Positioning device for conveying automobile parts

Abstract

The application provides a positioning device for conveying automobile parts, which comprises a positioning rack mechanism for bearing the parts and a clamping positioning mechanism; the positioning rack mechanism comprises a moving frame, and the clamping positioning mechanism comprises two clamping positioning units, and a space for accommodating the positioning rack mechanism is formed between the two clamping positioning units. The application extrudes the Z-direction positioning block through a roller, so that the moving frame in an abnormal state returns to a normal state, at which time the robot can normally grab the parts, and through the cooperation of the Z-direction positioning block and the roller, the Z-direction stable positioning of the positioning rack mechanism can be realized; in addition, when the positioning rack mechanism is placed upside down by the worker, the upside-down positioning rack mechanism cannot enter the accommodating space through the blocking of the vertical plate on the second support, so that the robot can avoid grabbing the parts in the wrong position, thereby avoiding collision.

Description

Technical Field

[0001] This invention relates to the technical field of automotive parts conveying, and particularly to a positioning device for automotive parts conveying. Background Technology

[0002] In the transportation of sub-assemblies, traditional manual transportation is no longer sufficient to meet the needs of modern welding production lines. The transportation of sub-assembly parts is gradually shifting from manual transfer to automated transfer. Currently, there are various transfer methods for body-in-white sub-assembly parts, mainly divided into air transport and ground transfer. Ground transfer often uses AGVs to pull precision positioning racks to accurately place body-in-white sub-assembly parts, and then robots assemble and weld the positioned parts.

[0003] Currently, ground transportation in the form of AGVs is usually achieved by AGV trolleys dragging positioning rack mechanisms, such as... Figure 9 As shown, the AGV trolley traction positioning rack mechanism places parts. The positioning rack mechanism is positioned in the X direction by the second front positioning block and the clamping assembly. The Y direction positioning is achieved by the Y direction guide plate and the Y direction guide wheel. The Z direction positioning is achieved by the wheels of the positioning rack mechanism contacting the ground by the weight of the positioning rack mechanism itself.

[0004] However, existing ground transportation methods using AGVs generally have the following problems.

[0005] Question 1: Y-axis positioning is achieved through the Y-axis guide plate and Y-axis guide wheel. Long-term use will cause the gap between the Y-axis guide plate and the Y-axis guide wheel to become too large. When the Y-axis positioning of the material rack is unstable, it will cause the robot to fail to grasp the parts, resulting in a high failure rate of the production line.

[0006] Question 2: Z-axis positioning is achieved by the wheels of the positioning rack mechanism contacting the ground under their own weight. However, the wheels of the positioning rack mechanism wear down due to long-term friction with the ground. When the Z-axis positioning of the positioning rack mechanism is unstable, it can lead to the robot failing to grasp parts, resulting in a high failure rate on the production line.

[0007] Question 3: Due to the lack of error prevention devices, employees may place the positioning rack mechanism in the wrong position when switching vehicle models. When the positioning rack mechanism carries the parts in the wrong position, the robot will grab the parts in the wrong position, which will cause a collision and pose a safety risk to the parts and equipment. Summary of the Invention

[0008] Therefore, the purpose of this invention is to provide a positioning device for conveying automotive parts.

[0009] The invention provides the following technical solution: a positioning device for conveying automotive parts, including a positioning rack mechanism for carrying parts and a clamping positioning mechanism; the positioning rack mechanism includes a movable frame, and the clamping positioning mechanism includes two clamping positioning units, with a space formed between the two clamping positioning units for accommodating the positioning rack mechanism;

[0010] The positioning rack mechanism further includes a plurality of first Z-axis positioning components arranged on both sides of the movable frame, and the clamping positioning unit includes a plurality of second Z-axis positioning components.

[0011] The first Z-axis positioning component includes a mounting member fixedly connected to the frame, and a wedge-shaped Z-axis positioning block disposed on the mounting member;

[0012] The second Z-axis positioning component includes a second bracket and a roller disposed on the second bracket. When the positioning material rack mechanism moves into the space formed between the two clamping positioning units, the upper surface of the roller contacts the upper surface of the Z-axis positioning block, thereby realizing the Z-axis positioning of the positioning material rack mechanism.

[0013] Furthermore, during normal operation of the positioning device, the Z-direction positioning block in the first Z-direction positioning component, which is the last to enter the space formed between the two clamping positioning units, extends downward to form a vertical plate.

