workpiece placing table is used for containing a workpiece to be calibrated;
the control device of the workpiece position calibration equipment is used for controlling the adsorption device to adsorb at least one workpiece to be calibrated on the workpiece placing table; controlling the clamping device to clamp the workpiece to be calibrated adsorbed on the adsorption device so as to calibrate the position of the workpiece to be calibrated;
the control device is used for controlling the adsorption device to adsorb the workpiece to be calibrated on the clamping device again and controlling the adsorption device to place the workpiece to be calibrated on the workpiece detection jig.
The embodiment of the application has the following beneficial effects:
according to the workpiece position calibration equipment disclosed by the application, the clamping device clamps the workpiece to be calibrated on the adsorption device in the air through the adsorption device and the clamping device, and the position calibration of the workpiece to be calibrated is directly realized;
the multistation detecting system disclosed by the application realizes the calibration of the position of the workpiece to be calibrated in the air through the workpiece position calibrating equipment, can quickly and accurately calibrate the position, saves the space of the equipment, saves the action flow and reduces the equipment cost.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a workpiece position calibration apparatus according to an embodiment of the present disclosure;
FIG. 2 is an enlarged view of a portion of the structure of FIG. 1;
fig. 3 is a schematic structural diagram of an adsorption device of a workpiece position calibration apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic partial structural diagram of a workpiece position calibration apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device of a calibration apparatus according to an embodiment of the present disclosure;
wherein the reference numerals in the figures correspond to: 1-drive means, 11-stator means, 12-mover means, 2-suction means, 21-suction assembly, 211-suction plate, 212-suction part, 22-fixing part, 3-clamping means, 31-clamping assembly, 311-first clamping jaw, 3111-first connection end, 3112-first clamping end, 312-second clamping jaw, 3121-second connection end, 3122-second clamping end, 31221-opening, 31222-guide means, 32-clamping drive means, 4-workpiece to be calibrated.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. The terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. In different embodiment variants, identical components have the same reference numerals.
Example 1
As shown in fig. 1 to 4, the present application provides a workpiece position calibration apparatus including a control device, a driving device 1, an adsorption device 2, and a holding device 3; the adsorption device 2 and the clamping device 3 are respectively in driving connection with the driving device 1; the control device is respectively in communication connection with the adsorption device 2 and the clamping device 3;
the control device is used for controlling the adsorption device 2 to adsorb or release the workpiece 4 to be calibrated;
the control device is used for controlling the driving device 1 to respectively output driving forces to the adsorption device 2 and the clamping device 3;
under the driving action of the driving device 1, the adsorption device 2 can move towards the direction close to or away from the clamping device 3, so that the adsorption device 2 drives the workpiece 4 to be calibrated to move towards the direction close to or away from the clamping device 3;
specifically, the clamping device 3 comprises a clamping assembly 31 and a clamping driving mechanism 32, and the clamping driving mechanism 32 is in driving connection with the driving device 1;
the adsorption device 2 comprises an adsorption component 21, and the adsorption component 21 is used for adsorbing or releasing the workpiece 4 to be calibrated;
under the driving action of the driving device 1, the adsorption component 21 can move towards the direction close to or away from the clamping component 31, so that the adsorption component 21 drives the workpiece 4 to be calibrated to move towards the direction close to or away from the clamping component 31;
the adsorption device 2 and the clamping device 3 can move in the horizontal direction under the driving action of the driving device 1;
specifically, the device can move in the direction of the x axis and/or the y axis, and the adsorption device 2 and the clamping device 3 move synchronously in the direction of the x axis and/or the y axis; this design enables the suction device 2 to accurately find the position of the workpiece 4 to be calibrated by moving the position in the horizontal plane when sucking the workpiece 4 to be calibrated.
