CN218289272U - Positioning device and carrying system - Google Patents

Abstract

The application discloses a positioning device and a carrying system, which belong to the technical field of positioning of transport tools, wherein the positioning device comprises a driving mechanism and a positioning column, the driving mechanism comprises a first moving part, a pushing assembly and a power device, the power device is connected with the first moving part, and the first moving part is abutted to the pushing assembly; the moving direction of the first moving part comprises a first direction, the moving direction of the pushing assembly comprises a second direction, the power device drives the first moving part to move along the first direction, so that the pushing assembly moves along the second direction, and the first direction is intersected with the second direction; the positioning column is connected with the pushing assembly, and the pushing assembly drives the positioning column to be inserted into the positioning hole when moving. This positioner passes through the cooperation of reference column and locating hole, can realize the accurate location to dolly haulage equipment to have that actuating mechanism is simple, stability is high, advantages such as the simple high efficiency of locate mode.

Description

Positioning device and carrying system

Technical Field

The application belongs to the technical field of transportation tool positioning, and particularly relates to a positioning device and a carrying system.

Background

At present, on the production line of battery package and spare part thereof, the operation to the material mainly relies on manual operation mode to go on-line, and this kind of mode degree of automation is low, complex operation, and efficiency and reliability are low to be unfavorable for the management, consequently in order to improve production line degree of automation, the material transport system of industrial production line quotes the AGV dolly that does not need driver operation control usually and transports the material. The AGV is provided with an electromagnetic or optical automatic guiding device, and the running route of the AGV is defined by computer control or an electromagnetic track, and the AGV moves or stops by processing information brought by the electromagnetic track by a self-induction system. But there is a problem in the scheme that adopts AGV dolly transportation material to improve degree of automation at present: the AGV trolley has very poor front-back, left-right and positioning accuracy in the moving and stopping processes, so that the robot cannot grab materials or accurately operate components on the AGV trolley.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the embodiment of the application provides a positioning device, which is used for solving the technical problem that trolley carrying equipment cannot be accurately positioned in the moving and stopping processes in the prior art; it is another object of embodiments of the present application to provide a handling system.

The technical scheme is as follows: a positioner of this application embodiment, include:

the driving mechanism comprises a first moving part, a pushing assembly and a power device, the power device is connected with the first moving part, and the first moving part is abutted against the pushing assembly; the moving direction of the first moving part comprises a first direction, the moving direction of the pushing assembly comprises a second direction, the power device drives the first moving part to move along the first direction, so that the pushing assembly moves along the second direction, and the first direction is intersected with the second direction;

the positioning column is connected with the pushing assembly, and the pushing assembly drives the positioning column to be inserted into the positioning hole when moving.

The positioning device is used for positioning trolley carrying equipment to a target positioning position, and the trolley carrying equipment comprises the positioning hole.

Wherein the driving mechanism is arranged on at least one side of the target positioning position.

In some embodiments, the first moving portion includes an inclined surface, and the pushing assembly abuts against the inclined surface.

In some embodiments, the drive mechanism further comprises:

a first guide member to which the first moving portion is slidably connected, the first guide member guiding the first moving portion in the first direction; and/or the presence of a gas in the gas,

the pushing assembly is connected with the second guide piece in a sliding mode, and the second guide piece guides the pushing assembly in the second direction.

In some embodiments, the jacking assembly comprises:

the second moving part is connected with the second guide piece in a sliding mode, and the positioning column is connected with the second moving part; and/or the presence of a gas in the gas,

and a rolling body connected to the second moving part and abutting against the first moving part.

Wherein the rolling element abuts against the inclined surface.

In some embodiments, the locating post comprises:

a cylinder including a receiving groove;

the ball head is rotatably arranged in the accommodating groove and inserted into the positioning hole.

In some embodiments, the diameter of the ball head is greater than or equal to the diameter of the positioning hole.

In some embodiments, the positioning device further comprises:

the two guide devices are arranged oppositely and used for guiding the trolley carrying equipment to the target positioning position.

In some embodiments, the guide device comprises a plurality of guide wheels, and the guide wheels are arranged at intervals.

