CN108249168A - Positioning device and blanking palletizing system - Google Patents
Positioning device and blanking palletizing system Download PDFInfo
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- CN108249168A CN108249168A CN201810255059.3A CN201810255059A CN108249168A CN 108249168 A CN108249168 A CN 108249168A CN 201810255059 A CN201810255059 A CN 201810255059A CN 108249168 A CN108249168 A CN 108249168A
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- positioning
- positioning device
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000005096 rolling process Methods 0.000 claims abstract description 40
- 238000009434 installation Methods 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 25
- 238000003860 storage Methods 0.000 claims description 21
- 230000008676 import Effects 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 8
- 239000000463 material Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000002459 sustained effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 210000002421 cell wall Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of positioning device and blanking palletizing system, the positioning device includes：Pedestal；First detent mechanism, including multiple rolling members, multiple rolling members are set in installation position and along X to arranging successively, and the vertex of multiple rolling members is generally aligned in the same plane；Second detent mechanism, the second detent mechanism include limit base, limiting slot are offered on limit base, limiting slot is along X to extension, and the bottom plate of container is equipped with rotating member, and rotating member is adapted with limiting slot size；Third detent mechanism, third detent mechanism include block and locker, and block is used to offset with the first side of container, and locker is used to lock the second side of container.The blanking palletizing system includes container and above-mentioned positioning device.The present invention can realize high accuracy positioning to container, and its is simple in structure, low manufacture cost, easy to maintain, simultaneously because container high accuracy positioning, feeding robot directly in blanking to container, without vision detection technology, can reduce cost.
Description
Technical field
The present invention relates to blanking palletizing technology field, more particularly, to a kind of positioning device and blanking palletizing system.
Background technology
A kind of transfer matic blanking palletizing technology more common at present is to make the container of multiple no required precisions, is passed through
After positioning device realizes container preliminary space orientation, need to find lower material position reality using vision detection technology by robot
It now feeds, last operator takes out transfer matic finished goods in a manner of switching container.Positioning dress in this blanking palletizing technology
The cost for needing using driving equipments such as cylinder combination, motors, to increase blanking stacking is put, and complicated, maintenance cost is high,
And positioning accuracy.Also, robot vision blanking is high to the limitation of luminosity, mist of oil, vibrations etc., and precision is difficult to ensure that, and needs
It is higher to rely on detection techniques, the costs such as vision.
Invention content
The technical problems to be solved by the invention are to provide for a kind of positioning device and blanking palletizing system, can be to container
Realize high accuracy positioning, and its is simple in structure, low manufacture cost, it is easy to maintain, simultaneously because container high accuracy positioning, blanking machine
Device people directly in blanking to container, without vision detection technology, can reduce cost.
Above-mentioned technical problem is solved by the following technical programs：
A kind of positioning device, including：
Pedestal, pedestal, the pedestal are equipped with the corresponding installation position for placing container, and definition Z-direction is vertical direction, X to and Y
The perpendicular both direction in for horizontal plane；
First detent mechanism, first detent mechanism include at least one set of positioning component, and the positioning component is included in
Multiple rolling members of vertical rotation in surface, the multiple rolling member are set in the installation position and along the X to arranging successively,
The vertex of the multiple rolling member is generally aligned in the same plane, and the multiple rolling member is used to support the bottom plate of the container；
Second detent mechanism, second detent mechanism includes the limit base being set on the pedestal, on the limit base
Offer limiting slot, the limiting slot along the X to extension, the bottom plate of the container be equipped with rotate in the horizontal plane it is more
A rotating member, along the X to arranging successively, the rotating member is adapted multiple rotating members with the limiting slot size,
The end of the limiting slot is equipped with the first import and export entered for the rotating member；And
Third detent mechanism, the third detent mechanism include the block and locker that are set on the pedestal, the gear
Block and the locker are set on the both sides of the installation position and arrange along the X-direction, and the block is used in the container
It offsets into the first side with the container during installation position, the locker is used to enter the installation position in the container
When lock the second side of the container, first side and the second side are respectively that the container is opposite upwards in the X
Both sides.