The control device is also used for controlling the clamping device 3 to clamp the workpiece 4 to be calibrated when the workpiece 4 to be calibrated on the adsorption device 2 moves to a preset position so as to calibrate the position of the workpiece 4 to be calibrated;
specifically, when the workpiece 4 to be calibrated on the adsorption assembly 21 moves to a preset position, the clamping driving mechanism 32 drives the clamping assembly 31 to clamp the workpiece 4 to be calibrated.
The preset position may be a target position of the clamping assembly 31, that is, when the workpiece 4 to be calibrated moves to the target position of the clamping assembly 31, the position reaches the preset position;
preferably, it may be the position between the jaws of the clamping assembly 31;
this application is through adsorption equipment 2 and clamping device 3 that set up for clamping device 3 when getting to rising to waiting to calibrate work piece 4 on the aerial adsorption equipment 2 and press from both sides, directly realizes treating the position calibration of calibrating work piece 4, and this application not only can be fast treats the accurate calibration that calibrates work piece 4 realization position, has practiced thrift the space of equipment moreover, has practiced thrift the action flow, has reduced equipment cost.
In the present embodiment, as shown in fig. 2, the clamping assembly 31 may include a first clamping jaw 311 and a second clamping jaw 312;
the control device is used for controlling the clamping driving mechanism 32 to respectively output driving forces to the first clamping jaw 311 and the second clamping jaw 312;
under the driving of the clamping driving mechanism 32, the first clamping jaw 311 and the second clamping jaw 312 can move in a coordinated manner in a direction approaching to or departing from each other, so that the clamping assembly 31 clamps or releases the workpiece to be calibrated;
the suction assembly 21 is located between the first jaw 311 and the second jaw 312;
specifically, the suction assembly 21 may be located in the gap between the first clamping jaw 311 and the second clamping jaw 312, and the suction assembly 21 may move through the gap between the first clamping jaw 311 and the second clamping jaw 312 in a direction approaching the first clamping jaw 311 and the second clamping jaw 312 or in a direction away from the first clamping jaw 311 and the second clamping jaw 312; the design enables the first clamping jaw 311 and the second clamping jaw 312 to clamp the workpiece 4 to be calibrated conveniently when the adsorption component 21 moves to a position between the first clamping jaw 311 and the second clamping jaw 312 in the process of driving the workpiece 4 to be calibrated to ascend or descend;
the control device is configured to control the first clamping jaw 311 and the second clamping jaw 312 to clamp the workpiece 4 to be calibrated when the workpiece 4 to be calibrated on the adsorption assembly 21 moves to a preset position between the first clamping jaw 311 and the second clamping jaw 312.
Specifically, when the adsorption component 21 drives the workpiece 4 to be calibrated to move to a cross area exists between the side wall of the workpiece 4 to be calibrated and one side of the first clamping jaw 311 and one side of the second clamping jaw 312, which are close to the workpiece 4 to be calibrated, the first clamping jaw 311 and the second clamping jaw 312 are controlled to clamp the workpiece 4 to be calibrated;
preferably, when the workpiece 4 to be calibrated moves until the center line of the side wall of the workpiece 4 to be calibrated coincides with the center line of the side of the first clamping jaw 311 and the second clamping jaw 312 close to the workpiece 4 to be calibrated, the first clamping jaw 311 and the second clamping jaw 312 are controlled to clamp the workpiece 4 to be calibrated; so that the first clamping jaw 311 and the second clamping jaw 312 can clamp the workpiece 4 to be calibrated quickly and accurately.
In the present embodiment, as shown in fig. 2, the first clamping jaw 311 includes a fixedly connected first connection end 3111 and a first clamping end 3112;
the second jaw 312 includes a fixedly connected second connection end 3121 and a second clamping end 3122;
the first connection end 3111 and the second connection end 3121 are respectively connected to the clamping driving mechanism 32;
specifically, the clamping driving mechanism 32 includes a first end and a second end that are oppositely disposed, the first end of the clamping driving mechanism 32 is fixedly connected with the first connection end 3111, and the second end is fixedly connected with the second connection end 3121;
the clamping driving mechanism 32 is configured to drive the first connecting end 3111 and the second connecting end to move in a direction approaching to or away from each other, so as to drive the first clamping end 3112 and the second clamping end 3122 to move in a direction approaching to or away from each other.