In some embodiments, the guide device comprises:

a first section in which a distance between first sections of the two guide devices is gradually reduced along a direction in which the cart carrying apparatus moves to the target positioning position;

the second sections of the two guide devices abut against two sides of the trolley handling equipment;

the first and second sections are arranged in sequence along a direction of movement of the cart handling apparatus to the target positioning location.

In some embodiments, the positioning device further comprises:

the sensing system is arranged on at least one side of the target positioning position of the trolley carrying equipment and used for sensing the position of the trolley carrying equipment.

Correspondingly, the carrying system comprises a trolley carrying device and the positioning device in any one of the above embodiments; the trolley carrying equipment comprises the positioning hole.

In some embodiments, the cart handling apparatus includes a cart body and a handling assembly coupled to the cart body.

The positioning holes are formed in the trolley body or the carrying assembly.

In some embodiments, the handling assembly comprises:

the carrying frame is connected with the trolley body;

the positioning plate is detachably connected with the carrying frame and comprises positioning holes.

In some embodiments, brake pads are provided on both sides of the handling frame, which brake pads abut against the guiding means of the positioning device.

In some embodiments, the pilot hole is provided with a protective sleeve covering a wall of the pilot hole.

In some embodiments, an embedded groove is formed in the positioning plate corresponding to the position of the protection sleeve, and the protection sleeve is arranged in the embedded groove.

Has the advantages that: compared with the prior art, the positioning device comprises the driving mechanism and the positioning column, the driving mechanism comprises a first moving part, a pushing assembly and a power device, the power device is connected with the first moving part, and the first moving part is abutted to the pushing assembly; the moving direction of the first moving part comprises a first direction, the moving direction of the pushing assembly comprises a second direction, the power device drives the first moving part to move along the first direction, so that the pushing assembly moves along the second direction, and the first direction is intersected with the second direction; the positioning column is connected with the pushing assembly, and the pushing assembly drives the positioning column to be inserted into the positioning hole when moving. The positioning device is provided with the driving mechanism, the power device of the driving mechanism is used for driving the first moving part to move, the first moving part is enabled to push the pushing assembly to move, so that the positioning column connected with the pushing assembly can be driven to move and inserted into the positioning hole of the trolley carrying equipment, and the trolley carrying equipment is accurately positioned through the matching of the positioning column and the positioning hole.

Compared with the prior art, the carrying system comprises trolley carrying equipment and the positioning device; the cart handling apparatus includes a positioning hole. It is understood that the handling system may have all the technical features and advantages of the positioning device, and will not be described herein.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a positioning device provided in an embodiment of the present application;

FIG. 2 is a schematic view of a portion of the positioning device of FIG. 1;

FIG. 3 is a front view of a portion of the positioning device of FIG. 2;

FIG. 4 is a schematic top view of a positioning device according to an embodiment of the present disclosure;

FIG. 5 is a schematic perspective view of a handling system according to an embodiment of the present disclosure;

FIG. 6 is a schematic perspective view of a cart handling apparatus provided in an embodiment of the present application;

FIG. 7 is a schematic perspective view of the cart body and the handling frame of the cart handling apparatus of FIG. 6;

FIG. 8 is a perspective view of a positioning plate of the cart carrying apparatus of FIG. 6;

FIG. 9 is a perspective view of the positioning plate of FIG. 8 from another angle;

FIG. 10 is a cross-sectional view of the alignment plate of FIG. 8;

FIG. 11 is a top view of the handling system of FIG. 5 with the alignment plate removed;

reference numerals: 100-a positioning device; 101-a machine platform; 102-a first load-bearing platform; 103-a second load-bearing platform; 110-a drive mechanism; 120-a first moving part; 121-inclined plane; 130-a pushing assembly; 131-a second moving part; 132-rolling elements; 133-a support block; 140-a power plant; 141-a cylinder; 142-a push block; 143-a push rod; 150-a locating post; 151-cylinder; 152-ball head; 160-a first guide; 170-a second guide; 180-a guide; 181 — a first section; 182-a second section; 183-guide wheel; 190-a sensing system; 191-a first position sensor; 192-a second position sensor; 200-a cart handling apparatus; 210-a trolley body; 220-a handling assembly; 230-a handling frame; 240-positioning plate; 250-positioning holes; 251-a protective sleeve; 252-embedded groove; 260-brake pad; 300-target location.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and are not to be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The applicant finds that, in the market, a limiting mechanism is mainly designed in each moving direction of an AGV (Automated Guided Vehicle) to position the AGV, for example, a mechanism is used to fix four direction angles of the AGV in front, back, left, and right directions, so as to achieve the purpose of precise positioning. However, the mechanism is complex, the stability is low, and the positioning process is very complicated.