The positioning device, the first detent mechanism therein are same by the way that the vertex of multiple rolling members thereon is kept to be located at
The contact point of the bottom plate of plane namely holding container and each rolling member is located at sustained height, forms a high-precision support
Face, so as to ensure that the bottom plate heights of container are constant, it is achieved thereby that container is in the positioning of Z-direction during blanking stacking.Rolling member is set
The resistance that container enters or exit installation position can be reduced by putting, and reduce the wear phenomenon of container.Also, use rolling member and container
Bottom plate between realize point contact, it is only necessary to being generally aligned in the same plane the contact point of all rolling members and container can ensure to hold
Device is in the precision of Z-direction, and compared to situation about being contacted using face between other components and the bottom plate of container, the design of point contact is more easy to
In ensure container Z-direction precision.It in wherein the second detent mechanism, is caught in limiting slot by using rotating member, to cause
Container is limited in Y-direction, ensures precision of the container in Y-direction during blanking stacking.In third detent mechanism wherein, pass through
The setting of block and locker upward X so that the first side of container and the second side are limited so that container in X to quilt
Limiting, when ensure that blanking stacking container X to precision.And the setting of block and locker, convenient container enter and move back
Go out positioning device.The positioning device is avoided using driving mechanisms such as traditional cylinder, motors, innovatively using simple
Structure realizes novel positioning method (three-dimensional localization), is easy to make and realize, cost of manufacture is relatively low.Also, the positioning
Device can realize high accuracy positioning of the container on three-dimensional, convenient in the direct blanking to container of feeding robot, blanking machine
Device people only needs to install tutorial program operation, without vision detection technology, reduces cost of manufacture.
The above-mentioned technical solution in relation to positioning device is further described below：
The rolling member includes clutch shaft bearing in one of the embodiments,；And/or the rotating member includes the second axis
It holds.Bearing is standard component, and clutch shaft bearing and second bearing is respectively adopted to make rolling member and rotating member, is advantageously ensured that all
Rolling member and rotating member precision, so as to which the vertex for ensureing all rolling members can be generally aligned in the same plane, so as to ensure to hold
Device is in Z-direction high accuracy positioning；Also it can guarantee that the radial dimension of all rotating members is identical, offset with the inner wall of limiting slot, from
And realize container in Y-direction high accuracy positioning.And the mechanical strength and stability of clutch shaft bearing and second bearing are high, are less prone to
The phenomenon that deformation or abrasion.
The positioning component is two groups in one of the embodiments, and positioning component is arranged along the Y-direction described in two groups
Cloth, the vertex of all rolling members are respectively positioned on same plane, and the limit base is set between positioning component described in two groups；
And/or the block is two, two blocks are arranged along the Y-direction, and the locker is two, two locks
Tight device arranges along the Y-direction and respectively positioned at the both sides of the installation position.Two groups of positioning components for Z-direction positioning can basis
The width of container is symmetrical, so as to ensure container stress equalization, is further ensured that positioning accuracy of the container in Z-direction.For Y-direction
The limit base of positioning can be set on the centre position of two groups of positioning components, be further ensured that container positioning accuracy.In addition, for X to
The block and locker of positioning are also two, and two blocks and two lockers can correspond to the even width arrangement of container, protect
Stress equalization when demonstrate,proving container positioning, so as to ensure precision during container positioning.
The block is concaved with storage tank on one side towards the locker in one of the embodiments, described
First side of container is equipped with and storage tank one-to-one correspondence and the matched limited block of shape.Pass through limited block and storage tank
Cooperation can realize the quick positioning of container, also, ensureing that X is also furthermore achieved in Y-direction to the basis of positioning
Positioning.
The storage tank is in the V-shape or trapezoidal shape that extend out in one of the embodiments, the shape of the limited block with
The shape of the storage tank matches.The storage tank of V-shape or trapezoidal shape advantageously forms a guiding role so that limited block
Can automatic capturing, in quick insertion storage tank, realize quick positioning.
Position and the limited block of the locker on the trolley are set on institute in one of the embodiments,
It states on the bottom plate of container so that stress of the container when three-dimensional positions is focused on bottom plate, when promotion container positions
Stability is not in other wild effects such as to topple over, shake.
Buffer is further included in one of the embodiments, and the buffer and the block are set on the installation position
The same side, the buffer are used to be in contact with the first side of the container.The setting of buffer be used to implement container it is in place when
Cushioning effect, so as to playing the role of protection to container.