Specifically, the second clamping end 3122 is provided with at least one opening portion 31221 and a guide structure 31222 provided on a side wall of the opening portion 31221;
the opening portion 31221 is opened towards the first clamping jaw 311, and the opening portion 31221 is used for accommodating the workpiece 4 to be calibrated;
specifically, when the relative positions between the suction assembly 21 and the first clamping jaw 311 and the second clamping jaw 312 are set, the distance between the suction assembly 21 and the first clamping jaw 311 and the second clamping jaw 312 may be set in advance, so that when the suction assembly 21 drives the workpiece 4 to be calibrated to move between the first clamping jaw 311 and the second clamping jaw 312, the distance between the clamping surface of the first clamping end 3112 and the workpiece 4 to be calibrated is equal to the distance between the bottom of the opening portion 31221 of the second clamping end 3122 and the workpiece 4 to be calibrated; this design enables the jaws to grip precisely when gripping the workpiece 4 to be calibrated.
Specifically, during the process that the first clamping end 3112 and the second clamping end 3122 clamp the workpiece 4 to be calibrated, the guide structure 31222 can guide the workpiece 4 to be calibrated so that the workpiece 4 to be calibrated enters the opening portion 31221;
specifically, as shown in fig. 2, guide structures 31222 are provided on both side walls of the opening portion 31221, and the guide structures 31222 are provided at an end of the opening portion 31221 near the first holding end 3112; and the guide surface of the guide structure 31222 is in a step transition shape; and the distance between the guide surfaces of the two guide structures 31222 decreases in order from the end near the first clamping end 3112 to the end near the bottom of the opening portion 31221;
specifically, the maximum distance between the guide surfaces of the two guide structures 31222 is greater than or equal to the widest distance in the same direction (the same direction as the direction in which the workpiece 4 to be calibrated is held) of the workpiece placing groove on the workpiece placing table; so that the first clamping jaw 311 and the second clamping jaw 312 can completely accommodate the workpiece 4 to be calibrated when clamping the workpiece 4 to be calibrated adsorbed by the adsorption component 21; the situation that the workpiece 4 to be calibrated adsorbed by the adsorption component 21 cannot be accommodated is avoided;
the minimum distance between the guide surfaces of the two guide structures 31222 is less than or equal to the equidirectional widest distance of the workpiece placing grooves on the workpiece detection jig; so that the workpiece clamped and positioned by the first clamping jaw 311 and the second clamping jaw 312 can be accurately placed into the workpiece placing groove on the workpiece detection jig by the adsorption assembly 21.
Specifically, a protective layer is arranged on the inner wall of the opening portion 31221 to avoid clamping the workpiece 4 to be calibrated when clamping the workpiece 4 to be calibrated;
preferably, the inner wall of the opening portion 31221 is provided with a protective layer on the inner wall which holds the workpiece 4 to be calibrated and may contact with the workpiece 4 to be calibrated;
the protective layer may be a teflon layer.
In the embodiment of the present application, as shown in fig. 3, the suction device 2 further includes a fixing member 22; the fixing piece 22 is fixedly connected with the adsorption component 21;
the adsorption component 21 is in driving connection with the driving device 1 through the fixing part 22;
the driving device 1 is used for driving the fixing member 22 to move, so that the fixing member 22 drives the suction assembly 21 to move towards or away from the clamping device 3.
In particular, the device can also comprise a connecting piece; one end of the connecting piece is fixedly connected with the fixing piece 22, and the other end of the connecting piece is fixedly connected with the adsorption component 21;
the control device is used for controlling the driving device 1 to drive the fixing member 22 to move towards or away from the clamping device 3, so that the fixing member 22 drives the adsorption assembly 21 to move towards or away from the clamping device 3 through the connecting member.
