CN203330917U - Flexible locating device - Google Patents
Flexible locating device Download PDFInfo
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- CN203330917U CN203330917U CN2013202957564U CN201320295756U CN203330917U CN 203330917 U CN203330917 U CN 203330917U CN 2013202957564 U CN2013202957564 U CN 2013202957564U CN 201320295756 U CN201320295756 U CN 201320295756U CN 203330917 U CN203330917 U CN 203330917U
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- governor motion
- support
- induction installation
- workpiece
- drive unit
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Abstract
The utility model relates to the field of automatic equipment and provides a flexible locating device comprising a base board, a third adjusting mechanism disposed on the base board in a sliding manner, a first adjusting mechanism and a second adjusting mechanism. The first adjusting mechanism and the second adjusting mechanism are disposed on the upper end of third adjusting mechanism, are used for adjusting a work piece in the X direction and are coplanar. A third sensing device used for sensing the X-direction locating plane of the work piece is disposed on the base board. The flexible locating device further comprises a first sensing device and a second sensing device which are used for sensing the Y-direction locating plane of the work piece and a control system for receiving the signals of the first sensing device, the second sensing device and the third sensing device and controlling the first adjusting mechanism, the second adjusting mechanism and the third adjusting mechanism for adjustment. The sensing surface of the third sensing device is perpendicular to those of the first sensing device and the second sensing device, so that the position of the work piece is determined; the first adjusting mechanism, the second adjusting mechanism and the third adjusting mechanism perform position and angle adjustment on the work piece; except for the friction force between the work piece and the first adjusting mechanism and between the work piece and the second adjusting mechanism, the work piece suffers no other external force, so that the fragmentation of the work piece is effectively prevented and the processing cost is reduced.
Description
Technical field
The utility model relates to the automated arm field, relates in particular to a kind of flexible positioning device.
Background technology
Often can relate to the location processing to the block workpiece of thinner thickness in the processing of product; particularly in to the processing of solar energy crystal silicon cell; as crystal silicon chip, workpiece that the face glass equal thickness is thinner; after multistage transmission in manufacturing process; the position of workpiece can change, and need to increase location structure in processing unit (plant) or streamline the position of workpiece is proofreaied and correct.
Current location structure is generally that the mode by clamping realizes position correction, or proofreaies and correct by other the mode that has physical contact.But in the process of proofreading and correct, because positioner exists, with the physics of workpiece, directly contact, and the thickness of workpiece is thinner, easily is directed at workpiece cracked, thus existing location structure to be directed at the fragment rate of workpiece higher, make processing cost also higher.
The utility model content
The purpose of the utility model embodiment is to provide a kind of flexible positioning device, the problem high with the fragment rate that solves existing positioner, that processing cost is high.
The utility model embodiment is achieved in that a kind of flexible positioning device, comprising:
Substrate;
The 3rd governor motion, described the 3rd governor motion is slidedly arranged on described substrate along Y-direction;
The first governor motion that workpiece is regulated along directions X, described the first governor motion is positioned at the 3rd governor motion upper end;
The second governor motion that workpiece is regulated along directions X, described the second governor motion is positioned at the 3rd governor motion upper end, and with described the first governor motion in same level;
Described substrate is provided with for responding to the 3rd induction installation of workpiece directions X place face; Described the 3rd governor motion upper end, along being interval with on Y-direction for responding to workpiece Y-direction place face the first induction installation and the second induction installation; And,
Receive described first, second and third induction installation signal and control the control system that described first, second and third governor motion is regulated.
In embodiment, first, second and third induction installation is sensor therein.
Therein in embodiment, described the 3rd governor motion comprises support and is fixed in the gripper shoe of described support upper end, and described support is slidedly arranged on the Y-direction of described upper surface of base plate;
Described the first governor motion is positioned at a side at described gripper shoe directions X place, and described the first governor motion is higher than the horizontal plane at described gripper shoe place;
The second governor motion and described the first governor motion are in same level, and described the second governor motion is positioned at another side at described gripper shoe directions X place;
The first induction installation and the second induction installation are disposed on described gripper shoe along Y-direction.
