CN108249168B

CN108249168B - Positioning device and blanking stacking system

Info

Publication number: CN108249168B
Application number: CN201810255059.3A
Authority: CN
Inventors: 梁建江; 王行勤
Original assignee: Honda Auto Parts Manufacturing Co ltd
Current assignee: Honda Auto Parts Manufacturing Co ltd
Priority date: 2018-03-21
Filing date: 2018-03-21
Publication date: 2024-04-30
Anticipated expiration: 2038-03-21
Also published as: CN108249168A

Abstract

The invention discloses a positioning device and a blanking stacking system, wherein the positioning device comprises: a base; the first positioning mechanism comprises a plurality of rolling elements, the rolling elements are arranged in the installation position and are sequentially distributed along the X direction, and the vertexes of the rolling elements are positioned on the same plane; the second positioning mechanism comprises a limiting seat, a limiting groove is formed in the limiting seat, the limiting groove extends along the X direction, a rotating piece is arranged on the bottom plate of the container, and the rotating piece is matched with the limiting groove in size; the third positioning mechanism comprises a stop block and a locker, wherein the stop block is used for propping against the first side of the container, and the locker is used for locking the second side of the container. The blanking stacking system comprises a container and the positioning device. The invention can realize high-precision positioning of the container, has simple structure, low manufacturing cost and easy maintenance, and simultaneously, the blanking robot can directly blanking into the container due to the high-precision positioning of the container without adopting a visual detection technology, thereby reducing the manufacturing cost.

Description

Positioning device and blanking stacking system

Technical Field

The invention relates to the technical field of blanking stacking, in particular to a positioning device and a blanking stacking system.

Background

At present, a more common automatic line blanking stacking technology is to manufacture a plurality of containers without precision requirements, realize preliminary space positioning on the containers through a plurality of positioning devices, realize charging by searching for blanking levels through a visual detection technology by a robot, and finally take out finished products of the automatic line in a container switching mode by an operator. The positioning device in the blanking stacking technology needs to use driving equipment such as a cylinder combination and a motor, increases the cost of blanking stacking, has a complex structure, is high in maintenance cost and positioning accuracy. In addition, the limitation of the robot vision blanking on luminosity, oil mist, vibration and the like is extremely high, the precision is difficult to guarantee, the detection technology such as vision is needed, and the manufacturing cost is high.

Disclosure of Invention

The invention aims to solve the technical problems of providing the positioning device and the blanking stacking system, which can realize high-precision positioning of the container, and have the advantages of simple structure, low manufacturing cost and easy maintenance.

The technical problems are solved by the following technical scheme:

A positioning device, comprising:

The base is provided with a mounting position for correspondingly placing the container, the Z direction is defined as the vertical direction, and the X direction and the Y direction are two directions which are vertical to each other in the horizontal plane;

The first positioning mechanism comprises at least one group of positioning components, the positioning components comprise a plurality of rolling elements rotating in a vertical plane, the rolling elements are arranged in the installation position and are sequentially distributed along the X direction, the vertexes of the rolling elements are positioned on the same plane, and the rolling elements are used for supporting a bottom plate of the container;

The second positioning mechanism comprises a limiting seat arranged on the base, a limiting groove is formed in the limiting seat, the limiting groove extends along the X direction, a plurality of rotating parts rotating in a horizontal plane are arranged on a bottom plate of the container, the rotating parts are sequentially arranged along the X direction, the rotating parts are matched with the limiting groove in size, and a first inlet and outlet for the rotating parts to enter are formed in the end part of the limiting groove; and

The third positioning mechanism comprises a stop block and a locker which are arranged on the base, wherein the stop block and the locker are arranged on two sides of the installation position and are distributed along the X direction, the stop block is used for propping against the first side of the container when the container enters the installation position, the locker is used for locking the second side of the container when the container enters the installation position, and the first side and the second side are respectively two sides of the container opposite to each other in the X direction.

