CN118990126B - Precise alignment method, device and system for workpiece - Google Patents
Precise alignment method, device and system for workpiece Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims description 31
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/06—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of pushers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/16—Loading work on to conveyors; Arranging work on conveyors, e.g. varying spacing between individual workpieces
- B23Q7/18—Orienting work on conveyors
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Abstract
The invention provides a precise alignment method, a device and a system for a workpiece, which relate to the technical field of workpiece processing equipment, and are applied to a control mechanism of an alignment system; the method comprises the steps of judging whether the previous pushing parameter is equal to the previous position change amount, if not, updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount until a target pushing parameter equal to the position change amount is obtained, and controlling the alignment device to operate according to the target pushing parameter.
Description
Technical Field
The invention relates to the technical field of workpiece processing equipment, in particular to a precise workpiece alignment method, device and system.
Background
In the production and processing process of mechanical workpieces, the processed workpieces of a die and nonstandard part CNC processing center, a numerical control boring machine, a deep hole drill and an EDM numerical control electric spark forming machine are heavier and weigh hundreds of kilograms or even tens of tons, so that a robot manipulator cannot grasp the workpiece to be processed for machining. Generally, a worker fixes a workpiece to be processed on a traveling crane, then the workpiece to be processed is hung on a machine tool workbench through the traveling crane, in the process, the position where the workpiece is placed is easy to have errors, the workpiece cannot be accurately placed on a processing position, and further alignment and correction are required.
In the prior art, most of the single push rods are used for aligning the workpiece to be processed, and because a certain gap is easily formed between the alignment device and the track, the alignment device cannot accurately push the workpiece to a designated position during pushing, and precise alignment cannot be realized.
Disclosure of Invention
Accordingly, the present invention is directed to a precise alignment method, which is used for solving the technical problem that a workpiece cannot be precisely pushed to a designated position by a sliding gap in an alignment device in the prior art, and precise alignment cannot be performed.
In a first aspect, the present embodiment provides a precision alignment method for a workpiece, which is applied to a control mechanism of an alignment system, and the method includes:
Acquiring a previous pushing parameter and a previous position variation of the workpiece when the alignment device operates with the previous pushing parameter;
Calculating the difference value between the previous position change quantity and a preset pushing parameter as a current difference value;
If the current difference value is greater than a preset threshold value, updating the previous pushing parameter according to the previous pushing parameter and the previous position change quantity until a target pushing parameter equal to the position change quantity is obtained;
And controlling the alignment device to operate according to the target pushing parameters.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, before the step of obtaining a previous pushing parameter, and a previous position change amount of the workpiece when the alignment device operates with the previous pushing parameter, the method further includes:
Acquiring the initial position variation of a workpiece when the alignment device operates with preset pushing parameters;
calculating the difference between the initial position variation and the preset pushing parameter as an initial difference value;
if the initial difference value is larger than the preset threshold value, calculating according to the preset pushing parameter and the initial position variation to obtain the previous corrected pushing parameter.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, before the step of obtaining an initial position change amount of the workpiece when the alignment device operates with the preset pushing parameter, the method further includes:
Driving the alignment device to move to a designated position;
and acquiring preset pushing parameters of the alignment device corresponding to the workpiece.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the step of updating the previous push parameter according to the previous push parameter and the previous position change amount includes:
;
Wherein, In order to update the revised push parameters,For the previous push-on parameter(s),For the previous correction of the push parameters, and,Is the previous position change amount.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, before the step of obtaining a preset pushing parameter of the alignment device corresponding to the workpiece, the method further includes:
acquiring position information of a target workpiece;
And driving the moving end of the alignment device to face the target workpiece according to the position information.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, before the step of obtaining the position information of the target workpiece, the method further includes:
Acquiring the height information of a target workpiece;
and driving the alignment device to be in the same plane with the target workpiece according to the height information.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, a step of obtaining a previous pushing parameter, and a previous position change amount of the workpiece when the alignment device operates with the previous pushing parameter, where the step includes:
Acquiring initial position information of a workpiece before the previous pushing;
Acquiring current position information of a workpiece pushed in the previous time;
and calculating the previous position change amount according to the current position information and the initial position information.