Lead limit switch is further included in one of the embodiments, and the lead limit switch and the block are set on
The same side of the installation position, the lead limit switch are electrically connected with feeding robot.When container is in place, container touching
Lead limit switch, lead limit switch sends container with regard to bit instruction to feeding robot, after feeding robot receives instruction
Start to act, workpiece is fitted into container.
The pedestal is equipped with two guide grooves being arranged side by side along the Y-direction in one of the embodiments, described
Guide groove extends along the X-direction, and first detent mechanism and second detent mechanism are set on two guiding
Between slot, the container is equipped with movable pulley, and the end of the guide groove is equipped with the second import and export entered for the movable pulley.
The setting of guide groove is used to be oriented to and be limited for container walking.
The technical program additionally provides a kind of blanking palletizing system, including container and above-mentioned positioning device, the container
Bottom plate be equipped with rotating member, more loading rods are equipped in the container.
The blanking palletizing system realizes container three-dimensional high-precision positioning so that blanking using above-mentioned positioning device
Robot only needs to install tutorial program operation, without vision detection technology, reduces cost of manufacture.It is meanwhile described fixed
Position apparatus structure is simple, and cost of manufacture is relatively low, advantageously reduces system holistic cost.
Description of the drawings
Fig. 1 is the structure diagram of the positioning device described in one embodiment of the invention；
Fig. 2 is the exploded view of the blanking palletizing system described in one embodiment of the invention；
Fig. 3 is side view of the blanking palletizing system when container is in place in Fig. 2.
Reference sign：
100th, positioning device, 110, pedestal, 120, positioning component, the 121, first mounting base, 122, rolling member, 130, limiting
Seat, 131, limiting slot, 1311, first import and export, the 140, second mounting base, 141, block, 1411, storage tank, 142, locker,
150th, buffer, 160, lead limit switch, 170, guide plate, 171, guide groove, 1711, second import and export, 180, buttcover plate,
190th, support base, 200, container, 210, bottom plate, the 220, first side, 230, the second side, 240, rotating member, 250, movable pulley, 260,
Loading rod, 270, limited block.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with attached drawing and specific embodiment party
Formula, the present invention is further described in detail.It should be understood that the specific embodiments described herein are only solving
The present invention is released, does not limit protection scope of the present invention.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly anchored to another
On element or can also another element be fixed on by element placed in the middle.When an element be known as " connection " another
Element, it can be directly to another element or can also be connected to another yuan by element placed in the middle
Part.In addition, unless otherwise indicated, the otherwise descriptions such as the term in specification " first " and " second " are used only for distinguishing specification
In various components, element, step etc., without the logical relation that is intended to indicate that between various components, element, step or suitable
Order relation etc..
As shown in Figure 1, the positioning device 100 described in one embodiment of the invention, including pedestal 110, the first detent mechanism,
Two detent mechanisms and third detent mechanism.Wherein, the pedestal 110 is supported in ground as the bottom of entire positioning device 100
Or on work top.Definition Z-direction is vertical direction, and X is to being perpendicular both direction in horizontal plane with Y-direction.The pedestal 110
The corresponding installation position for placing container 200 is equipped with, wherein the container 200 can be trolley, storage case, support bracket etc..It is described
For being positioned in Z-direction to container 200, second detent mechanism is used to carry out container 200 in Y-direction first detent mechanism
Positioning, the third detent mechanism are used to position to container 200 in X.It, can be manually by container 200 in blanking stacking
Push on the installation position of positioning device 100 or container 200 automatically walk to the installation position of positioning device 100 on, later positioning dress
It puts 100 to position container 200, feeding robot grabbing workpiece (such as other workpiece of gear, nut) and can be transferred to container 200
It is interior, so as to implement stacking.After stacking, artificial promotion container 200 leaves positioning device 100 or 200 automatic Pilot of container is remote
From positioning device 100.