In embodiment, described the 3rd governor motion also comprises slide assemblies therein, and described slide assemblies comprises the slide rail of the upper surface that is fixed in described substrate, and is positioned at the bottom of described support, the slide block coordinated with described slide rail.
In embodiment, described flexible positioning device also comprises the 3rd drive unit for driving described the 3rd governor motion to slide along Y-direction therein, and described the 3rd drive unit is connected with described support, and is fixed in the upper surface of described substrate.
In embodiment, described the 3rd drive unit comprises the 3rd motor, and the screw mandrel be connected with the output shaft of described the 3rd motor therein; Be installed with the nut coordinated with described wire rod thread on described support.
In embodiment, described the first governor motion comprises therein:
The first belt;
First belt pulley at the two ends of a side at the symmetrical directions X place of being located at described gripper shoe respectively;
Be fixed in the first drive unit on described support, described the first drive unit is provided with driving wheel.
In embodiment, described the second governor motion comprises therein:
The second belt;
Second belt pulley at the two ends of another side at the symmetrical directions X place of being located at described gripper shoe respectively;
Be fixed in the second drive unit on described support, described the second drive unit is provided with driving wheel.
In embodiment, described the first drive unit and described the second drive unit are motor therein.
In embodiment, described support comprises the first support and the second support therein; Be fixed with base plate between the bottom of described the first support and the second support, on described substrate, be fixed with slide rail, the bottom of described base plate is provided with the slide block coordinated with described slide rail; Described the first drive unit is fixed in the first support; Described the second drive unit is fixed in the second support.
In embodiment, described slide rail is a pair of, lays respectively at the two ends that described upper surface of base plate is relative therein.
In embodiment, described substrate is provided with mounting bracket therein, and described the first induction installation is installed on the upper end of described mounting bracket, and described gripper shoe is provided with the open slot of accommodating and can move with respect to described the first induction installation.
The flexible positioning device that the utility model embodiment provides, described first and second governor motion is positioned at the upper end of described the 3rd governor motion, and the horizontal plane higher than the 3rd governor motion, workpiece is placed on described first and second governor motion, the adjusting direction of described first and second governor motion can be identical or contrary, regulate or rotate thereby make workpiece can prolong straight line, workpiece being carried out to position and angular adjustment.Described the 3rd governor motion is under the guiding of slide assemblies, drive described first and second governor motion integrated moving, described the first governor motion is mutually vertical with the direction that described the 3rd governor motion moves to the adjusting direction of workpiece with described the second governor motion, thereby set up according to this (X, Y) coordinate system.Because described the 3rd induction installation arranges with the sensitive surface of first and second induction installation is vertical, utilize described first, second and third induction installation to determine the position of workpiece at conplane 3 induction points, workpiece except with first and second governor motion in the existing frictional force of first and second belt, between workpiece and governor motion without holding action, also, without other External Force Actings, can effectively prevent the cracked of workpiece.
The accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic perspective view of the flexible positioning device that provides of the utility model embodiment mono-;
Fig. 2 is that Fig. 1 be take the 3rd drive unit and prolonged the part schematic perspective view that Y-direction is cut open as basic point;
Fig. 3 is that Fig. 1 be take the 3rd induction installation and prolonged the part schematic perspective view that Y-direction is cut open as basic point;
Fig. 4 is that Fig. 1 be take the first drive unit and prolonged the part schematic perspective view that Y-direction is cut open as basic point.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
Refer to Fig. 1 and Fig. 2, the utility model embodiment provides a kind of flexible positioning device 100, comprises substrate 110, and described substrate 110 is a sheet metal structural; Be slidedly arranged on the 3rd governor motion 120 on described substrate 110; Be positioned at the first governor motion 130 and second governor motion 140 of the 3rd governor motion 120 upper ends; Be arranged on the 3rd induction installation 150 on described substrate 110; Be disposed on the first induction installation 160 and second induction installation 170 of described the 3rd governor motion 120 upper surfaces; And receive the induced signal of described first, second and third induction installation and control the control system (not shown) that described first, second and third governor motion is regulated.