In a second aspect, the present application provides a workpiece alignment device comprising:
The acquisition module is used for acquiring the previous pushing parameters and the previous position variation of the workpiece when the alignment device operates with the previous pushing parameters;
The judging module is used for judging whether the previous pushing parameter is equal to the previous position change amount or not;
The updating module is used for updating the previous pushing parameter according to the previous pushing parameter and the previous position change when the previous pushing parameter is not equal to the previous position change until the target pushing parameter equal to the position change is obtained;
and the control module is used for controlling the alignment device to operate according to the target pushing parameters.
In a third aspect, the application provides an alignment system, which comprises a processing platform, an alignment device and a distance measuring mechanism;
the processing platform is provided with a containing part which is used for placing a workpiece;
The alignment device is arranged on one side of the processing platform and comprises a driving mechanism and a push rod, and the push rod is in transmission connection with the driving mechanism so as to be close to or far from the containing part;
the distance measuring mechanism is arranged on the driving mechanism, and the measuring direction of the distance measuring mechanism is the same as the pushing direction of the push rod.
With reference to the third aspect, the present embodiment provides a first possible implementation manner of the first aspect, where the ranging mechanism includes a precision displacement sensor, a high-elastic spring, and a sensor touch sensor;
The precise displacement sensor is arranged on the driving mechanism, and one end of the precise displacement sensor is provided with a mounting part;
one end of the high-elastic spring is arranged on the mounting part;
One end of the sensor touch head is connected with the other end of the high-elastic spring, the other end of the sensor touch head is arranged in the push rod in a penetrating mode and in sliding fit with the push rod, one end, far away from the precision displacement sensor, of the sensor touch head is provided with a limiting part, and the limiting part is matched with the push rod, so that the end part of the sensor touch head extends out of the end part of the push rod to fix the length.
The embodiment of the invention has the following beneficial effects:
The precise workpiece alignment method is applied to a control mechanism of an alignment system and comprises the steps of obtaining a previous pushing parameter, calculating a difference value between the previous position change quantity and a preset pushing parameter as a current difference value when an alignment device runs with the previous pushing parameter, updating the previous pushing parameter according to the previous pushing parameter and the previous position change quantity if the current difference value is larger than a preset threshold value until a target pushing parameter equal to the position change quantity is obtained, and controlling the alignment device to run with the target pushing parameter.
In the process of aligning the workpiece, the invention judges whether the actual extension distance of the workpiece pushed by the previous alignment device and the actual displacement of the workpiece in the previous pushing process are within the allowable error range or not through acquiring the previous pushing parameter, namely the actual extension distance of the workpiece pushed by the previous alignment device, and the displacement of the workpiece in the previous pushing process when the alignment device runs by the previous pushing parameter, and judging whether the actual extension distance of the workpiece pushed by the previous alignment device and the actual displacement of the workpiece in the previous pushing process are within the allowable error range or not, if the actual extension distance is greater than the allowable maximum error (namely a preset threshold), the offset of the alignment device or the warping phenomenon of the workpiece occurs in the process of pushing the workpiece, so that the workpiece can not move to the preset position, at this moment, according to the difference between the actual extension distance of the workpiece pushed by the previous alignment device and the displacement of the previous pushing process, if the workpiece is wanted to be pushed to the preset position, the actual extension distance of the alignment device is needed to be increased, the workpiece is pushed again till the value is obtained, the target parameter which is equal to the target pushing parameter of the position of the previous pushing quantity, and the workpiece is moved again to the preset error, and the workpiece is allowed to be aligned to the actual position.
According to the method, the actual displacement of the workpiece after the alignment action is completed and the actual pushing distance of the alignment device are measured, the offset of the alignment vehicle is obtained by calculating the actual displacement of the workpiece and the actual pushing distance of the alignment device, the offset is increased to the pushing distance to push the workpiece again to complement the difference value, and the phenomenon that the alignment device moves backwards under the reactive force and the offset causes the workpiece alignment inaccuracy is avoided, so that the accurate alignment of the workpiece is realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for precisely aligning a workpiece according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a precision alignment system for a workpiece according to an embodiment of the present invention;
Fig. 3 is an enlarged view at a in fig. 2.
Icon:
100-a processing platform;
200-aligning device, 210-driving mechanism, 220-push rod;
300-ranging mechanism, 310-precision displacement sensor and 320-high-elastic spring.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In order to facilitate understanding of the present embodiment, the application scenario and the design concept of the embodiment of the present application are briefly described below.