According to the positioning device, the first positioning mechanism is used for keeping the vertexes of the rolling elements on the first positioning mechanism to be located on the same plane, namely keeping the contact points of the bottom plate of the container and the rolling elements to be located at the same height, so that a high-precision supporting surface is formed, the height of the bottom plate of the container is ensured to be constant, and the positioning of the container in the Z direction during discharging stacking is realized. The rolling parts can reduce the resistance of the container entering or exiting the installation position, and reduce the abrasion phenomenon of the container. Moreover, the rolling elements are in point contact with the bottom plate of the container, the precision of the container in the Z direction can be ensured only by enabling the contact points of all the rolling elements and the container to be located on the same plane, and compared with the case of adopting the surface contact between other components and the bottom plate of the container, the design of point contact is easier to ensure the precision of the container in the Z direction. In the second positioning mechanism, the rotating piece is clamped into the limiting groove, so that the container is limited in the Y direction, and the precision of the container in the Y direction during discharging stacking is ensured. In the third positioning mechanism, through the arrangement of the check block and the locker which are arranged upwards in the X direction, the first side and the second side of the container are limited, so that the container is limited in the X direction, and the precision of the container in the X direction during discharging stacking is ensured. And the stop block and the locking device are arranged, so that the container can conveniently enter and exit the positioning device. The positioning device avoids adopting the traditional driving mechanisms such as the air cylinder and the motor, and the like, creatively adopts a simple structure to realize a novel positioning mode (three-dimensional positioning), is easy to manufacture and realize and has lower manufacturing cost. In addition, the positioning device can realize high-precision positioning of the container in the three-dimensional direction, so that the blanking robot can directly blanking the container conveniently, the blanking robot only needs to install teaching program operation, a visual detection technology is not needed, and the manufacturing cost is reduced.

The technical scheme of the positioning device is further described below:

In one embodiment, the rolling element comprises a first bearing; and/or the rotating member comprises a second bearing. The bearings are standard components, and the rolling elements and the rotating elements are manufactured by adopting the first bearings and the second bearings respectively, so that the precision of all the rolling elements and the rotating elements is guaranteed, the vertexes of all the rolling elements can be located on the same plane, and the high-precision positioning of the container in the Z direction is guaranteed; and the radial sizes of all the rotating parts are the same and all the rotating parts are propped against the inner wall of the limiting groove, so that the container is positioned in the Y direction with high precision. And the first bearing and the second bearing have high mechanical strength and stability, and are not easy to deform or wear.

In one embodiment, the two positioning assemblies are arranged along the Y direction, the vertexes of all the rolling elements are located on the same plane, and the limiting seat is arranged between the two positioning assemblies; and/or the number of the two check blocks is two, the two check blocks are arranged along the Y direction, the number of the lockers is two, and the two lockers are arranged along the Y direction and are respectively positioned at two sides of the installation position. The two groups of positioning components for Z-direction positioning can be symmetrically distributed according to the width of the container, so that the stress balance of the container is ensured, and the positioning precision of the container in the Z-direction is further ensured. The limiting seat for Y-direction positioning can be arranged at the middle position of the two groups of positioning components, so that the positioning precision of the container is further ensured. In addition, the two stop blocks and the two lockers for X-direction positioning are also two, and the two stop blocks and the two lockers can be uniformly arranged corresponding to the width of the container, so that the stress is balanced during container positioning, and the precision during container positioning is ensured.

In one embodiment, a containing groove is concavely formed in one surface of the stop block, which faces the locker, and limiting blocks which are in one-to-one correspondence with the containing grooves and are matched with each other in shape are arranged on the first side of the container. The quick positioning of the container can be realized through the cooperation of the limiting block and the accommodating groove, and the positioning in the Y direction is further realized on the basis of ensuring the positioning in the X direction.

In one embodiment, the accommodating groove is in an outward-expanding V shape or trapezoid shape, and the shape of the limiting block is matched with the shape of the accommodating groove. The V-shaped or trapezoid-shaped containing groove is beneficial to forming a guiding effect, so that the limiting block can be automatically aligned and quickly inserted into the containing groove, and quick positioning is realized.

In one embodiment, the action point of the locker on the trolley and the limiting block are arranged on the bottom plate of the container, so that stress of the container in the three-dimensional positioning process is concentrated on the bottom plate, stability of the container in the positioning process is promoted, and other unstable phenomena such as toppling, shaking and the like can not occur.