Wherein, described the first governor motion 130 is set in parallel on same level with described the second governor motion 140, and higher than described the 3rd governor motion 120 place horizontal planes.190 of workpiece can be placed on described the first governor motion 130 and the second governor motion 140.Only there is frictional force between workpiece and described first and second governor motion, thereby guarantee that, when conveying work pieces, the relative position of workpiece and described first and second governor motion is fixed.The adjusting direction of 140 pairs of workpiece 190 of described the first governor motion 130 and described the second governor motion is mutually vertical with the direction that described the 3rd governor motion 120 moves, thereby sets up (X, Y) coordinate system according to this.In the present embodiment, described the 3rd governor motion 120 can drive described first and second governor motion integral body and prolong Y-direction move on described substrate 110, and described first and second governor motion carries out the directions X adjusting to workpiece on described the 3rd governor motion 120.
In the present embodiment, described the first induction installation 160, the second induction installation 170 feed back to described control system by its induction information after being responded to 150 pairs of workpiece of described the 3rd induction installation, described control system control with described first, second and third induction installation respectively corresponding described first, second and third governor motion regulated.
Particularly, described the first induction installation 160 is for responding to the Y-direction place face of workpiece, and described the first governor motion 130 carries out the directions X adjusting according to the induced signal of described the first induction installation 160 to workpiece; Described the second induction installation 170 is for responding to the Y-direction place face of workpiece, and described the second governor motion 140 carries out the directions X adjusting according to the induced signal of described the second induction installation 170; Described the 3rd induction installation 150 is for responding to workpiece directions X place face, described the 3rd governor motion 120 according to the induced signal of described the 3rd induction installation 150 carry out away from or near described the 3rd induction installation 150.Described the first induction installation 160, the second induction installation 170 are respectively sensor with described the 3rd induction installation 150, as long as guarantee that it does not directly contact with workpiece, can be the sensor of the types such as optical fiber, photoelectricity or approach switch, the first induction installation 160, the second induction installation 170 and described the 3rd induction installation 150 in the present embodiment be all the photoelectric sensor of same model.
Described first and second governor motion in this preferred embodiment, can be using it as the structure for conveying that transmits use before first and second induction installation is sensed workpiece 190, and same direction translatory movement is prolonged in lasting maintenance.When workpiece is sent to by described first from other machining area, in the time of on the structure for conveying that two governor motions form, no matter whether and between default normal place the position of workpiece exists skew, the direction of transfer of described structure for conveying remains unchanged, continue to transmit, until workpiece enters described first, the induction region of any one induction installation in two induction installations and when sensed, the induction installation of sensing workpiece feeds back to control system by its induction information, control system is controlled the governor motion stop motion corresponding to induction installation of sensing therewith workpiece, another governor motion corresponding to induction installation of not sensing workpiece continues to keep former direction motion until sense workpiece.Then, if the 3rd induction installation 150 is not sensed workpiece, control system is controlled the 3rd governor motion 120 and is prolonged the movement of Y-direction near described the 3rd induction installation 150; If workpiece has blocked the induction region of the 3rd induction installation 150, control system is controlled the 3rd governor motion 120 and is prolonged the movement of Y-direction away from described the 3rd induction installation 150, until workpiece just is positioned at the induction region of described the 3rd induction installation 150.When workpiece is just sensed by described first, second and third induction installation, the position of workpiece meets default normal place, and now location of workpiece adjustment completes.Certainly, may exist the induction region of an induction installation in described first and second induction installation to be blocked fully by workpiece, and another induction installation is not also sensed workpiece, now, control system is controlled first and second governor motion and is prolonged contrary direction adjustment movement, now workpiece is contrary with the direction of motion of an end of close the second governor motion 140 near an end of described the first governor motion 130, and workpiece is rotated, thereby realizes the angle adjustment to workpiece.