Because the existing CNC machining center for the die and nonstandard parts, the CNC boring machine, the deep hole drill and the EDM numerical control electric spark forming machine are heavy in machined workpieces, and the weight of the workpieces reaches hundreds of kilograms or even tens of tons, the robot manipulator cannot grasp the workpiece to be machined for machining. Typically, a worker secures a workpiece to be machined to a traveling crane, and then hangs the workpiece to be machined to a machine tool table by the traveling crane. At present, the workpiece to be processed is aligned in a mode of a single push rod, because a certain gap exists between the alignment device and the track, when the workpiece is pushed, the workpiece is easy to move, the alignment device moves backwards and deflects under the action of the reaction force, so that the workpiece cannot be accurately pushed to a designated position due to the sliding gap of the alignment device, and precise alignment cannot be performed.
In addition, when performing alignment pushing for some heavier workpieces, elastic clearances often exist in the ground rail or the alignment device. When the large workpiece is pushed to perform alignment, the alignment device is stressed to retreat. When the alignment device returns to the original position without being stressed, a certain elastic gap exists, and at the moment, precise and accurate alignment of the workpiece cannot be realized.
Example 1
Referring to fig. 1, the precise alignment method for a workpiece provided in this embodiment is applied to a control mechanism of an alignment system, and includes:
s100, acquiring previous pushing parameters and previous position variation of a workpiece when the alignment device operates with the previous pushing parameters;
s200, calculating the difference value between the previous position change quantity and a preset pushing parameter as a current difference value;
s300, if the current difference value is larger than a preset threshold value, updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount until a target pushing parameter equal to the position change amount is obtained;
s400, controlling the alignment device to operate according to the target pushing parameters.
Specifically, in the process of aligning the workpiece by the alignment device 200 with the single-rod structure, the difference between the actual extending distance of the workpiece pushed by the alignment device 200 in the previous time and the actual displacement of the workpiece in the previous time is calculated by acquiring the previous pushing parameter, namely the actual extending distance of the workpiece pushed by the alignment device 200 in the previous time, and the previous position change of the workpiece when the alignment device 200 operates with the previous pushing parameter, namely the displacement of the workpiece in the previous pushing process, so as to obtain the current difference, namely the distance between the current workpiece position and the target position of the workpiece.
If the current difference is greater than a preset threshold (i.e. the maximum error of the aligned workpiece, in this embodiment, the preset threshold is specifically 2mm, i.e. the maximum distance between the final position of the workpiece and the preset position of the workpiece should be less than or equal to 2 mm), it may be determined that phenomena such as offset of the alignment device 200 occur during pushing the workpiece, which results in failure of the workpiece to move to the preset position.
At this time, the difference between the actual protruding distance of the workpiece pushed by the previous alignment device 200 and the displacement amount during the previous pushing is calculated. It can be known that if it is desired to push the workpiece to the preset position, the push distance of the alignment device 200 needs to be increased, the workpiece is pushed and aligned again by adding the difference between the actual extension distance of the workpiece pushed by the previous alignment device 200 and the displacement, and then the above values are measured again until the current difference is greater than or equal to the preset threshold value, and the alignment device 200 is operated to perform alignment again on the workpiece according to the target push parameter. Repeating the above actions again until the difference between the actual displacement of the workpiece and the preset pushing parameter is smaller than the preset threshold, and then the workpiece can be regarded as moving to the preset position, and the workpiece is aligned.
According to the invention, the previous position change amount (the actual displacement amount of the workpiece) of the workpiece after the previous alignment is completed and the previous pushing parameter (the actual pushing distance of the alignment device 200) of the alignment device 200 are measured, and the target pushing parameter equal to the position change amount is obtained by calculating the previous position change amount of the workpiece and the previous pushing parameter of the alignment device 200 (the current pushing distance is obtained by increasing the offset amount to the previous pushing distance of the alignment device 200), so that the difference value generated by the offset of the alignment device 200 is complemented, and the phenomenon that the workpiece is aligned inaccurately due to the backward movement and the offset of the alignment device 200 under the reactive force is avoided, thereby realizing the accurate alignment of the workpiece.
Step S100, before the step of obtaining the previous pushing parameter and the previous position change of the workpiece when the alignment device operates with the previous pushing parameter, further includes:
S010, acquiring initial position variation of the workpiece when the alignment device operates with preset pushing parameters;
s020, calculating the difference between the initial position variation and the preset pushing parameter as an initial difference value;
S030, if the initial difference value is larger than a preset threshold value, calculating according to the preset pushing parameter and the initial position variation to obtain the previous corrected pushing parameter.