In one embodiment, the container further comprises a buffer, wherein the buffer and the stop block are arranged on the same side of the installation position, and the buffer is used for being in contact with the first side of the container. The buffer is used for realizing the buffer function when the container is in place, thereby protecting the container.

In one embodiment, the blanking robot further comprises a travel limit switch, wherein the travel limit switch and the stop block are arranged on the same side of the installation position, and the travel limit switch is electrically connected with the blanking robot. When the container is in place, the container touches a travel limit switch, the travel limit switch sends a container in-place instruction to the discharging robot, and the discharging robot starts to act after receiving the instruction, so that a workpiece is loaded into the container.

In one embodiment, the base is provided with two guide grooves which are arranged side by side along the Y direction, the guide grooves extend along the X direction, the first positioning mechanism and the second positioning mechanism are both arranged between the two guide grooves, the container is provided with a moving wheel, and the end part of the guide groove is provided with a second inlet and outlet for the moving wheel to enter. The guide groove is used for guiding and limiting the container to walk.

The technical scheme also provides a discharging stacking system which comprises a container and the positioning device, wherein a rotating piece is arranged on a bottom plate of the container, and a plurality of charging bars are arranged in the container.

According to the blanking stacking system, the positioning device is used for realizing three-dimensional high-precision positioning of the container, so that the blanking robot only needs to install teaching program operation, a visual detection technology is not needed, and the manufacturing cost is reduced. Meanwhile, the positioning device is simple in structure, low in manufacturing cost and beneficial to reducing the overall cost of the system.

Drawings

FIG. 1 is a schematic diagram of a positioning device according to an embodiment of the invention;

FIG. 2 is an exploded view of a blanking palletizing system according to an embodiment of the present invention;

Fig. 3 is a side view of the blanking palletizing system of fig. 2 with the container in place.

Reference numerals illustrate:

100. Positioning device, 110, base, 120, positioning component, 121, first mount pad, 122, rolling element, 130, limit pad, 131, limit groove, 1311, first import and export, 140, second mount pad, 141, dog, 1411, accommodation groove, 142, locker, 150, buffer, 160, travel limit switch, 170, deflector, 171, guide groove, 1711, second import and export, 180, docking plate, 190, support pad, 200, container, 210, bottom plate, 220, first side, 230, second side, 240, rotating element, 250, moving wheel, 260, loading arm, 270, and stopper.

Detailed Description

The present invention will be further described in detail with reference to the drawings and the detailed description, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "fixed" to another element, it can be directly fixed to the other element or be fixed to the other element through intervening elements. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Furthermore, unless specifically stated otherwise, the terms "first" and "second" and the like in the specification are used merely for distinguishing between various components, elements, steps, etc. in the specification and not for indicating a logical or sequential relationship between various components, elements, steps, etc.

As shown in fig. 1, a positioning device 100 according to an embodiment of the invention includes a base 110, a first positioning mechanism, a second positioning mechanism, and a third positioning mechanism. Wherein the base 110 is supported on the ground or a table surface as the bottom of the entire positioning device 100. The Z direction is defined as the vertical direction, and the X direction and the Y direction are the two directions which are vertical in the horizontal plane. The base 110 is provided with a mounting position corresponding to the container 200, wherein the container 200 may be a trolley, a containing box, a support bracket, etc. The first positioning mechanism is used for positioning the container 200 in the Z direction, the second positioning mechanism is used for positioning the container 200 in the Y direction, and the third positioning mechanism is used for positioning the container 200 in the X direction. During discharging and stacking, the container 200 can be manually pushed to the installation position of the positioning device 100, or the container 200 automatically walks to the installation position of the positioning device 100, then the positioning device 100 positions the container 200, and the discharging robot can grasp workpieces (such as gears, nuts and other workpieces) and transfer the workpieces into the container 200, so that stacking is implemented. After stacking, the containers 200 are manually pushed away from the positioning device 100, or the containers 200 are automatically driven away from the positioning device 100.