Specifically, in the embodiment of the present application, the adsorption assembly 21 includes an adsorption plate 211 and at least one adsorption member 212; the adsorption plate 211 is fixedly connected with the connecting piece;
the adsorption plate 211 is provided with an accommodating cavity of the adsorption piece 212, and the adsorption piece 212 is located in the accommodating cavity; one end of the adsorption piece 212 far away from the adsorption plate 211 is used for adsorbing or releasing a workpiece to be calibrated.
Specifically, four adsorbing members 212 may be provided, so that the adsorbing assembly 21 can adsorb four workpieces 4 to be calibrated at the same time;
specifically, the number of the opening portions 31221 corresponds to the number of the suction members 212 on the suction module 21 one to one;
in a preferred embodiment of the present application, the suction member 212 is provided with a silica gel suction cup and a pressure container;
the pressure container can provide adsorption force for the silica gel sucker in a negative pressure state so that the silica gel sucker can adsorb the workpiece 4 to be calibrated;
the pressure container can make the silica gel sucking disc lose the adsorption affinity under the non-negative pressure state, so that the silica gel sucking disc releases treat calibration work piece 4.
In particular, the pressure vessel may be a vacuum bag;
specifically, the silica gel sucker can quickly and firmly adsorb the workpiece 4 to be calibrated and can avoid damage to the workpiece 4 to be calibrated during adsorption;
specifically, deformation can take place for the silica gel sucking disc, and this makes first clamping jaw 311 and second clamping jaw 312 on centre gripping silica gel sucking disc when adsorbent the calibration work piece 4 of treating, the silica gel sucking disc warp through wrench movement for the centre gripping that the calibration work piece 4 was treated to the clamping jaw is quick accurate more.
In another embodiment of the present application, the adsorbing member may be a magnetic adsorbing member, and preferably, may be an electromagnetic adsorbing member.
In the embodiment of the present application, as shown in fig. 4, the driving device 1 includes a mover structure 12 and a stator structure 11;
the clamping device 3 is in driving connection with the stator structure 11;
specifically, the clamping device 3 is in driving connection with the stator structure 11 through a fixing plate;
one end of the fixed plate is fixedly connected with the clamping driving mechanism 32 of the clamping device 3, and the other end of the fixed plate is fixedly connected with the stator mechanism;
the stator structure 11 drives the fixing plate to move in the x-axis and/or y-axis direction, so as to drive the clamping device 3 to move in the x-axis and/or y-axis direction;
the adsorption device 2 is in driving connection with the mover structure 12;
the mover structure 12 is in driving connection with the adsorption assembly 21 through a fixing member 22; the mover structure 12 drives the fixing member 22 to move in the z-axis direction, so as to drive the adsorption assembly 21 of the adsorption device 2 to move in a direction close to or far from the clamping assembly 31;
specifically, the x-axis, the y-axis, and the z-axis are relative to the structural relative positional relationship between the driving device 1, the suction device 2, and the holding device 3.
Preferably, the drive device 1 can be a KK module.
In the embodiment of the present application, as shown in fig. 5, the control device may include a first control module, an information obtaining module, a second control module, and a third control module; the first control module, the information acquisition module, the second control module and the third control module are in communication connection;
the first control module is used for controlling the adsorption assembly to drive the workpiece to be calibrated to move towards the direction close to the clamping assembly under the condition that the adsorption assembly is detected to be adsorbed to the workpiece to be calibrated;
the information acquisition module is used for monitoring the position of the workpiece to be calibrated in the process that the workpiece to be calibrated moves towards the direction of the clamping assembly;
the second control module is used for controlling the clamping assembly to clamp the workpiece to be calibrated if the current position of the workpiece to be calibrated is monitored to be a preset clamping position so as to calibrate the position of the workpiece to be calibrated;
specifically, the preset clamping position may be a target position of the clamping assembly, that is, when the workpiece to be calibrated moves to the target position of the clamping assembly, the position of the workpiece reaches the preset clamping position;
preferably, it may be a position between the first jaw and the second jaw of the clamping assembly.