[0014] Furthermore, the positioning rack mechanism also includes a plurality of first Y-axis positioning components arranged on both sides of the movable frame; the clamping positioning unit also includes a second Y-axis positioning component that cooperates with the first Y-axis positioning component; the first Y-axis positioning component includes a rotating seat fixedly connected to the frame, and a Y-axis guide wheel arranged on the rotating seat; the second Y-axis positioning component includes a base plate, a plurality of first brackets arranged on the base plate, and a Y-axis guide plate connected to the upper part of the first brackets. When the positioning rack mechanism moves into the space formed between the two clamping positioning units, the Y-axis guide wheel contacts the Y-axis guide plate, thereby realizing the Y-axis positioning of the positioning rack mechanism.

[0015] Furthermore, the positioning rack mechanism also includes two first front-end positioning blocks disposed on one side of the movable frame, the two first front-end positioning blocks being distributed on both sides of the side of the frame; the clamping positioning unit also includes a third bracket, on which second front-end positioning blocks are disposed; when the positioning rack mechanism moves into the space formed between the two clamping positioning units, the two first front-end positioning blocks respectively contact the second front-end positioning blocks of the two clamping positioning units, thereby realizing the X-axis positioning of the positioning rack mechanism.

[0016] Furthermore, at least one of the first front-end positioning blocks is V-shaped, and the second front-end positioning block corresponding to the V-shaped first front-end positioning block is provided with a first V-shaped groove, the first V-shaped groove being adapted to the V-shaped first front-end positioning block.

[0017] Furthermore, the positioning rack mechanism also includes two rear positioning blocks disposed on the side of the movable frame opposite to the first front positioning block, and the two rear positioning blocks are distributed on both sides of the frame side; the clamping positioning unit also includes a clamping assembly, which, when the positioning rack mechanism moves into the space formed between the two clamping positioning units, clamps the rear positioning blocks by activating the clamping assembly, thereby further realizing the X-axis positioning of the positioning rack mechanism.

[0018] Furthermore, the clamping assembly includes a drive member, a rotatable swing arm, and a rear end clamping block disposed on the swing arm; when the positioning rack mechanism moves into the space formed between the two clamping and positioning units, the drive member is activated to drive the swing arm to rotate, so that the rear end clamping block clamps the rear end positioning block.

[0019] Furthermore, at least one of the rear end clamping blocks is V-shaped, and the rear end positioning block corresponding to the V-shaped rear end clamping block is provided with a second V-shaped groove, the second V-shaped groove being adapted to the V-shaped rear end clamping block.

[0020] Furthermore, the movable frame includes a frame body, a plurality of support members arranged in a circular pattern on the upper part of the frame body for lifting the parts, and a plurality of wheels arranged in a circular pattern on the lower part of the frame body.

[0021] Furthermore, the upper part of the support member is formed by tilting downwards from above towards the middle of the frame body.

[0022] The beneficial effects of this invention are as follows: By pressing the Z-axis positioning block with rollers, the abnormal moving frame is returned to its normal state, allowing the robot arm to grasp parts normally. Furthermore, the Z-axis positioning block and rollers work together to achieve stable Z-axis positioning of the positioning rack mechanism. Additionally, when the positioning rack mechanism is placed backwards, the vertical plate blocks the second support and rollers, preventing the backwards positioning rack mechanism from entering the receiving space. This avoids the robot grasping parts in the wrong position, thus preventing collisions and safety risks between the parts and the equipment. Moreover, the XY-axis positioning of the positioning rack mechanism can be achieved through the cooperation of the first V-groove and the V-shaped first front-end positioning block, and the cooperation of the second V-groove and the V-shaped rear-end clamping block. In other words, even if the Y-axis guide wheel or Y-axis guide plate wears and a gap forms between them, Y-axis positioning can still be achieved through the cooperation of the first V-groove and the V-shaped first front-end positioning block, and the cooperation of the second V-groove and the V-shaped rear-end clamping block. Attached Figure Description

[0023] Figure 1 This is a planar schematic diagram of the first working state of the present invention.

[0024] Figure 2 This is a planar schematic diagram of the second working state of the present invention.

[0025] Figure 3 This is a three-dimensional structural diagram of the positioning rack mechanism of the present invention from a first-view perspective.

[0026] Figure 4 This is a three-dimensional structural diagram of the positioning rack mechanism of the present invention from a second perspective.

[0027] Figure 5 This is a three-dimensional structural diagram of the clamping and positioning mechanism of the present invention.

[0028] Figure 6 This is a three-dimensional structural diagram of the clamping assembly of the present invention.

[0029] Figure 7 This is a three-dimensional structural diagram of the XY-axis positioning and the cooperation of various components during Y-axis positioning of the present invention.

[0030] Figure 8 This is a three-dimensional structural diagram showing the coordination of various components during Z-axis positioning of the present invention.

[0031] Figure 9 This is a schematic diagram of the three-dimensional structure of the prior art.