With continued reference to fig. 1, the first positioning mechanism includes at least one set of positioning assemblies 120. The positioning assembly 120 includes a plurality of rolling members 122 rotating in a vertical plane (XZ plane), and the plurality of rolling members 122 are disposed in the mounting position and sequentially arranged along the X direction. The vertexes of the plurality of rolling members 122 are located on the same plane, and the plurality of rolling members 122 are used to support the bottom plate 210 of the container 200. The Z-directional accuracy of the container 200 is difficult to ensure because of wear and deformation and loosening of parts that occur during the use of the container 200 for a long period of time in daily use. In this embodiment, the first positioning mechanism forms a high-precision and stable supporting surface by keeping the top points of the plurality of rolling elements 122 on the first positioning mechanism on the same plane, that is, keeping the contact points of the bottom plate 210 of the container 200 and each rolling element 122 at the same height, so as to ensure that the height of the bottom plate 210 of the container 200 is constant, thereby realizing the positioning of the container 200 in the Z direction during discharging and stacking. The provision of the rolling members 122 can reduce the resistance of the container 200 to entering or exiting the mounting position, and reduce the abrasion phenomenon of the container 200. Moreover, the rolling elements 122 are in point contact with the bottom plate 210 of the container 200, and the precision of the container 200 in the Z direction can be ensured only by making all the contact points of the rolling elements 122 and the container 200 in the same plane, compared with the case of adopting other components to be in surface contact with the bottom plate 210 of the container 200, the point contact design is easier to ensure the precision of the container 200 in the Z direction.

With continued reference to fig. 1, the second positioning mechanism includes a limiting seat 130 disposed on the base 110, and a limiting slot 131 is formed in the limiting seat 130. The limiting groove 131 extends along the X direction. With reference to fig. 3, the bottom plate 210 of the container 200 is provided with a plurality of rotating members 240 rotating in a horizontal plane (XY plane), and the plurality of rotating members 240 are sequentially arranged along the X direction. The rotating member 240 is sized to fit the limiting groove 131. The end of the limiting groove 131 is provided with a first inlet and outlet 1311 for the rotary member 240 to enter. The container 200 enters the limiting groove 131 after passing through the first inlet and outlet 1311, the rotating piece 240 is clamped into the limiting groove 131, the rotating piece 240 abuts against the groove walls on two sides of the limiting groove 131, so that the container 200 is limited in the Y direction, and the precision of the container 200 in the Y direction during discharging and stacking is guaranteed. The direction indicated by arrow a in fig. 1 is the direction of the container 200 entering the positioning device 100.

With continued reference to fig. 1, the third positioning mechanism includes a block 141 and a locker 142 disposed on the base 110, where the block 141 and the locker 142 are disposed on two sides of the mounting position and are arranged along the X direction. Referring to fig. 2, the stop 141 is configured to abut the first side 220 of the container 200 when the container 200 is in the installed position, and the retainer 142 is configured to retain the second side 230 of the container 200 when the container 200 is in the installed position. The first side 220 and the second side 230 are respectively opposite sides of the container 200 in the X-direction. Through the arrangement of the stop block 141 and the locker 142 in the X direction, the first side 220 and the second side 230 of the container 200 are limited, so that the container 200 is limited in the X direction, and the precision of the container 200 in the X direction during discharging stacking is ensured. And the stopper 141 and locker 142 are provided to facilitate the entrance and exit of the container 200 into and from the positioning means. It should be noted that, the locker 142 may be an existing locking device, such as a compactor, a hand wheel lock, etc., according to actual needs, which belongs to the prior art, and the locker 142 itself does not belong to the scope of the present invention, and will not be described in detail.

In summary, the positioning device 100 avoids using the driving mechanism such as the conventional cylinder and motor, and the novel positioning mode (three-dimensional positioning) is realized by creatively adopting a simple structure, which is easy to manufacture and has low manufacturing cost. In addition, the positioning device 100 can realize high-precision positioning of the container 200 in the three-dimensional direction, so that the blanking robot can directly blanking the container 200 conveniently, and the blanking robot only needs to install teaching program operation without adopting visual detection technology, thereby reducing manufacturing cost.