And the third control module is used for controlling the adsorption assembly to release the workpiece to be calibrated under the condition that the clamping assembly is detected to finish the clamping action of the workpiece to be calibrated so as to enable the workpiece to be calibrated to be positioned at the target calibration position.
In this embodiment, it should be noted that the clamping component completes the clamping action of the workpiece to be calibrated, where the clamping component clamps the workpiece to be calibrated between the first clamping jaw and the second clamping jaw, and the workpiece to be calibrated is located in the opening portion of the second clamping end, and it can be determined that the clamping component completes the clamping action of the workpiece to be calibrated.
In the embodiment of this specification, still include:
and the fourth control module is used for controlling the adsorption component to adsorb the workpiece to be calibrated on the clamping component so as to fixedly connect the workpiece to be calibrated on the adsorption component.
In the embodiment of this specification, still include:
the judging module is used for judging whether the current position of the workpiece to be calibrated is a preset position between the first clamping jaw and the second clamping jaw of the clamping assembly;
and the judging module is used for judging that the position of the workpiece to be calibrated is a preset clamping position if the current position of the workpiece to be calibrated is a preset position between the first clamping jaw and the second clamping jaw of the clamping assembly.
In an embodiment of the present specification, the second control module includes:
and the control unit is used for controlling the first clamping jaw and the second clamping jaw of the clamping assembly to move towards the direction of mutual approaching simultaneously if the current position of the workpiece to be calibrated is monitored to be a preset clamping position, so that the workpiece to be calibrated is clamped by the first clamping jaw and the second clamping jaw.
Specifically, in the process of controlling the first clamping jaw and the second clamping jaw to move towards the directions close to each other, the first clamping end of the first clamping jaw is in contact with one side of the workpiece to be calibrated, the guide structure on the opening part of the second clamping jaw is in contact with the other side of the workpiece to be calibrated, so that the workpiece to be calibrated is pushed into the opening part under the guide effect of the first clamping end and the guide structure, the workpiece to be calibrated is clamped by the first clamping end and the second clamping end, and the calibration of the position of the workpiece to be calibrated is realized.
In the embodiment of this specification, still include:
the position acquisition module is used for acquiring the initial position of the workpiece to be calibrated;
the fifth control module is used for controlling the driving device to drive the adsorption assembly to move towards the initial position of the workpiece to be calibrated;
and the sixth control module is used for controlling the adsorption assembly to adsorb the workpiece to be calibrated under the condition that the adsorption assembly is detected to move to the initial position of the workpiece to be calibrated.
Specifically, in the embodiment of the present application, when it is detected that the adsorption assembly moves to the initial position of the workpiece to be calibrated, the adsorption member of the adsorption assembly is controlled to contact the workpiece to be calibrated, and the adsorption belt of the adsorption member is controlled to calibrate the workpiece;
in the embodiment of the application, the pressure container of the adsorption piece can be controlled to be in a negative pressure state to provide adsorption force for the silica gel sucker, so that the silica gel sucker can adsorb a workpiece to be calibrated;
in another embodiment of the application, the sucker of the adsorption piece can be controlled to be powered on to provide electromagnetic adsorption force for the sucker, so that the silica gel sucker adsorbs a workpiece to be calibrated;
specifically, under the condition that it remains to calibrate the work piece to detect to adsorb on the adsorption component, can be when detecting that the adsorption component will wait to calibrate the work piece and adsorb to the adsorption component's absorption piece on, at this moment, can control the adsorption component and rise, also be to the direction motion that is close to the centre gripping subassembly to make the adsorption component drive wait to calibrate the work piece to the direction motion that is close to the centre gripping subassembly.