The relation between the initial correction pushing parameter and the previous correction pushing parameter is that if the current pushing frequency is 2, the initial is the previous time, and if the current pushing frequency is more than 2, the previous time is corrected on the basis of the initial.
When the alignment device 200 performs the first alignment action on the workpiece, the alignment device 200 operates according to the preset pushing parameters corresponding to the workpiece to push the workpiece to move, and after the first alignment action is finished, the initial position variation of the workpiece is obtained.
The initial difference value of the workpiece is the difference between the initial position variation and the preset pushing parameter, and if the initial difference value is smaller than or equal to the preset threshold value, the workpiece moves by a distance similar to the preset pushing parameter under the pushing of the alignment device 200, so that the workpiece is aligned.
If the initial difference is greater than the preset threshold, it may be determined that the phenomenon such as offset of the alignment device 200 occurs during the pushing of the workpiece, and the workpiece does not move to the preset position, and at this time, the previous corrected pushing parameter is obtained according to the difference between the preset pushing parameter and the initial position variation.
Step S010, before the step of obtaining the initial position variation of the workpiece when the alignment device runs with the preset pushing parameter, further includes:
s001, driving the alignment device to move to a designated position;
s002, obtaining preset pushing parameters of the alignment device corresponding to the workpiece.
Specifically, in this embodiment, the alignment device 200 is disposed on the moving mechanism, a track is laid on the floor of the workshop, the moving mechanism moves along the track to the position of the alignment device 200 and reaches the preset position, and the alignment device 200 performs an initial pushing action on the workpiece according to the stored preset pushing parameters corresponding to the workpiece.
In this embodiment, the alignment device 200 pushes the workpiece to move by a single rod, and when the center of the single rod is consistent with the center of the workpiece, the alignment device 200 is regarded as reaching the preset designated position.
As an implementation manner, when the alignment mechanism is a double-rod pushing structure, the centers of the two push rods 220 are required to be consistent with the center of the workpiece.
Step S300, the step of updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount comprises the following steps:
;
Wherein, In order to update the revised push parameters,For the previous push-on parameter(s),For the previous correction of the push parameters, and,Is the previous position change amount.
Step S002, before the step of obtaining the preset pushing parameters of the alignment device corresponding to the workpiece, further includes:
s0013, acquiring the position information of the target workpiece;
s0014, driving the moving end of the alignment device to face the target workpiece according to the position information.
Specifically, in this embodiment, a rotating mechanism is disposed at the bottom of the alignment device 200, and the rotating mechanism includes a rotating motor, and an output end of the rotating motor is in transmission connection with the push rod 220 to drive the push rod 220 to rotate, so as to implement adjustment of the direction of the push rod 220.
S0013, before the step of obtaining the position information of the target workpiece, further includes:
s0011, acquiring height information of a target workpiece;
S0012, driving the alignment device to be in the same plane with the target workpiece according to the height information.
Specifically, a height adjusting mechanism is further disposed between the rotating mechanism and the push rod 220 in this embodiment, and the height adjusting mechanism in this embodiment is an air cylinder, the moving end of the air cylinder faces upward, and the driving direction of the air cylinder is a vertical direction. When the moving end of the air cylinder moves upwards, the push rod 220 can move upwards together, so that the height of the push rod 220 is adjusted, the push rod 220 and a workpiece are located in the same plane, and the push rod 220 can push the workpiece to move.
S100, acquiring a previous pushing parameter, and a previous position variation of the workpiece when the alignment device operates according to the previous pushing parameter, wherein the method further comprises the following steps:
s110, acquiring initial position information of a workpiece before the previous pushing;
s120, acquiring current position information of the workpiece pushed in the previous time;
s130, calculating the previous position change amount according to the current position information and the initial position information.
In this embodiment, the initial position information of the workpiece before the previous pushing is the current position information of the workpiece after the previous pushing, that is, the previous position change amount of the workpiece.
The workpiece alignment device 200 provided in this embodiment includes:
The acquisition module is used for acquiring the previous pushing parameters and the previous position variation of the workpiece when the alignment device 200 operates with the previous pushing parameters;
The judging module is used for judging whether the previous pushing parameter is equal to the previous position change amount or not;
The updating module is used for updating the previous pushing parameter according to the previous pushing parameter and the previous position change when the previous pushing parameter is not equal to the previous position change until the target pushing parameter equal to the position change is obtained;
the control module is used for controlling the alignment device 200 to operate with target pushing parameters.