Refer to Fig. 1 and Fig. 3, described the 3rd governor motion 120 comprises support 121 and is fixed in the gripper shoe 122 of described support 121 upper ends; Described support 121 is slidedly arranged on the Y-direction of described substrate 110 upper surfaces by slide assemblies 124, described slide assemblies 124 comprises the slide rail 1241 of the upper surface that is fixed in described substrate 110, and is positioned at the bottom of described support 121, the slide block 1242 coordinated with described slide rail 1241.
Refer to Fig. 2, described flexible positioning device 100 also comprises the 3rd drive unit (figure is mark not) for driving described the 3rd governor motion 120 to slide along Y-direction, described the 3rd drive unit is connected with described support 121, and is fixed in the upper surface of described substrate 110.
Particularly, described the 3rd drive unit comprises the 3rd motor 1231 be fixedly connected with described substrate 110, and the screw mandrel 1232 be connected with the output shaft of described the 3rd motor 1231, described support 121 is provided with the through hole (not shown), is installed with the nut 1233 coordinated with described wire rod thread in described through hole.Described the 3rd motor 1231 drives described screw mandrel 1232 rotations, described screw mandrel makes described nut prolong screw mandrel length direction (Y-direction) motion, prolong on Y-direction and slide thereby drive the support 121 be fixedly connected with described nut 1233 and the gripper shoe be fixedly connected with support, finally realize the Y-direction rectilinear motion of described the 3rd governor motion 120 first and second governor motion integral body of drive.In other embodiments, described the 3rd motor 1231 can be also the integral type structure with described screw mandrel 1232, by the screw mandrel direct-coupled electrical machinery, is substituted.Described the 3rd drive unit can be also that other can produce straight-line device, as, cylinder or structure of the linear motion actuator device.
Further, described support 121 comprises the first support 1211 and the second support 1212, and described the first support 1211 and the second support 1212 are fixed with the base plate (not shown) and are connected between bottom.In the present embodiment, described base plate has two, lays respectively at the two ends, bottom that described support prolongs directions X, and described slide assemblies 124 is a pair of, prolongs respectively Y-direction between described base plate and substrate.
Refer to Fig. 1, Fig. 2 and Fig. 4, described the first governor motion 130 is positioned at a side at described gripper shoe directions X place, described the second governor motion 140 is positioned at another side at described gripper shoe directions X place, and described the second governor motion 140 with described the first adjustment structure 130 in same level.
Particularly, described the first governor motion 130 is symmetrical arranged with described the second governor motion 140.Described the first governor motion 130 comprises the first belt 131; Two first belt pulleys 132 at the two ends of a side at the symmetrical directions X place of being located at described gripper shoe 122 respectively, and the horizontal level of two described the first belt pulleys 132 is identical; And be fixed in the first drive unit 133 on described support 121.Corresponding, described the second governor motion 140 comprises the second belt 141; Two second belt pulleys 142 at the two ends of another side at the symmetrical directions X place of being located at described gripper shoe 122 respectively, and the horizontal level of two described the second belt pulleys 142 is identical; And be fixed in the second drive unit 143 on described support 122.In the present embodiment, described first and second belt can be flat belt, round belt.Certainly, described the first governor motion 130 also can asymmetricly arrange with described the second governor motion 140, only needs to guarantee that the two can carry and adjust workpiece in same level and get final product.Preferably, described the first drive unit 133 is that the first motor 134, the second drive units 143 are the second motor 144.Described first and second motor can be servomotor, can be also stepper motor.Certainly described first and second drive unit can be also other devices with spinfunction.
The plane that described first and second belt forms is higher than the plane of described gripper shoe 122, described first and second belt surface is coarse, make between itself and workpiece and have certain frictional force, so that the relative position while keeping transmission between workpiece and belt is constant, and while adjusting position, the dynamic location of workpiece that makes changes.