The calibration principle of the workpiece position calibration equipment is as follows:
when the position of the workpiece 4 to be calibrated needs to be corrected, the control device controls the driving device 1 to output driving force to the fixing piece 22, so that the mover structure 12 on the driving device 1 drives the fixing piece 22 to move along the axial direction of the mover mechanism 12, and further drives the adsorption component 21 to move in the direction away from the clamping component 31 and move in the direction close to the workpiece 4 to be calibrated; when the adsorption component 21 adsorbs the workpiece 4 to be calibrated, the control device can control the driving device 1 to output driving force to the fixing part 22 and the clamping driving mechanism 32, the stator structure 11 on the real-time driving device 1 drives the fixing part 22 and the clamping driving mechanism 32 to move in the directions of the x axis and the y axis, and further drives the clamping component 31 and the adsorption component 21 to move synchronously, so that the adsorption component 21 can accurately position the position of the workpiece 4 to be calibrated and adsorb the workpiece 4 to be calibrated;
after detecting that the suction assembly 212 sucks the workpiece 4 to be calibrated, the control device controls the driving device 1 to output a driving force to the fixing member 22, so that the mover structure 12 on the driving device 1 drives the fixing member 22 to move along the axial direction of the mover structure 12, and further drives the suction assembly 21 to move in a direction approaching the clamping assembly 31, when detecting that the workpiece 4 to be calibrated sucked on the suction assembly 212 moves to a preset position between the first clamping jaw 311 and the second clamping jaw 312 of the clamping assembly 31, the control device controls the clamping driving mechanism 32 to output a driving force to the clamping assembly 31, so that the first clamping jaw 311 and the second clamping jaw 312 cooperatively move in a direction approaching each other until the first clamping end 3112 of the first clamping jaw 311 contacts one side of the workpiece 4 to be calibrated, and the guide structure 31222 on the opening portion 31221 of the second clamping jaw 312 contacts the other side of the workpiece 4 to be calibrated, so that the workpiece 4 to be calibrated is pushed into the opening portion 31221 under the guiding action of the first clamping tip 3112 and the guiding structure 31222, so that the first clamping tip 3112 and the second clamping tip 3122 clamp the workpiece 4 to be calibrated, and at the same time, the calibration of the position of the workpiece 4 to be calibrated is achieved;
after detecting that the clamping assembly 31 calibrates the position of the workpiece 4 to be calibrated, the control device controls the silica gel sucker on the adsorption assembly 21 to release air pressure, so that the silica gel sucker releases the workpiece to be calibrated; then, the adsorption component 21 is controlled to adsorb the workpiece 4 to be calibrated after the position calibration again; the control device controls the driving device to output driving force to the fixing piece 22, so that the driving device 1 drives the fixing piece 22 to move towards the direction close to the workpiece detection jig and on the x axis and/or the y axis, further the fixing piece 22 drives the adsorption component 21 to move towards the direction close to the workpiece detection jig and on the x axis and/or the y axis, further the adsorption component 21 drives the workpiece 4 to be calibrated after position calibration to move to the workpiece detection position on the workpiece detection jig, and the workpiece 4 to be calibrated after position calibration is released, so that the workpiece is detected.
The utility model discloses a work piece position calibration equipment through adsorption equipment and the clamping device who sets up for clamping device gets the time spent to treating calibration work piece on the adsorption equipment in the sky, and the position calibration of treating the calibration work piece is directly realized, and this application not only can treat the accurate calibration that the calibration work piece realized the position, has practiced thrift the space of equipment moreover, has practiced thrift the action flow, has reduced equipment cost.
Example 3
The application provides a workpiece position calibration system, which comprises a workpiece placing table, workpiece position calibration equipment and a workpiece detection jig; the workpiece position calibration device is the workpiece position calibration device;
the workpiece placing table is used for containing a workpiece 4 to be calibrated;
the control device of the workpiece position calibration equipment is used for controlling the adsorption device 2 to adsorb at least one workpiece 4 to be calibrated on the workpiece placing table; controlling the clamping device 3 to clamp the workpiece 4 to be calibrated adsorbed on the adsorption device 2 so as to calibrate the position of the workpiece 4 to be calibrated;
the control device is used for controlling the adsorption device 2 to adsorb the workpiece 4 to be calibrated on the clamping device 3 again, and controlling the adsorption device 2 to place the workpiece 4 to be calibrated on the workpiece detection jig.