In view of this, the embodiment of the present application provides a positioning device 100, and compared with the existing positioning technology, the positioning device 100 has the advantages of simple structure, simple positioning manner, high stability, fast and efficient positioning, and the like, and can be used for solving the problem of poor positioning accuracy of front, back, left, and right sides of a cart conveying apparatus 200 such as an AGV cart in the moving and stopping processes. Especially, this positioner 100 can use on the production line of battery package and spare part thereof, avoids because of AGV dolly positioning accuracy is poor, leads to the robot can't carry out the accurate operation to the PACK battery package on the AGV dolly, is favorable to promoting the precision and the efficiency of production.

Referring to fig. 1, fig. 1 shows a three-dimensional structure of a positioning device 100 according to an embodiment of the present application, where the positioning device 100 is used to accurately position a cart carrying apparatus 200 to a target positioning position 300, and it can be understood that the target positioning position 300 is a position where the cart carrying apparatus 200 stops moving and is accurately positioned, and is generally defined according to actual production needs, and generally, the target positioning position 300 is disposed at a station where the cart carrying apparatus 200 or a material to be carried needs to be operated, and in practical applications, a moving route of the cart carrying apparatus 200 may be designed according to each target positioning position 300, and is not specifically limited herein.

Please refer to fig. 1, fig. 2 and fig. 3 together, wherein fig. 2 shows a partial structure of the positioning apparatus 100, and fig. 3 shows a front view of the partial structure of the positioning apparatus 100 in fig. 2. As can be seen, in order to achieve accurate positioning of the cart carrying apparatus 200 to the target positioning position 300, the positioning device 100 according to the embodiment of the present application may be disposed beside the target positioning position 300, and specifically, the positioning device 100 may be disposed on at least one side of the target positioning position 300, for example, in fig. 1, the positioning device 100 is disposed on the left and right sides of the target positioning position 300, so that the cart carrying apparatus 200 can be positioned on the left and right sides of the moving path thereof at the same time, thereby improving stability. Of course, in some embodiments, the positioning device 100 may be disposed only on the left or right side, and positioned from one side of the cart handling apparatus 200. In some embodiments, it may even be provided on the upper side, where it may be positioned from the top of the cart handling apparatus 200, or on the lower side, where it may be positioned from the bottom of the cart handling apparatus 200. Specifically, the positioning device 100 may be disposed at any position around the target positioning position 300, such as up, down, left, right, etc., according to actual production/transportation requirements, without affecting movement and other operations of the cart transporting apparatus 200.

The positioning device 100 mainly comprises a driving mechanism 110 and a positioning column 150, wherein the driving mechanism 110 is used for driving the positioning column 150, the positioning column 150 is pushed into a positioning hole 250 of the trolley carrying equipment 200, and the trolley carrying equipment 200 is accurately positioned through matching and matching of the positioning column 150 and the positioning hole 250, so that the trolley carrying equipment 200 is accurately parked at a target positioning position 300.

In some embodiments, the driving mechanism 110 includes a first moving portion 120, a pushing assembly 130, and a power device 140. The first moving part 120 can move, the moving direction of the first moving part 120 includes a first direction and a direction opposite to the first direction, and the power device 140 is connected to the first moving part 120 for driving the first moving part 120 to move along the first direction. The first moving portion 120 abuts against the pushing assembly 130, and when the first moving portion 120 moves along the first direction, the pushing assembly 130 can be pushed to move. The moving direction of the pushing assembly 130 includes a second direction and an opposite direction of the second direction, and when the first moving portion 120 moves along the first direction, the pushing assembly 130 is pushed to move along the second direction. In the embodiment of the present application, the first direction intersects with the second direction, that is, the moving directions of the first moving portion 120 and the pushing assembly 130 are different, so that the driving mechanism 110, the first moving portion 120, and the pushing assembly 130 are not arranged in series in the same direction, which reduces the length of the driving mechanism 110, thereby reducing the requirement for the depth of the space and improving the applicability of the whole device to the local promotion space.