Wherein, described the first motor 134 and the second motor 144 are individually fixed on described the first support 1211 and described the second support 1212, and are respectively equipped with the first driving wheel 135 and the second driving wheel 145 on described the first motor 134 and the second motor 144.Described the first belt 131 is wound on two described the first belt pulleys 132 and the first driving wheel 135, and described the second belt 141 is wound on two described the second belt pulleys 142 and the second driving wheel 145.Further, the both sides of described first and second driving wheel are respectively arranged with for compressing the contact roller (not shown) of described first and second belt.
In the present embodiment, described the first governor motion 130 drives described the first belt 131 around described the first belt pulley 132 transmissions by described the first driving wheel 135 on described the first motor 134, and described the second governor motion 140 drives described the second belt 141 around described the second belt pulley 142 transmissions by described the second driving wheel 145 on described the second motor 144.The direction of rotation of described the first motor 134 and the second motor 144 can be simultaneously identical, also can be contrary, thereby the workpiece be opposite on described first and second belt regulate in the same way or the phase counter regulation, and rotation is regulated.
Refer to Fig. 1 and Fig. 3, described the first induction installation 160 and the second induction installation 170 are respectively along spaced on the Y-direction on described gripper shoe 122, and be positioned at described first and second belt inboard, described first and second induction installation is for responding to workpiece Y-direction place face; Described the 3rd induction installation 150 is for responding to workpiece directions X place face.
Described substrate 110 is provided with the mounting bracket 180 for described the first induction installation 150 is installed, and described the first induction installation 150 is installed on the upper end of described mounting bracket 180.When described workpiece blocks the induction region of described the first induction installation 150, the 3rd 120 of governor motions drive workpiece away from described the first induction installation 150.When the 3rd governor motion 120 and the first induction installation 150 apart from each other; the first induction installation 150 surrounding vacant states; for protecting the first induction installation 150; increase the length of the part of described gripper shoe 122 on the Y-direction between described the first belt pulley in the present embodiment; and the open slot (figure is mark not) of accommodating and can moving with respect to described the first induction installation 150 is set on described gripper shoe 122, the open slot that makes described the first induction installation 150 be positioned at all the time described gripper shoe 122 is subject to the protection of gripper shoe.
The flexible positioning device that the utility model preferred embodiment provides arranges described the 3rd induction installation with the sensitive surface of first and second induction installation is vertical, utilize described first, second and third induction installation to determine the position of workpiece at conplane 3 induction points, workpiece except with first and second governor motion in the existing frictional force of first and second belt, between workpiece and governor motion without holding action, also without other External Force Actings, can effectively prevent the cracked of workpiece, reduce the workpiece processing cost.
Above content is in conjunction with concrete preferred embodiment further detailed description of the utility model, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field; make without departing from the concept of the premise utility some alternative or obvious modification that are equal to; and performance or purposes identical, all should be considered as belonging to the utility model scope of patent protection definite by submitted to claims.
Claims (10)
1. a flexible positioning device, is characterized in that, comprising:
Substrate;
The 3rd governor motion, described the 3rd governor motion is slidedly arranged on described substrate along Y-direction;
The first governor motion that workpiece is regulated along directions X, described the first governor motion is positioned at the 3rd governor motion upper end;
The second governor motion that workpiece is regulated along directions X, described the second governor motion is positioned at the 3rd governor motion upper end, and with described the first governor motion in same level;
Described substrate is provided with for responding to the 3rd induction installation of workpiece directions X place face; Described the 3rd governor motion upper end, along being interval with on Y-direction for responding to workpiece Y-direction place face the first induction installation and the second induction installation; And,
Receive described first, second and third induction installation signal and control the control system that described first, second and third governor motion is regulated.
2. flexible positioning device according to claim 1, is characterized in that, described the 3rd governor motion comprises support and the gripper shoe that is fixed in described support upper end, and described support is slidedly arranged on the Y-direction of described upper surface of base plate;
Described the first governor motion is positioned at a side at described gripper shoe directions X place, and described the first governor motion is higher than the horizontal plane at described gripper shoe place;
The second governor motion and described the first governor motion are in same level, and described the second governor motion is positioned at another side at described gripper shoe directions X place;
The first induction installation and the second induction installation are disposed on described gripper shoe along Y-direction.