The utility model provides a workpiece calibration system, when using, adsorption equipment 2 on the workpiece position calibration equipment places the bench from the work piece and adsorbs and treat calibration work piece 4, and when the drive is waited calibration work piece 4 and is risen until clamping device 3 goes up the preset position of centre gripping subassembly 31, centre gripping subassembly 31 centre gripping is waited calibration work piece 4, and the realization is waited the position calibration of calibration work piece 4, later workpiece position calibration equipment with the waiting calibration work piece 4 after the position calibration transport and place to the work piece detection tool on, in order to realize the back to the detection of work piece.
The workpiece position calibration system disclosed by the application realizes the calibration of the position of the workpiece to be calibrated in the air through the workpiece position calibration equipment, can quickly and accurately complete the calibration of the position, saves the space of the equipment, saves the action flow and reduces the equipment cost.
The above disclosure is only one preferred embodiment of the present application, and certainly does not limit the scope of the present application, which is therefore intended to cover all modifications and equivalents of the claims.
Claims (10)
1. The workpiece position calibration equipment is characterized by comprising a control device, a driving device (1), an adsorption device (2) and a clamping device (3); the adsorption device (2) and the clamping device (3) are respectively in driving connection with the driving device (1); the control device is respectively in communication connection with the adsorption device (2) and the clamping device (3);
the control device is used for controlling the adsorption device (2) to adsorb or release the workpiece (4) to be calibrated;
the control device is used for controlling the driving device (1) to respectively output driving force to the adsorption device (2) and the clamping device (3);
under the driving action of the driving device (1), the adsorption device (2) can move towards the direction close to or away from the clamping device (3), so that the adsorption device (2) drives the workpiece (4) to be calibrated to move towards the direction close to or away from the clamping device (3);
under the driving action of the driving device (1), the adsorption device (2) and the clamping device (3) can move in the horizontal direction;
the control device is also used for controlling the clamping device (3) to clamp the workpiece (4) to be calibrated when the workpiece (4) to be calibrated on the adsorption device (2) moves to a preset position, so as to calibrate the position of the workpiece (4) to be calibrated.
2. The workpiece position calibration apparatus according to claim 1, wherein the gripping device (3) comprises a gripping assembly (31) and a gripping drive mechanism (32), the gripping drive mechanism (32) being in driving connection with the drive device (1);
the adsorption device (2) comprises an adsorption component (21), and the adsorption component (21) is used for adsorbing or releasing the workpiece (4) to be calibrated;
when the workpiece (4) to be calibrated on the adsorption component (21) moves to a preset position, the clamping driving mechanism (32) drives the clamping component (31) to clamp the workpiece (4) to be calibrated.
3. The workpiece position calibration apparatus according to claim 2, wherein the clamp assembly (31) comprises a first clamp jaw (311) and a second clamp jaw (312);
the control device is used for controlling the clamping driving mechanism (32) to respectively output driving forces to the first clamping jaw (311) and the second clamping jaw (312);
under the driving action of the clamping driving mechanism (32), the first clamping jaw (311) and the second clamping jaw (312) can move towards or away from each other cooperatively, so that the clamping assembly (31) clamps or releases the workpiece (4) to be calibrated;
the suction assembly (21) is located between the first jaw (311) and the second jaw (312);
the control device is configured to control the first clamping jaw (311) and the second clamping jaw (312) to clamp the workpiece (4) to be calibrated when the workpiece (4) to be calibrated on the adsorption assembly (21) moves to a preset position between the first clamping jaw (311) and the second clamping jaw (312).
4. A workpiece position calibration arrangement according to claim 3, characterised in that the first clamping jaw (311) comprises a fixedly connected first connection end (3111) and a first clamping end (3112);
the second clamping jaw (312) comprises a fixedly connected second connecting end (3121) and a second clamping end (3122);
the first connecting end (3111) and the second connecting end (3121) are each connected to the clamping drive (32);
the clamping driving mechanism (32) is used for driving the first connecting end (3111) and the second connecting end to move towards the direction close to or away from each other in a coordinated manner, so that the first clamping end (3112) and the second clamping end (3122) are driven to move towards the direction close to or away from each other.