In some embodiments, two first moving portions 120 may be provided, the pushing assembly 130 abuts against the two first moving portions 120 respectively, and the power device 140 drives the two first moving portions 120 simultaneously, so that the pushing assembly 130 can be pushed at different positions simultaneously, and the movement of the pushing assembly 130 is more stable. Specifically, the power device 140 includes an air cylinder 141, a push block 142 and a push rod 143, the air cylinder 141 is fixedly disposed, an output end of the air cylinder 141 is connected to the push block 142, the push block 142 is connected to a middle portion of the push rod 143, two ends of the push rod 143 are respectively connected to the two first moving portions 120, when the air cylinder 141 operates, the push rod 143 simultaneously drives the two first moving portions 120 to move along a first direction, and when the two first moving portions 120 move, the push component 130 abutted against the two first moving portions is driven to move along a second direction. Of course, the cylinder 141 could be replaced by a ram or other power supply.

Specifically, the inclined surface 121 may be disposed on the first moving portion 120, the pushing assembly 130 abuts against the inclined surface 121, when the first moving portion 120 moves along the first direction, the pushing assembly 130 and the first moving portion 120 generate a relative displacement in the first direction, and an abutting contact position between the pushing assembly 130 and the inclined surface 121 changes along with the relative displacement, so that the inclined surface 121 can push the pushing assembly 130 to move along the second direction.

Of course, the inclined surface 121 may be disposed on the pushing assembly 130, the first moving portion 120 abuts against the inclined surface 121 of the pushing assembly 130, and when the first moving portion 120 moves along the first direction, the pushing assembly 130 can still move along the second direction by pushing the inclined surface 121.

It can be understood that the first direction and the second direction can be specifically set according to actual needs, and the inclined surface 121 with a proper angle is formed between the first moving portion 120 and the pushing assembly 130, so that the moving effect of the first moving portion and the pushing assembly along different directions can be realized.

The positioning column 150 is connected to the pushing assembly 130, and when the pushing assembly 130 moves along the second direction, the positioning column 150 is also driven to move along the second direction, so that the positioning column 150 is inserted into the positioning hole 250 of the cart carrying apparatus 200, and the cart carrying apparatus 200 can be positioned to the target positioning position 300.

In some embodiments, the positioning hole 250 of the cart handling apparatus 200 is vertically disposed (the central axis of the positioning hole extends in the vertical direction), so that the positioning column 150 can be moved in the vertical direction to be inserted into the positioning hole 250, and the second direction is the vertical direction, which can be vertically upward or vertically downward.

In some embodiments, the positioning hole 250 of the cart handling apparatus 200 is horizontally disposed (the central axis of the positioning hole extends in the horizontal direction), so that the positioning column 150 can be moved in the horizontal direction to be inserted into the positioning hole 250, and the second direction is the horizontal direction.

It is understood that the second direction is determined according to the condition of the positioning hole 250, and the second direction corresponds to the extending direction of the central axis of the positioning hole 250.

In some embodiments, in order to ensure the stability and smoothness of the movement of the first moving part 120, the driving mechanism 110 further includes a first guide 160, the first moving part 120 is slidably connected to the first guide 160, and the first guide 160 guides the first moving part 120 in the first direction. Specifically, first guide 160 can be guider such as spout, slide rail, and fixed setting just extends along first direction, and first removal portion 120 is the sliding structure that first guide 160 matches then corresponding setting, through with first removal portion 120 sliding connection in first guide 160, guarantees the stability of removal, makes the removal more smooth and easy.

In some embodiments, to ensure the stability and smoothness of the movement of the pushing assembly 130, the driving mechanism 110 further includes a second guiding element 170, the pushing assembly 130 is slidably connected to the second guiding element 170, and the second guiding element 170 guides the pushing assembly 130 in the second direction. Specifically, the second guiding element 170 may also be a sliding groove, a sliding rail, or other guiding device, which is fixedly disposed and extends along the second direction, and the pushing assembly 130 is correspondingly disposed with a sliding structure matching the second guiding element 170, so that the pushing assembly 130 is slidably connected to the second guiding element 170, thereby ensuring the stability of the movement and making the movement smoother.