Referring to fig. 2 and 3, the alignment system provided in this embodiment includes a processing platform 100, an alignment device 200 and a ranging mechanism 300. The processing platform 100 has a holding portion for holding a workpiece. The alignment device 200 is disposed on one side of the processing platform 100, the alignment device 200 includes a driving mechanism 210 and a push rod 220, and the push rod 220 is in transmission connection with the driving mechanism 210 to approach or depart from the accommodating portion. The ranging mechanism 300 is disposed on the driving mechanism 210, and the direction of measurement of the ranging mechanism 300 is the same as the pushing direction of the push rod 220.
Specifically, the alignment device 200 in this embodiment further includes a mounting seat, the driving mechanism 210 is disposed on the mounting seat, the positions of the mounting seat and the driving mechanism 210 remain unchanged in the process of aligning the workpiece, and the push rod 220 is in transmission connection with the driving end of the driving mechanism 210. The driving element of the driving mechanism 210 in this embodiment is a driving motor, and the push rod 220 is linked with the moving end of the driving motor through a chain to realize the pushing action of the push rod 220. The distance measuring mechanism 300 is mounted on the driving motor so that the position of the distance measuring mechanism 300 can be maintained during pushing, thereby measuring the actual displacement distance of the workpiece.
In this embodiment, the ranging mechanism 300 includes a precision displacement sensor 310, a high-elastic spring 320, and a sensor touch sensor. The precision displacement sensor 310 is provided in the driving mechanism 210, and one end of the precision displacement sensor 310 is provided with a mounting portion. One end of the high-elastic spring 320 is provided at the mounting portion. One end of the sensor touch sensor is connected with the other end of the high-elastic spring 320, the other end of the sensor touch sensor is arranged in the push rod 220 in a penetrating mode and is in sliding fit with the push rod 220, one end, far away from the precision displacement sensor 310, of the sensor touch sensor is provided with a limiting portion, and the limiting portion is matched with the push rod 220, so that the end portion of the sensor touch sensor extends out of the end portion of the push rod 220 to be fixed in length.
Specifically, in this embodiment, two ends of the high-elastic spring 320 are respectively connected to the precision displacement sensor 310 and the sensor touch sensor, and in this structure, the value measured by the precision displacement sensor 310 is the distance between the precision displacement sensor 310 and the end of the sensor touch sensor. After the high-elastic spring 320 is compressed, the precise displacement sensor 310 is connected with the driving mechanism 210, so that the position of the precise displacement sensor 310 is fixed, then, the sensor touch sensor penetrates into the push rod 220, moves towards one end (i.e. the end abutting against a workpiece) of the push rod 220, which is far away from the driving mechanism 210, under the action of the restoring deformation of the high-elastic spring 320, and extends out of the pushing end of the push rod 220 by a certain distance under the action of the limiting part. With this configuration, the sensor touches the workpiece in advance before the push rod 220 touches the workpiece, and the initial position of the workpiece is obtained. When the push rod 220 pushes the workpiece and then performs reset motion, and the push rod 220 just breaks away from the workpiece, the sensor touch sensor keeps overhanging action under the action of the high-elastic spring 320, and the sensor touch sensor still keeps abutting action with the workpiece, so that the position of the workpiece after pushing is measured, and the position change quantity of the workpiece pushed at the moment is obtained.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some or all of the technical features may be equivalently replaced, and these modifications or substitutions do not deviate from the essence of the corresponding technical solution from the scope of the technical solution of the embodiment of the present invention.