Wherein, specifically, please continue to refer to Fig. 1, first detent mechanism includes at least one set of positioning component 120.Institute
It states positioning component 120 and includes multiple rolling members 122 that (XZ faces) rotates in vertical plane, the multiple rolling member 122 is set on institute
It states in installation position and along the X to arranging successively.The vertex of the multiple rolling member 122 is generally aligned in the same plane, the multiple
Rolling member 122 is used to support the bottom plate 210 of the container 200.Since during routine use, 200 long-time of container uses
Abrasion deformation and loose-parts phenomenon can occur, the Z-direction precision of container 200 is caused to be difficult to ensure that.In the present embodiment, first is fixed
The vertex of multiple rolling members 122 of the position mechanism by holding thereon is generally aligned in the same plane namely the bottom plate of holding container 200 210
It is located at sustained height with the contact point of each rolling member 122, the supporting surface of a high-precision and stabilization is formed, so as to ensure container
200 210 constant height of bottom plate, it is achieved thereby that container 200 is in the positioning of Z-direction during blanking stacking.The setting of rolling member 122 can
To reduce the resistance that container 200 enters or exit installation position, the wear phenomenon of container 200 is reduced.Also, use rolling member 122
Point contact is realized between the bottom plate 210 of container 200, it is only necessary to be located at all rolling members 122 and the contact point of container 200
Same plane can ensure container 200Z to precision, connect compared to using face between the bottom plate 210 of other components and container 200
Tactile situation, the design of point contact be easier to ensure container 200Z to precision.
Please continue to refer to Fig. 1, second detent mechanism includes the limit base 130 being set on the pedestal 110, the limit
Limiting slot 131 is offered on the seat 130 of position.The limiting slot 131 is along the X to extension.Incorporated by reference to 3, the bottom of the container 200
Plate 210 is equipped with the multiple rotating members 240 rotated in the horizontal plane (XY faces), multiple rotating members 240 along the X to according to
Secondary arrangement.The rotating member 240 is adapted with 131 size of limiting slot.The end of the limiting slot 131 is equipped with to be turned for described
The first import and export 1311 that moving part 240 enters.Container 200 enters after first import and export 1311 inside limiting slot 131, passes through
It is caught in limiting slot 131 using rotating member 240, rotating member 240 and the both sides cell wall of limiting slot 131 offset, to cause container 200
It is limited in Y-direction, ensures precision of the container 200 in Y-direction during blanking stacking.The direction indicated by arrow A in Fig. 1 is holds
Device 200 enters the direction of positioning device 100.
Please continue to refer to Fig. 1, the third detent mechanism includes the block 141 and locker that are set on the pedestal 110
142, the block 141 and the locker 142 are set on the both sides of the installation position and arrange along the X-direction.Incorporated by reference to
Fig. 2, the block 141 are used to offset with the first side 220 of the container 200 when the container 200 enters the installation position,
The locker 142 is used to lock the second side 230 of the container 200 when the container 200 enters the installation position.It is described
First side 220 and the second side 230 are respectively the container 200 in the upward opposite both sides of the X.Pass through the upward gears of X
The setting of block 141 and locker 142 so that the first side 220 of container 200 and the second side 230 are limited, so that container
200X to being limited, when ensure that blanking stacking container 200 X to precision.And the setting of block 141 and locker 142,
Convenient container 200 enters and exits positioning device.It should be noted that the locker 142 can be selected now according to actual needs
Some locking devices, such as compactor, hand wheel lock, belong to the prior art, and locker 142 itself is simultaneously not belonging to changing for the present invention
Into in scope, do not describe in detail then.
In summary, the positioning device 100 avoids using the driving mechanisms such as traditional cylinder, motor, innovatively
Novel positioning method (three-dimensional localization) is realized using simple structure, is easy to make and realize, cost of manufacture is relatively low.And
And the positioning device 100 can realize high accuracy positioning of the container 200 on three-dimensional, convenient for feeding robot it is direct under
In material to container 200, feeding robot only needs to install tutorial program operation, without vision detection technology, reduces system
Make cost.
Further, in first detent mechanism, as shown in Figure 1, the positioning component 120 further includes to install
First mounting base 121 of the rolling member 122.The rolling member 122 mainly includes clutch shaft bearing and (high-precision axis can be selected
Hold), further include the fastener for installing clutch shaft bearing.Bearing is standard component, and rolling member 122 is made using clutch shaft bearing,
Advantageously ensuring that the vertex of all rolling members 122 can be generally aligned in the same plane, so as to ensure that container 200 is high-precision fixed in Z-direction
Position.And the mechanical strength and stability of bearing are high, the phenomenon that being less prone to deformation or wear.It is it should be noted that described
Other rolling members such as other high-precision idler wheels also can be selected in rolling member 122.