In some embodiments, the pushing assembly 130 includes a second moving portion 131, the second moving portion 131 is slidably connected to the second guiding member 170, and the positioning column 150 is connected to the second moving portion 131.

Further, in order to make the relative movement between the pushing assembly 130 and the first moving portion 120 smoother, the pushing assembly 130 further includes a rolling element 132, the rolling element 132 is connected to the second moving portion 131, and the rolling element 132 abuts against the first moving portion 120. Specifically, the rolling element 132 may be a rolling bearing, and is connected to one end of the second moving part 131 close to the first moving part 120. Since the pushing assembly 130 is abutted against the first moving part 120 through the rolling body 132, when the first moving part 120 moves in the first direction, the relative displacement between the first moving part 120 and the pushing assembly 130 in the first direction becomes smoother by the rolling of the rolling body 132. More specifically, the rolling elements 132 abut against the inclined surface 121.

In some embodiments, the driving mechanism 110 includes two first moving portions 120, and the first direction is a horizontal direction, and the second moving portion 131 is a supporting beam structure crossing the two first moving portions 120 and abutting against the two first moving portions 120, so that a supporting block 133 may be further disposed on the second moving portion 131 to support the cart conveying apparatus 200 when positioning the cart conveying apparatus.

Referring to fig. 2 again, in some embodiments, the positioning column 150 includes a column 151 and a ball 152, the column 151 is substantially a cylinder, the front end of the column is provided with an accommodating groove, the ball 152 is a round ball, a portion of the ball 152 is wrapped in the accommodating groove, a portion of the ball 152 protrudes out of the accommodating groove, and the ball 152 can rotate freely. When the trolley handling equipment 200 moves to the target positioning position 300, because the ball 152 can rotate freely, the influence of interference caused by blocking of other structures around the positioning hole 250 is smaller, the ball is easier to insert into the positioning hole 250, the positioning column 150 is matched with the positioning hole 250, and then the trolley handling equipment 200 is accurately positioned.

The diameter of the ball 152 is matched with the diameter of the positioning hole 250, generally, the diameter of the ball 152 is larger than or equal to the diameter of the positioning hole 250, so that the part of the ball 152 protruding out of the accommodating groove can be attached to the positioning hole 250 more tightly, and the positioning is more accurate.

In some embodiments, the driving mechanism 110 and the positioning post 150 may be disposed on both sides of the target positioning position 300, and the positioning post 150 is simultaneously driven by the driving mechanisms 110 on both sides to be inserted into the positioning hole 250 of the cart conveying apparatus 200 to position the cart conveying apparatus 200, so as to improve the positioning accuracy and stability.

In some embodiments, the positioning device 100 further includes two guiding devices 180, and referring to fig. 4, fig. 4 shows a top view of the positioning device 100, it can be seen that the two guiding devices 180 are oppositely disposed at two sides of the target positioning position 300, and the two guiding devices 180 are used for guiding the cart carrying apparatus 200 to the target positioning position 300. When the cart transport apparatus 200 moves on its travel route and contacts the guide device 180, the guide device 180 can guide the forward direction of the cart transport apparatus 200 to move toward the target positioning position 300. Specifically, the guiding device 180 includes a plurality of guide wheels 183 arranged at intervals, and when the trolley conveying equipment 200 moves, the trolley conveying equipment strikes the guide wheels 183, the trolley conveying equipment will receive a reaction force of the guide wheels 183, the reaction force can change the direction of the trolley conveying equipment 200, and the guide wheels 183 on the two sides act together, so that the direction guidance of the trolley conveying equipment 200 can be realized.

In some embodiments, the guiding devices 180 comprise first sections 181, the first sections 181 of the two guiding devices 180 being gradually spaced apart in the direction of movement of the cart handling apparatus 200 towards the target positioning position 300, and by arranging the first sections 181 of the two guiding devices 180 to be mutually spaced apart, the cart handling apparatus 200 can be gradually guided into the target positioning position 300.