Further, in the first positioning mechanism, as shown in fig. 1, the positioning assembly 120 further includes a first mounting seat 121 for mounting the rolling member 122. The rolling elements 122 mainly comprise a first bearing (optionally a high precision bearing) and also comprise fasteners for mounting the first bearing. The bearings are standard components, and the rolling elements 122 are manufactured by adopting the first bearings, so that the vertexes of all the rolling elements 122 can be positioned on the same plane, and the container 200 is positioned in the Z direction with high precision. And the mechanical strength and stability of the bearing are high, and the deformation or abrasion phenomenon is not easy to occur. It should be noted that other rolling elements such as other high-precision rollers may be used as the rolling element 122.

The positioning assemblies 120 are two groups, the two groups of positioning assemblies 120 are arranged along the Y direction, and the vertexes of all the rolling elements 122 are located on the same plane. The two sets of positioning assemblies 120 can be symmetrically distributed according to the width of the container 200, so that the stress balance of the container 200 is ensured, and the positioning accuracy of the container 200 in the Z direction is further ensured. It should be noted that, in other embodiments, the number of the positioning components 120 may be one or more.

In the second positioning mechanism, as shown in fig. 1, the limiting seat 130 is disposed between two sets of positioning assemblies 120, so as to further ensure positioning accuracy of the container 200. It should be noted that the limiting seat 130 may be an integral groove structure, or a groove structure formed by combining a plurality of side baffles. In addition, the first mounting seat 121 and the limiting seat 130 are both mounted on the base 110 through a supporting seat 190, and the supporting seat 190 may be a channel steel. The channel steel is used for supporting the first positioning mechanism and the second positioning mechanism on the one hand, has good mechanical strength and rigidity on the other hand, can guarantee the atress demand, guarantees can not warp after long-time use, guarantees the positioning accuracy of first positioning mechanism and second positioning mechanism.

Referring to fig. 3, the rotating member 240 mainly includes a second bearing (optionally, a high-precision bearing), and a fastener for installing the second bearing. The bearings are standard components, and the second bearings are adopted to rotate the rotating components 240, so that the radial dimensions of all the rotating components 240 are identical and all the rotating components are propped against the inner wall of the limiting groove 131, and therefore the container 200 is positioned in the Y direction with high precision. And the mechanical strength and stability of the bearing are high, and the deformation or abrasion phenomenon is not easy to occur. Wherein each of the rotating members 240 includes two second bearings, the two second bearings being arranged along the Y direction, and the two second bearings being used to further secure positioning accuracy of the container 200 in the Y direction. It should be noted that, in other embodiments, other rotating members such as a high-precision limiting wheel may be used instead of the second bearing, and only one second bearing may be included in each rotating member 240.

In the third positioning mechanism, as shown in fig. 1, the third positioning mechanism further includes a second mounting seat 140, and the stop block 141 is mounted on the base 110 through the second mounting seat 140. The number of the stoppers 141 is two, and the two stoppers 141 are arranged along the Y direction. The number of the lockers 142 is two, and the two lockers 142 are arranged along the Y direction and are respectively positioned at two sides of the installation position. A single one of the lockers 142 is correspondingly mounted to an end of the first mounting seat 121 of one of the positioning assemblies 120. The two stoppers 141 and the two lockers 142 may be symmetrically arranged corresponding to the width of the container 200, so as to ensure the balance of the stress when the container 200 is positioned, thereby ensuring the precision when the container 200 is positioned. It should be noted that, in other embodiments, the number of the stoppers 141 and the lockers 142 may be one or more according to actual needs.

Further, a receiving groove 1411 is concavely formed in a surface of the stopper 141 facing the locker 142. Referring to fig. 2, the first side 220 of the container 200 is provided with stoppers 270 corresponding to the receiving slots 1411 one by one and having a shape matching with the corresponding shape. The container 200 can be quickly positioned by matching the limiting block 270 and the accommodating groove 1411, and the positioning in the Y direction is further realized on the basis of ensuring the positioning in the X direction.