Claims (7)
1. The precise workpiece alignment method is characterized by being applied to a control mechanism of an alignment system, wherein the alignment system comprises a processing platform, an alignment device and a distance measuring mechanism;
the processing platform is provided with a containing part which is used for placing a workpiece;
The alignment device is arranged on one side of the processing platform and comprises a driving mechanism and a push rod, and the push rod is in transmission connection with the driving mechanism so as to be close to or far away from the containing part;
the distance measuring mechanism is arranged on the driving mechanism, and the measuring direction of the distance measuring mechanism is the same as the pushing direction of the push rod;
The distance measuring mechanism comprises a precise displacement sensor, a high-elastic spring and a sensor touch sensor;
the precise displacement sensor is arranged on the driving mechanism, and one end of the precise displacement sensor is provided with a mounting part;
One end of the high-elastic spring is arranged on the mounting part;
One end of the sensor touch sensing head is connected with the other end of the high-elastic spring, the other end of the sensor touch sensing head penetrates through the push rod and is in sliding fit with the push rod, one end, far away from the precision displacement sensor, of the sensor touch sensing head is provided with a limiting part, and the limiting part is matched with the push rod, so that the end part of the sensor touch sensing head extends out of the end part of the push rod for a fixed length;
The method comprises the following steps:
acquiring initial position variation of a workpiece when the alignment device operates with preset pushing parameters;
Calculating the difference between the initial position variation and the preset pushing parameter as an initial difference value;
if the initial difference value is larger than a preset threshold value, calculating according to the preset pushing parameter and the initial position variation to obtain a previous corrected pushing parameter;
acquiring a previous pushing parameter and a previous position variation of a workpiece when the alignment device operates according to the previous pushing parameter;
calculating the difference value between the previous position variation and a preset pushing parameter as a current difference value;
If the current difference value is larger than a preset threshold value, updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount until a target pushing parameter equal to the position change amount is obtained;
And controlling the alignment device to operate according to the target pushing parameters.
2. The method of claim 1, wherein prior to the step of obtaining the initial position change of the workpiece when the alignment device is operated with the preset pushing parameters, further comprising:
Driving the alignment device to move to a designated position;
and acquiring preset pushing parameters of the alignment device corresponding to the workpiece.
3. The method of claim 2, wherein the step of updating the previous push parameter based on the previous push parameter and the previous position change amount comprises:
;
Wherein, In order to update the revised push parameters,For the previous push-on parameter(s),For the previous correction of the push parameters, and,The previous position change amount.
4. The method of claim 2, wherein prior to the step of obtaining the preset pushing parameters of the alignment device corresponding to the workpiece, further comprising:
acquiring position information of a target workpiece;
and driving the moving end of the alignment device to face the target workpiece according to the position information.
5. The method of claim 4, wherein prior to the step of obtaining the positional information of the target workpiece, further comprising:
acquiring the height information of the target workpiece;
and driving the alignment device to be in the same plane with the target workpiece according to the height information.
6. The method of claim 1, wherein the step of obtaining the previous push parameter and the previous position change of the workpiece when the alignment device is operated with the previous push parameter comprises:
acquiring initial position information of the workpiece before the previous pushing;
acquiring current position information of the workpiece after the previous pushing;
And calculating the previous position change amount according to the current position information and the initial position information.
7. A workpiece alignment device, comprising:
The acquisition module is used for acquiring the previous pushing parameters and the previous position variation of the workpiece when the alignment device operates according to the previous pushing parameters;
The judging module is used for judging whether the previous pushing parameter is equal to the previous position change amount or not;
The updating module is used for updating the previous pushing parameter according to the previous pushing parameter and the previous position change amount when the previous pushing parameter is not equal to the previous position change amount until a target pushing parameter equal to the position change amount is obtained;
and the control module is used for controlling the alignment device to operate according to the target pushing parameters.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106363460A (en) * | 2015-07-24 | 2017-02-01 | 发那科株式会社 | Workpiece positioning device for positioning workpiece |
| CN118237956A (en) * | 2024-05-20 | 2024-06-25 | 宁波肆典零科技有限公司 | Workpiece alignment method, device and system, electronic equipment and storage medium |
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| CN111745465A (en) * | 2020-06-30 | 2020-10-09 | 中国航发动力股份有限公司 | Self-adaptive positioning method and positioning system for workpiece of numerical control machine tool |
| CN216593174U (en) * | 2021-12-31 | 2022-05-24 | 里卡多科技咨询(上海)有限公司 | Contact type displacement sensor |
| JP2024034308A (en) * | 2022-08-31 | 2024-03-13 | キヤノン株式会社 | Positioning apparatus, processing apparatus, shape measuring apparatus, positioning method, and article manufacturing method |
| CN115854813A (en) * | 2022-11-23 | 2023-03-28 | 中国航空工业集团公司北京长城计量测试技术研究所 | Device suitable for high-efficient measurement of low-grade gage block |
| CN117300713B (en) * | 2023-12-01 | 2024-03-19 | 宁波肆典零科技有限公司 | Workpiece alignment device and alignment method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106363460A (en) * | 2015-07-24 | 2017-02-01 | 发那科株式会社 | Workpiece positioning device for positioning workpiece |
| CN118237956A (en) * | 2024-05-20 | 2024-06-25 | 宁波肆典零科技有限公司 | Workpiece alignment method, device and system, electronic equipment and storage medium |
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