In the embodiment shown in fig. 4, the guiding device 180 includes two first sections 181, and the two first sections 181 correspond to two different directions, respectively, and can guide the cart transporting apparatus 200 coming from different directions, so that each of the cart transporting apparatus can accurately travel into the target positioning position 300.

Referring to fig. 4 again, along the direction of the trolley moving apparatus 200 moving to the target positioning position 300, the distances between the guide wheels 183 of the two first sections 181 are L1, L2, and L3, respectively, where L1 > L2 > L3.

In some embodiments, the guiding device 180 further comprises a second section 182, the first section 181 and the second section 182 being arranged in sequence along the direction of movement of the cart handling apparatus 200 towards the target positioning position 300. The target positioning position 300 is located between the second sections 182 of the two guide devices 180, and when the cart handling apparatus 200 moves to the second sections 182, the second sections 182 can abut against the two sides of the cart handling apparatus 200, and the cart handling apparatus 200 is decelerated by frictional resistance.

Referring again to fig. 1-4, in some embodiments, the positioning apparatus 100 further includes a sensing system 190, the sensing system 190 is disposed on at least one side of the target positioning location 300, and the sensing system 190 is used for sensing the position of the cart handling apparatus 200.

Specifically, the sensing system 190 uses a position sensor to detect the position of the cart, and a contact or proximity position sensor may be selected as required, for example, a travel switch or a photoelectric sensor may be selected. The first and second position sensors 191 and 192 may be provided at front and rear positions of the target positioning position 300 so that the front and rear positions of the cart transfer apparatus 200 can be sensed using the first and second position sensors 191 and 192. The sensing system 190 may also be linked with the driving mechanism 110, and when the first position sensor 191 and the second position sensor 192 of the sensing system 190 sense the cart transporting apparatus 200, the driving mechanism 110 drives the positioning post 150 to be inserted into the positioning hole 250 of the cart transporting apparatus 200.

In some embodiments, the positioning device 100 may be installed beside the target positioning position 300 through the machine 101, the machine 101 may be disposed at one side or both sides of the target positioning position 300, and the driving mechanism 110, the guiding device 180 and the sensing system 190 of the positioning device 100 are all installed on the machine 101. Specifically, the machine 101 may include a first supporting platform 102 and a second supporting platform 103, the driving mechanism 110 and the guiding device 180 are both mounted on the first supporting platform 102, and the sensing system 190 is mounted on the second supporting platform 103.

Accordingly, an embodiment of the present application further provides a carrying system, please refer to fig. 5, where fig. 5 shows a three-dimensional structure of the carrying system, it can be seen that the carrying system includes a trolley carrying device 200 and the positioning device 100, and the implementation of the positioning device 100 has been described above in detail, and is not repeated herein.

The trolley carrying equipment 200 comprises a positioning hole 250, and the positioning hole 250 is matched with the positioning column 150 of the positioning device 100, so that the trolley carrying equipment 200 can be accurately positioned.

Referring to FIG. 6, FIG. 6 shows a perspective view of the cart handling apparatus 200. It can be seen that the cart handling apparatus 200 includes a cart body 210 and a handling assembly 220, the handling assembly 220 is connected to the cart body 210, wherein the cart body 210 may be an AGV cart as described above. The positioning hole 250 may be disposed on the cart body 210 or on the carrying assembly 220, and the specific position of the positioning hole 250 may be set according to the actual requirement.

In some embodiments, the handling assembly 220 includes a handling frame 230 and a positioning plate 240, as shown in fig. 6, 7 and 8, wherein fig. 7 shows a perspective structure of the cart body 210 and the handling frame 230, and fig. 8 shows a perspective structure of the positioning plate. It can be seen that the carrying frame 230 is a supporting and carrying device of a frame structure, and is mainly used for carrying the positioning plate 240, the carrying frame 230 can be connected with the cart body 210 through the docking assembly, and the positioning plate 240 is installed on the carrying frame 230 to form a whole. Locating plate 240 can be designed according to the material appearance of handling, that is to say locating plate 240 matches with the material appearance to can be with the material accurate positioning above that, for example, when the material is the battery package, locating plate 240 designs according to the battery package appearance, thereby can be with placing on locating plate 240 and fixing a position that the battery package is accurate. Locating plate 240 is detachably connected with handling frame 230, can link to each other both through detachable methods such as bolt or buckle, can freely dismantle and change locating plate 240 to can compatible different materials.