The positioning component 120 is two groups, and positioning component 120 described in two groups is arranged along the Y-direction, all rollings
The vertex of moving part 122 is respectively positioned on same plane.Two groups of positioning components 120 can be symmetrical according to the width of container 200, so as to protect
200 stress equalization of container is demonstrate,proved, is further ensured that positioning accuracy of the container 200 in Z-direction.It should be noted that in other embodiment
In, the quantity of the positioning component 120 can be one or more groups of etc..
In second detent mechanism, as shown in Figure 1, the limit base 130 be set on positioning component 120 described in two groups it
Between, it is further ensured that 200 positioning accuracy of container.It is worth noting that, the limit base 130 can be the groove body knot of integral type
Structure or combine the trough body structure formed by several pieces of side shields.Also, first mounting base 121 and the limit base
130 are installed on by a support base 190 on the pedestal 110, and channel steel can be selected in the support base 190.On the one hand channel steel is used
In supporting the first detent mechanism and the second detent mechanism, on the other hand with preferable mechanical strength and rigidity, it is ensured that by
Power demand, guarantee will not deform after prolonged use, ensure the positioning accuracy of the first detent mechanism and the second detent mechanism.
Incorporated by reference to Fig. 3, the rotating member 240 mainly includes second bearing (high-precision bearing can be selected), further includes use
In the fastener for installing the second bearing.Bearing is standard component, using second bearing come rotating member 240, be can guarantee all
The radial dimension of rotating member 240 is identical, and the inner wall with limiting slot 131 offsets, high-precision fixed in Y-direction so as to fulfill container 200
Position.And the mechanical strength and stability of bearing are high, the phenomenon that being less prone to deformation or wear.Wherein, each rotating member
240 include two second bearings, and two second bearings are arranged along the Y-direction, and two second bearings are for further
Ensure the positioning accuracy of container 200 in the Y direction.It should be noted that in other embodiments, high-precision limiting can be used
Other rotating members such as wheel replace the second bearing, and also can only include second axis in each rotating member 240
It holds.
In the third detent mechanism, as shown in Figure 1, the third detent mechanism further includes the second mounting base 140, institute
Block 141 is stated to be installed on pedestal 110 by second mounting base 140.The block 141 is two, two blocks
141 arrange along the Y-direction.The locker 142 is also two, and two lockers 142 are arranged and divided along the Y-direction
Not Wei Yu the installation position both sides.The single locker 142 corresponds to the first mounting base for being installed on a positioning component 120
121 end.The width that two blocks 141 and two lockers 142 can correspond to container 200 is arranged symmetrically, and ensures that container 200 is fixed
Stress equalization during position, so as to ensure the precision during positioning of container 200.It should be noted that in other embodiments, the block
141 and the quantity of the locker 142 can be set as one or more according to actual needs.
Further, the block 141 is concaved with storage tank 1411 on one side towards the locker 142.It please tie
Close Fig. 2, the first side 220 of the container 200 is equipped with to be corresponded and the matched limiting of shape with the storage tank 1411
Block 270.Can realize the quick positioning of container 200 by the cooperation of limited block 270 and storage tank 1411, also, ensure X to
Also the positioning in Y-direction is furthermore achieved on the basis of positioning.
Further, as depicted in figs. 1 and 2, the storage tank 1411 is in the V-shape or trapezoidal shape that extend out, the limit
The shape and the shape of the storage tank 1411 of position block 270 match.The storage tank 1411 of V-shape or trapezoidal shape advantageously forms
One guiding role so that limited block 270 can automatic capturing, in quick insertion storage tank 1411, realize quick positioning.It needs
Illustrate, in other embodiments, the storage tank 1411 is also designed to square groove, arc-shaped slot etc..
The position of the limited block 270 and the locker 142 on the trolley is set on the container 200
On bottom plate 210 so that stress of the container 200 when three-dimensional positions is focused on bottom plate 210, when promoting the positioning of container 200
Stability, be not in other wild effects such as to topple over, shake.
In the present embodiment, as shown in Figure 1, the positioning device 100 further includes buffer 150,150 He of buffer
The block 141 is set on the same side of the installation position, and the buffer 150 is also installed in second mounting base 140.Institute
Buffer 150 is stated for being in contact with the first side 220 of the container 200, buffer 150 be used to implement container 200 it is in place when
Cushioning effect, so as to playing the role of protection to container 200.Optionally, the buffer 150 is two, and two described slow
It rushes device 150 to arrange along the Y-direction, the width direction that can correspond to container 200 is arranged symmetrically.