3. flexible positioning device according to claim 2, it is characterized in that, described the 3rd governor motion also comprises slide assemblies, and described slide assemblies comprises the slide rail of the upper surface that is fixed in described substrate, and is positioned at the bottom of described support, the slide block coordinated with described slide rail.
4. flexible positioning device according to claim 2, is characterized in that, also comprises the 3rd drive unit for driving described the 3rd governor motion to slide along Y-direction, and described the 3rd drive unit is connected with described support, and is fixed in the upper surface of described substrate.
5. flexible positioning device according to claim 4, is characterized in that, described the 3rd drive unit comprises the 3rd motor, and the screw mandrel be connected with the output shaft of described the 3rd motor; Be installed with the nut coordinated with described wire rod thread on described support.
6. flexible positioning device according to claim 2, is characterized in that, described the first governor motion comprises:
The first belt;
First belt pulley at the two ends of a side at the symmetrical directions X place of being located at described gripper shoe respectively;
Be fixed in the first drive unit on described support, described the first drive unit is provided with driving wheel.
7. flexible positioning device according to claim 6, is characterized in that, described the second governor motion comprises:
The second belt;
Second belt pulley at the two ends of another side at the symmetrical directions X place of being located at described gripper shoe respectively;
Be fixed in the second drive unit on described support, described the second drive unit is provided with driving wheel.
8. according to the described flexible positioning device of claim 6 or 7, it is characterized in that, described support comprises the first support and the second support; Be fixed with base plate between the bottom of described the first support and the second support, on described substrate, be fixed with slide rail, the bottom of described base plate is provided with the slide block coordinated with described slide rail; Described the first drive unit is fixed in the first support; Described the second drive unit is fixed in the second support.
9. flexible positioning device according to claim 8, is characterized in that, described slide rail is a pair of, lays respectively at the two ends that described upper surface of base plate is relative.
10. according to the described flexible positioning device of claim 2-7 any one, it is characterized in that, described substrate is provided with mounting bracket, and described the first induction installation is installed on the upper end of described mounting bracket, and described gripper shoe is provided with the open slot of accommodating and moving with respect to described the first induction installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202957564U CN203330917U (en) | 2013-05-28 | 2013-05-28 | Flexible locating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202957564U CN203330917U (en) | 2013-05-28 | 2013-05-28 | Flexible locating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203330917U true CN203330917U (en) | 2013-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013202957564U Expired - Fee Related CN203330917U (en) | 2013-05-28 | 2013-05-28 | Flexible locating device |
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| CN (1) | CN203330917U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103912851A (en) * | 2014-03-14 | 2014-07-09 | 深圳连硕自动化科技有限公司 | Flexible spatial position adjusting device |
| CN108255140A (en) * | 2017-12-29 | 2018-07-06 | 广州泰行智能科技有限公司 | Transmission localization method, device, terminal device and the storage medium of assembly line |
| CN108544437A (en) * | 2018-06-21 | 2018-09-18 | 宁波介量机器人技术有限公司 | A kind of flexible docking equipment for large-sized structural parts |
-
2013
- 2013-05-28 CN CN2013202957564U patent/CN203330917U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103912851A (en) * | 2014-03-14 | 2014-07-09 | 深圳连硕自动化科技有限公司 | Flexible spatial position adjusting device |
| CN103912851B (en) * | 2014-03-14 | 2016-02-10 | 深圳连硕自动化科技有限公司 | The device of a kind of flexible space position adjustment |
| CN108255140A (en) * | 2017-12-29 | 2018-07-06 | 广州泰行智能科技有限公司 | Transmission localization method, device, terminal device and the storage medium of assembly line |
| CN108544437A (en) * | 2018-06-21 | 2018-09-18 | 宁波介量机器人技术有限公司 | A kind of flexible docking equipment for large-sized structural parts |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20200528 |