It is understood that the positioning holes 250 may be disposed on the carrying frame 230 or the positioning plate 240.

Referring to fig. 8, fig. 8 shows a three-dimensional structure of the positioning plate 240 viewed along another angle, in some embodiments, the positioning plate 240 includes positioning holes 250, specifically, the positioning holes 250 may be disposed at four corners of the positioning plate 240, and four positioning columns 150 are correspondingly disposed at corresponding positions of the positioning device 100, so that the positioning is more stable and accurate through matching of the four corners.

Referring to fig. 10, fig. 10 shows a cross-sectional structure of the positioning plate 240 to show the structural design of the positioning hole 250, in order to protect the positioning plate 240 and the positioning hole 250, especially to prevent the positioning hole 250 from being deformed by impact during the positioning process of the cart conveying apparatus 200 by the positioning device 100, so as to prevent the positioning accuracy from being affected, a protective sleeve 251 may be disposed on the positioning hole 250, and the hole wall of the positioning hole 250 may be covered by the protective sleeve 251. Specifically, an insertion groove 252 may be provided on the positioning plate 240 corresponding to the position of the protection sleeve 251, and the protection sleeve 251 is disposed in the insertion groove 252. It can be understood that the inserting groove 252 can be regarded as a part of the positioning hole 250, for example, the hole body of the positioning hole 250 can be two layers of round holes with different sizes, the big round hole is the inserting groove 252, and the screw hole is provided on the small round hole, and the fixing is realized by inserting the protecting sleeve 251 into the big round hole and connecting it with the small round hole by using the screw. The protective sleeve 251 is circular, and the inner diameter of the protective sleeve 251 can be consistent with the diameter of the small circular hole, so that when the protective sleeve 251 is installed in the positioning hole 250, the inner hole of the protective sleeve 251 and the small circular hole can be connected into a whole, and the protective sleeve 251 can be regarded as a part of the positioning hole 250, namely, the protective sleeve 251 and the two layers of circular holes with different sizes on the positioning plate 240 form the positioning hole 250 together. The protection sleeve 251 can be a copper ring or made of other materials with similar strength and toughness to copper, and in the positioning process, the protection sleeve 251 can protect the positioning hole 250 from being impacted by the positioning device 100 and not damaged or deformed.

Referring to fig. 11 in conjunction with fig. 7, fig. 11 is a plan view of the conveying system with the positioning plate removed, showing that the brake pads 260 are disposed on both sides of the conveying frame 230, and the brake pads 260 abut against the guide device 180 of the positioning device 100. Specifically, when the cart transport apparatus 200 is driven to the target positioning position 300, the brake pads 260 on both sides of the transport frame 230 may contact the second section 182, and the cart transport apparatus 200 may be decelerated by a frictional force between the brake pads and the second section, so that the cart transport apparatus 200 may be finally stopped at the target positioning position 300.

The operation process of the carrying system is as follows: the trolley carrying equipment 200 is carried according to a planned route, when the trolley carrying equipment passes through the positioning device 100, the first section 181 of the guiding device 180 guides the trolley carrying equipment 200 to the target positioning position 300, the second section 182 of the guiding device 180 decelerates the trolley carrying equipment 200 when contacting the brake pad 260 until the first position sensor 191 and the second position sensor 192 of the sensing system 190 sense the trolley carrying equipment 200, the driving mechanism 110 starts to act, the power device 140 drives the first moving part 120 to move along the first direction, drives the pushing component 130 to move along the second direction, further drives the positioning column 150 to be inserted into the positioning hole 250 for matching positioning, keeps the state, and operates the carried materials under the state. For example, in a production line of battery PACKs and their components, after positioning is performed, the robot performs PACK assembly at the station in this state, after the positioning apparatus 100 returns to the initial state, and the AGV enters the next station with the battery PACK to perform assembly.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The positioning device and the carrying system provided by the embodiment of the present application are introduced in detail, and a specific example is applied to illustrate the principle and the implementation of the present application, and the description of the embodiment is only used to help understanding the technical scheme and the core idea of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims (15)