Please continue to refer to Fig. 1, the positioning device 100 further includes lead limit switch 160, the lead limit switch
160 and the block 141 be set on the installation position the same side.The lead limit switch 160 is mountable to second peace
It fills on seat 140, is also directly mounted on pedestal 110.The lead limit switch 160 and feeding robot (attached drawing is not shown) electricity
Property connection (wired connection or wireless connection).When container 200 is in place, container 200 touches lead limit switch 160, stroke limit
Bit switch 160 sends container 200 with regard to bit instruction to feeding robot, and feeding robot starts to act after receiving instruction, by workpiece
It is fitted into container 200.
In addition, as shown in Figure 1, the pedestal 110 is equipped with two guide grooves 171 being arranged side by side along the Y-direction, bottom
A guide groove 171 can be cooperatively formed on seat 110 by setting two pieces of guide plates 170 being arranged side by side.The guide groove 171
Extend along the X-direction.First detent mechanism and second detent mechanism be set on two guide grooves 171 it
Between.Incorporated by reference to Fig. 2, the container 200 is equipped with movable pulley 250, and the end of the guide groove 171, which is equipped with, supplies the movable pulley
250 second import and exports 1711 entered.The setting of guide groove 171 is used to be oriented to and be limited for the walking of container 200.
Further, the limiting slot 131 is in outer expanding shape close to one end of the first import and export 1311；The guide groove
171 close to one end of the second import and export 1711 be in outer expanding shape.Namely the limiting slot 131 is close to the first import and export
The width of 1311 one end gradually increases along towards the direction of the first import and export 1311；The guide groove 171 is close to institute
The width for stating one end of second import and export 1711 gradually increases along towards the direction of the second import and export 1711.Such design
Convenient container 200 enters in positioning device 100.
Please continue to refer to Fig. 1, the positioning device 100 further includes buttcover plate 180, and the buttcover plate 180 is set on the bottom
The inlet of seat 110.The buttcover plate 180 includes the first end docked with the pedestal 110 and opposite with the first end
Second end.The thickness of the buttcover plate 180 is gradually reduced along the direction of the first end to the second end, and described first
End is concordant with the pedestal 110.The setting of buttcover plate 180 causes container 200 and the butt-joint operation of positioning device 100 simply just
Victory, operator only need simply to switch trolley can bulk blanking, operation is simple and work load is low.Each guide groove
The guide plate 170 in 171 outside extends to the buttcover plate 180 along the X direction, for just initially entering pedestal to container 200
Guide and limit is realized when 110.
As shown in Figures 2 and 3, another embodiment of the present invention additionally provides a kind of blanking palletizing system, including 200 He of container
Above-mentioned positioning device 100.The blanking palletizing system further includes feeding robot, and the feeding robot attached drawing is not shown.
The bottom plate 210 of the container 200 is equipped with above-mentioned rotating member 240.Be equipped in the container 200 more (two or two with
On) loading rod 260.Feeding robot is by the way that by each workpiece, gradually set is attached on a loading rod 260, and pass through power inductor
Thrust signal is fed back to judge whether current loading rod 260 is filled.After workpiece is filled on the loading rod 260, feeding robot
Then workpiece is loaded into successively on next loading rod 260.From the foregoing, it will be observed that the blanking palletizing system is filled using above-mentioned positioning
It puts 100 pairs of containers 200 and realizes three-dimensional high-precision positioning so that feeding robot only needs to install tutorial program operation, without adopting
With vision detection technology, cost of manufacture is reduced.Meanwhile the positioning device 100 is simple in structure, cost of manufacture is relatively low, favorably
In reduction system holistic cost.
Further, the material bar body 261 is inclined relative to horizontal setting, and the material bar body 261 is equipped with and institute
The second connection end stated the first connecting pin of the connection of guide column 262 and connect with the inner wall of the container 200, first connection
End is positioned at the top of the second connection end.The material bar body 261 being obliquely installed may advantageously facilitate each workpiece and pass through its own
On gravity quick load to material bar body 261.It should be noted that in other embodiments, the loading rod 260 also can be horizontal
It places.