Further, as shown in fig. 1 and 2, the accommodating groove 1411 has an expanded V shape or a trapezoid shape, and the shape of the stopper 270 is matched with the shape of the accommodating groove 1411. The V-shaped or trapezoidal receiving groove 1411 is advantageous in forming a guiding function, so that the stopper 270 can be automatically aligned and quickly inserted into the receiving groove 1411, thereby realizing quick positioning. In other embodiments, the accommodating groove 1411 may be a square groove, a circular arc groove, or the like.

The limiting block 270 and the acting point of the locker 142 on the trolley are both disposed on the bottom plate 210 of the container 200, so that the stress of the container 200 in the three-dimensional positioning is concentrated on the bottom plate 210, the stability of the container 200 in positioning is promoted, and other unstable phenomena such as toppling, shaking and the like can not occur.

In this embodiment, as shown in fig. 1, the positioning device 100 further includes a buffer 150, where the buffer 150 and the stop 141 are disposed on the same side of the mounting position, and the buffer 150 is also mounted on the second mounting seat 140. The bumper 150 is configured to contact the first side 220 of the container 200, and the bumper 150 is configured to provide a cushioning effect when the container 200 is in place, thereby protecting the container 200. Alternatively, two buffers 150 may be arranged along the Y direction, and the two buffers 150 may be symmetrically arranged corresponding to the width direction of the container 200.

With continued reference to fig. 1, the positioning device 100 further includes a travel limit switch 160, where the travel limit switch 160 and the stop block 141 are disposed on the same side of the mounting position. The travel limit switch 160 may be mounted on the second mounting base 140, and also directly mounted on the base 110. The travel limit switch 160 is electrically connected (wired or wireless) with the discharging robot (not shown in the drawing). When the container 200 is in place, the container 200 touches the travel limit switch 160, the travel limit switch 160 sends a container 200 in-place instruction to the discharging robot, and the discharging robot starts to act after receiving the instruction, so that a workpiece is loaded into the container 200.

In addition, as shown in fig. 1, two guide grooves 171 are formed on the base 110, which are arranged side by side along the Y direction, and one guide groove 171 may be formed on the base 110 by providing two guide plates 170 arranged side by side. The guide groove 171 extends along the X direction. The first positioning mechanism and the second positioning mechanism are both arranged between the two guide grooves 171. Referring to fig. 2, the container 200 is provided with a moving wheel 250, and the end of the guiding groove 171 is provided with a second inlet and outlet 1711 for the moving wheel 250 to enter. The guide groove 171 is provided to guide and limit the travel of the container 200.

Further, one end of the limiting groove 131 near the first inlet/outlet 1311 is in an outward expansion shape; the end of the guide groove 171 near the second inlet/outlet 1711 is flared. That is, the width of the end of the limiting groove 131 near the first inlet and outlet 1311 gradually increases along the direction toward the first inlet and outlet 1311; the width of the end of the guide groove 171 near the second access 1711 increases gradually in a direction toward the second access 1711. This design facilitates the entry of the container 200 into the positioning device 100.

With continued reference to fig. 1, the positioning device 100 further includes an abutment plate 180, where the abutment plate 180 is disposed at the entrance of the base 110. The docking plate 180 includes a first end that interfaces with the base 110 and a second end opposite the first end. The thickness of the abutment plate 180 is gradually reduced along the direction from the first end to the second end, and the first end is flush with the base 110. The arrangement of the abutting plate 180 makes the abutting operation of the container 200 and the positioning device 100 simple and convenient, and operators can batch blanking only by simply switching the trolley, so that the operation is simple and the labor load is low. The guide plate 170 outside each guide groove 171 extends to the abutment plate 180 along the X-direction for guiding and limiting the container 200 when it starts to enter the base 110.