1. A positioning device (100), comprising:

the driving mechanism (110) comprises a first moving part (120), a pushing assembly (130) and a power device (140), the power device (140) is connected with the first moving part (120), and the first moving part (120) is abutted to the pushing assembly (130); the moving direction of the first moving part (120) comprises a first direction, the moving direction of the pushing assembly (130) comprises a second direction, the power device (140) drives the first moving part (120) to move along the first direction, so that the pushing assembly (130) moves along the second direction, and the first direction and the second direction are intersected;

the positioning column (150) is connected with the pushing assembly (130), and the pushing assembly (130) drives the positioning column (150) to be inserted into the positioning hole (250) when moving.

2. The positioning device according to claim 1, wherein the first moving portion (120) comprises an inclined surface (121), the pushing assembly (130) abutting against the inclined surface (121).

3. The positioning device according to claim 1, wherein the drive mechanism (110) further comprises:

a first guide (160), the first moving part (120) being slidably connected to the first guide (160), the first guide (160) guiding the first moving part (120) in the first direction; and/or the presence of a gas in the gas,

a second guide (170), the ejector assembly (130) being slidably connected to the second guide (170), the second guide (170) guiding the ejector assembly (130) in the second direction.

4. The positioning device according to claim 3, wherein the jacking assembly (130) comprises:

a second moving part (131), wherein the second moving part (131) is connected with the second guide piece (170) in a sliding manner, and the positioning column (150) is connected with the second moving part (131); and/or the presence of a gas in the atmosphere,

and a rolling body (132), wherein the rolling body (132) is connected to the second moving part (131), and the rolling body (132) abuts against the first moving part (120).

5. The positioning device according to claim 1, wherein the positioning post (150) comprises:

a cylinder (151), the cylinder (151) including a receiving groove;

the ball head (152) is rotatably arranged in the accommodating groove, and the ball head (152) is inserted into the positioning hole (250).

6. The positioning device according to claim 5, wherein the diameter of the ball head (152) is greater than or equal to the diameter of the positioning hole (250).

7. The positioning device according to claim 1, wherein the positioning device (100) further comprises:

two guiding means (180), the two guiding means (180) being oppositely arranged, the guiding means (180) being for guiding the cart handling apparatus (200) to the target positioning location (300).

8. The positioning device according to claim 7, wherein the guiding means (180) comprises:

-a first section (181), the first sections (181) of the two guiding devices (180) being progressively less spaced apart in the direction of movement of the trolley handling apparatus (200) towards the target positioning position (300);

a second section (182), the second sections (182) of the two guiding devices (180) abutting against both sides of the trolley handling apparatus (200);

the first section (181) and the second section (182) are arranged in sequence along a direction of movement of the cart handling apparatus (200) to the target positioning location (300).

9. The positioning device according to claim 1, wherein the positioning device (100) further comprises:

a sensing system (190), the sensing system (190) being arranged on at least one side of a target positioning location (300) of a trolley handling device (200), the sensing system (190) being configured to sense a position of the trolley handling device (200).

10. A handling system, characterized by comprising a trolley handling apparatus (200) and a positioning device (100) according to any one of claims 1-9; the cart handling apparatus (200) comprises the positioning holes (250).

11. A handling system according to claim 10, characterized in that said trolley handling apparatus (200) comprises a trolley body (210) and a handling assembly (220), said handling assembly (220) being connected with said trolley body (210).

12. Handling system according to claim 11, wherein said handling assembly (220) comprises:

a handling frame (230), the handling frame (230) being connected to the trolley body (210);

a positioning plate (240), the positioning plate (240) being detachably connected with the carrying frame (230), the positioning plate (240) including the positioning hole (250).

13. Handling system according to claim 12, wherein brake pads (260) are arranged on both sides of the handling frame (230), said brake pads (260) abutting against the guiding means (180) of the positioning device (100).

14. Handling system according to claim 12 or 13, wherein the pilot hole (250) is provided with a protective sleeve (251), the protective sleeve (251) covering a wall of the pilot hole (250).

15. Handling system according to claim 14, wherein an insertion slot (252) is provided on the positioning plate (240) corresponding to the position of the protective sleeve (251), and the protective sleeve (251) is provided in the insertion slot (252).

Images