Each technical characteristic of above example can be combined arbitrarily, to make description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield is all considered to be the range of this specification record.
Above example only expresses the several embodiments of the present invention, and description is more specific and detailed, but can not
Therefore it is construed as limiting the scope of the patent.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, various modifications and improvements can be made, these belong to protection scope of the present invention.
Claims (10)
1. a kind of positioning device, which is characterized in that including：
Pedestal, the pedestal be equipped with corresponding to container installation position, definition Z-direction be vertical direction, X to Y-direction be horizontal plane
Interior perpendicular both direction；
First detent mechanism, first detent mechanism include at least one set of positioning component, and the positioning component is included in vertically
Multiple rolling members of rotation in surface, the multiple rolling member is set in the installation position and along the X to arranging successively, described
The vertex of multiple rolling members is generally aligned in the same plane, and the multiple rolling member is used to support the bottom plate of the container；
Second detent mechanism, second detent mechanism include the limit base being set on the pedestal, are opened up on the limit base
There is limiting slot, for the limiting slot along the X to extension, the bottom plate of the container is equipped with multiple turns rotated in the horizontal plane
Moving part, along the X to arranging successively, the rotating member is adapted multiple rotating members with the limiting slot size, described
The end of limiting slot is equipped with the first import and export entered for the rotating member；And
Third detent mechanism, the third detent mechanism include be set on the pedestal on block and locker, the block and
The locker is set on the both sides of the installation position and arranges along the X-direction, and the block is used to enter in the container
It offsets during the installation position with the first side of the container, the locker is used to lock when the container enters the installation position
The second side of the tight container, first side and the second side are respectively the container in the upward opposite both sides of the X.
2. positioning device according to claim 1, which is characterized in that the rolling member includes clutch shaft bearing；And/or institute
It states rotating member and includes second bearing.
3. positioning device according to claim 1, which is characterized in that the positioning component is two groups, positioning described in two groups
Component is arranged along the Y-direction, and the vertex of all rolling members is respectively positioned on same plane, and the limit base is set on two groups of institutes
It states between positioning component；And/or the block is two, two blocks are arranged along the Y-direction, and the locker is
Two, two lockers arrange along the Y-direction and respectively positioned at the both sides of the installation position.
4. positioning device according to any one of claim 1 to 3, which is characterized in that the block is towards the locking
Device is concaved with storage tank on one side, and the first side of the container is equipped with to match with storage tank one-to-one correspondence and shape
The limited block of conjunction.
5. positioning device according to claim 4, which is characterized in that the storage tank is in the V-shape or trapezoidal shape extended out,
The shape of the limited block and the shape of the storage tank match.
6. positioning device according to claim 4, which is characterized in that position of the locker on the trolley and
The limited block is on the bottom plate of the container.
7. positioning device according to any one of claim 1 to 3, which is characterized in that further include buffer, the buffering
Device and the block are set on the same side of the installation position, and the buffer is used to be in contact with the first side of the container.
8. positioning device according to any one of claim 1 to 3, which is characterized in that further include lead limit switch, institute
It states lead limit switch and the block is set on the same side of the installation position, the lead limit switch and feeding robot electricity
Property connection.
9. positioning device according to any one of claim 1 to 3, which is characterized in that the pedestal is equipped with along institute
Two guide grooves that Y-direction is arranged side by side are stated, the guide groove extends along the X-direction, first detent mechanism and described
Second detent mechanism is set between two guide grooves, and the container is equipped with movable pulley, and the end of the guide groove is set
There is the second import and export entered for the movable pulley.
10. a kind of blanking palletizing system, which is characterized in that including container and positioning as claimed in any one of claims 1-9 wherein
Device, the bottom plate of the container are equipped with rotating member, more loading rods are equipped in the container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810255059.3A CN108249168B (en) | 2018-03-21 | 2018-03-21 | Positioning device and blanking stacking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810255059.3A CN108249168B (en) | 2018-03-21 | 2018-03-21 | Positioning device and blanking stacking system |
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| CN108249168A true CN108249168A (en) | 2018-07-06 |
| CN108249168B CN108249168B (en) | 2024-04-30 |
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| CN201810255059.3A Active CN108249168B (en) | 2018-03-21 | 2018-03-21 | Positioning device and blanking stacking system |
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|---|---|
| CN108249168B (en) | 2024-04-30 |
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