As shown in fig. 2 and 3, another embodiment of the present invention further provides a discharging palletizing system, which includes a container 200 and the positioning device 100 described above. The blanking palletizing system further comprises a blanking robot, and the blanking robot is not shown in the drawing. The bottom plate 210 of the container 200 is provided with the rotating member 240. A plurality of (two or more) charging bars 260 are provided in the container 200. The blanking robot gradually packs each workpiece onto one loading arm 260 and judges whether the loading arm 260 is full or not currently through feedback of a thrust signal by a force sensor. When the loading arm 260 is filled with the work, the discharging robot sequentially loads the work to the next loading arm 260. From the above, the blanking stacking system adopts the positioning device 100 to realize three-dimensional high-precision positioning on the container 200, so that the blanking robot only needs to install teaching program operation, a visual detection technology is not needed, and the manufacturing cost is reduced. Meanwhile, the positioning device 100 is simple in structure, low in manufacturing cost and beneficial to reducing the overall cost of the system.

Further, the material rod body is obliquely arranged relative to the horizontal plane, and is provided with a first connecting end connected with the material guiding column and a second connecting end connected with the inner wall of the container 200, and the first connecting end is located above the second connecting end. The inclined material rod body is beneficial to promoting each workpiece to be rapidly loaded on the material rod body through the gravity of each workpiece. It should be noted that, in other embodiments, the loading arm 260 may be disposed horizontally.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims

1. A positioning device, comprising:

The base is provided with a mounting position corresponding to the container, a Z direction is defined as a vertical direction, and an X direction and a Y direction are two directions which are perpendicular to each other in a horizontal plane;

The butt joint plate is arranged at the inlet of the base and comprises a first end in butt joint with the base and a second end opposite to the first end;

The first positioning mechanism comprises at least one group of positioning components, the positioning components comprise a plurality of rolling elements rotating in a vertical plane, the rolling elements are arranged in the installation position and are sequentially distributed along the X direction, the vertexes of the rolling elements are positioned on the same plane, the rolling elements are used for supporting the bottom plate of the container, the two groups of positioning components are arranged, the two groups of positioning components are distributed along the Y direction, and the vertexes of all the rolling elements are positioned on the same plane;

The second positioning mechanism comprises a limiting seat arranged on the base, wherein the limiting seat is arranged between two groups of positioning components, a limiting groove is formed in the limiting seat, the limiting groove extends along the X direction, a plurality of rotating parts rotating in a horizontal plane are arranged on a bottom plate of the container, the rotating parts are sequentially arranged along the X direction, the size of the rotating parts is matched with that of the limiting groove, and a first inlet and outlet for the rotating parts to enter are formed in the end part of the limiting groove; and

2. The positioning device of claim 1 wherein the rolling element comprises a first bearing; and/or the rotating member comprises a second bearing.

3. The positioning device according to claim 1, wherein the number of the stoppers is two, the number of the lockers is two, the two lockers are arranged along the Y direction and are respectively positioned at two sides of the installation position.

4. A positioning device according to any one of claims 1 to 3, wherein a receiving groove is concavely formed in a surface of the stopper facing the locker, and stoppers which are in one-to-one correspondence with the receiving grooves and are matched in shape are formed on a first side of the container.

5. The positioning device of claim 4, wherein the receiving groove is in an expanded V shape or a trapezoid shape, and the shape of the stopper is matched with the shape of the receiving groove.

6. The positioning device of claim 4, wherein the container is a trolley, and the point of action of the locker on the trolley and the stopper are both disposed on a floor of the container.

7. A positioning device as claimed in any one of claims 1 to 3 further comprising a bumper disposed on the same side of the mounting location as the stop, the bumper being for contact with the first side of the container.

8. A positioning device according to any one of claims 1 to 3, further comprising a travel limit switch, wherein the travel limit switch and the stopper are disposed on the same side of the mounting location, and wherein the travel limit switch is electrically connected to the blanking robot.

9. A positioning device according to any one of claims 1 to 3, wherein the base is provided with two guide grooves arranged side by side along the Y direction, the guide grooves extend along the X direction, the first positioning mechanism and the second positioning mechanism are both arranged between the two guide grooves, the container is provided with a moving wheel, and the end of the guide groove is provided with a second inlet and outlet for the moving wheel to enter.

10. A blanking palletizing system comprising a container and a positioning device as claimed in any one of claims 1 to 9, wherein a rotating member is arranged on the bottom plate of the container, and a plurality of loading bars are arranged in the container.