5. The workpiece position calibration apparatus according to claim 4, wherein the second clamping end (3122) is provided with at least one opening portion (31221) and a guide structure (31222) provided on a side wall of the opening portion (31221);
the opening part (31221) is open towards the first clamping jaw (311), and the opening part (31221) is used for accommodating the workpiece (4) to be calibrated;
the guide structure (31222) is capable of guiding the workpiece (4) to be calibrated during clamping of the workpiece (4) to be calibrated by the first clamping tip (3112) and the second clamping tip (3122) such that the workpiece (4) to be calibrated enters the opening portion (31221).
6. The workpiece position calibration apparatus according to claim 2, wherein the suction device (2) further comprises a fixing member (22);
the adsorption component (21) is in driving connection with the driving device (1) through the fixing piece (22);
the driving device (1) is used for driving the fixing piece (22) to move, so that the fixing piece (22) drives the adsorption component (21) to move towards the direction close to or away from the clamping device (3).
7. A workpiece position calibration apparatus according to claim 6, characterised in that the suction assembly (21) comprises a suction plate (211) and at least one suction piece (212); the adsorption plate (211) is fixedly connected with the connecting piece;
the adsorption plate (211) is provided with an accommodating cavity of the adsorption piece (212), and the adsorption piece (212) is positioned in the accommodating cavity; one end of the adsorption piece (212) far away from the adsorption plate (211) is used for adsorbing or releasing the workpiece (4) to be calibrated.
8. The workpiece position calibration apparatus according to claim 7, wherein the suction member (212) is provided with a silicone suction cup and a pressure vessel;
the pressure container can provide adsorption force for the silica gel sucker in a negative pressure state so that the silica gel sucker can adsorb the workpiece (4) to be calibrated;
the pressure container can make the silica gel sucking disc lose the adsorption affinity under the non-negative pressure state, so that the silica gel sucking disc releases wait to calibrate work piece (4).
9. The workpiece position calibration apparatus according to claim 1, characterized in that the drive means (1) comprises a mover structure (12) and a stator structure (11);
the clamping device (3) is in driving connection with the stator structure (11);
the adsorption device (2) is in driving connection with the rotor structure (12).
10. A workpiece position calibration system is characterized by comprising a workpiece placing table, workpiece position calibration equipment and a workpiece detection jig; the workpiece position calibration apparatus is the workpiece position calibration apparatus of any one of claims 1 to 9;
the workpiece placing table is used for containing a workpiece (4) to be calibrated;
the control device of the workpiece position calibration equipment is used for controlling the adsorption device (2) to adsorb at least one workpiece (4) to be calibrated on the workpiece placing table; controlling the clamping device (3) to clamp the workpiece (4) to be calibrated adsorbed on the adsorption device (2) so as to calibrate the position of the workpiece (4) to be calibrated;
the control device is used for controlling the adsorption device (2) to adsorb the workpiece (4) to be calibrated on the clamping device (3) again, and controlling the adsorption device (2) to place the workpiece (4) to be calibrated on the workpiece detection jig.
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| CN202111458011.0A CN114044358B (en) | 2021-12-02 | 2021-12-02 | Workpiece position calibration equipment and workpiece position calibration system |
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| CN202111458011.0A CN114044358B (en) | 2021-12-02 | 2021-12-02 | Workpiece position calibration equipment and workpiece position calibration system |
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| JPH08143098A (en) * | 1994-11-14 | 1996-06-04 | Niigata Eng Co Ltd | Cap attaching & detaching device |
| JP2000094372A (en) * | 1998-09-22 | 2000-04-04 | Advantest Corp | Part handling device and control method therefor |
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| CN114044358B (en) | 2023-10-17 |
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