[0032] The labels in the attached diagram are as follows: 1-Ground, 2-AGV trolley, 3-Positioning material rack mechanism, 31-Frame body, 32-Support component, 33-Wheel, 34-Rotating seat, 35-Y-direction guide wheel, 36-Mounting component, 37-Z-direction positioning block, 310-Rear end positioning block, 311-Second V-groove, 312-First front end positioning block, 4-Clamping positioning mechanism, 41-Base plate, 42-First bracket, 43-Y-direction guide plate, 44-Second bracket, 45-Roller, 46-Third bracket, 47-Second front end positioning block, 48-Clamping assembly, 481-Cylinder, 482-Swing arm, 483-Rear end clamping block, 49-First V-groove, 5-Part. Detailed Implementation

[0033] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0034] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0036] A positioning device for conveying automotive parts 5, such as Figures 1-5As shown, the device includes a positioning rack mechanism 3 for supporting part 5 and a clamping positioning mechanism 4. The positioning rack mechanism 3 includes a movable frame, and the clamping positioning mechanism 4 includes two clamping positioning units, forming a space between the two clamping positioning units to accommodate the positioning rack mechanism 3. The positioning rack mechanism 3 also includes a plurality of first Z-axis positioning components arranged on both sides of the movable frame, and the clamping positioning units include a plurality of second Z-axis positioning components. The first Z-axis positioning components include mounting members 36 fixedly connected to the frame, and wedge-shaped Z-axis positioning blocks 37 arranged on the mounting members. The second Z-axis positioning components include second brackets 44, and rollers 45 arranged on the second brackets 44. When the positioning rack mechanism 3 moves into the space formed between the two clamping positioning units, the upper surface of the rollers 45 contacts the upper surface of the Z-axis positioning blocks 37, thereby realizing the Z-axis positioning of the positioning rack mechanism 3.

[0037] The movable frame includes a frame body 31, a plurality of support members 32 arranged in a ring around the upper part of the frame body 31 for supporting the part 5, and a plurality of wheels 33 arranged in a ring around the lower part of the frame body 31. The upper part of the support members 32 is inclined downward from the top towards the middle of the frame body 31. In this embodiment, four first Z-axis positioning components are provided, and the four first Z-axis positioning components are distributed in pairs on both sides of the frame body 31. In other embodiments, the number of first Z-axis positioning components can be appropriately increased or decreased, and the number of second Z-axis positioning components corresponds to the number of first Z-axis positioning components.

[0038] Specifically, the operator first places part 5 onto the moving frame. The support member 32 on the moving frame lifts part 5, and the upper part of the support member 32 is tilted. When part 5 is placed onto the moving frame, the support member 32 will play a positioning role to prevent part 5 from being placed off-center. After part 5 is placed in, the AGV trolley 2 crawls into the bottom of the moving frame and drives the moving frame to move in the direction of the clamping and positioning mechanism 4. When the AGV trolley 2 drives the moving frame into the space formed between the two clamping and positioning units (hereinafter referred to as the accommodating space), the wedge-shaped part of the Z-axis positioning block 37 will contact the roller 45. If the moving frame If the wheels 33 of the frame are worn, the moving frame will be lower than normal. Alternatively, if one of the wheels 33 is worn, the moving frame will tilt towards the side where the wheel 33 is worn. This can easily cause the robot arm to fail to grasp the part 5. The wedge-shaped part of the Z-axis positioning block 37 is set to contact the roller 45. That is, when the moving frame enters the receiving space, because the moving frame is lower than normal, the roller 45 will squeeze the Z-axis positioning block 37, causing the moving frame in an abnormal state to return to the normal state. At this time, the robot arm can grasp the part 5 normally. And through the cooperation of the Z-axis positioning block 37 and the roller 45, the Z-axis stable positioning of the positioning rack mechanism 3 can be achieved.

[0039] like Figure 4 and Figure 8 As shown, during normal operation of the positioning device, the Z-direction positioning block 37 in the first Z-direction positioning component, which is the last to enter the space formed between the two clamping positioning units, extends downward to form a vertical plate.

[0040] It is understandable that during normal operation, the Z-axis positioning block 37, which is the last to enter the accommodating space, extends downward to form a vertical plate, thus making the Z-axis positioning block 37, which is the last to enter the accommodating space, L-shaped. When the operator places the positioning rack mechanism 3, causing the positioning rack mechanism 3 to be placed backwards, the part 5 placed on the positioning rack mechanism 3 will also be backwards. At this time, during normal operation, the Z-axis positioning block 37, which is the last to enter the accommodating space, will become the Z-axis positioning block 37, which is the first to enter the accommodating space. At this time, the AGV trolley 2 will drive the positioning rack mechanism 3 into the accommodating space. Due to the action of the vertical plate, it will be blocked by the second bracket 44 and the roller 45, so that the backwards positioning rack mechanism 3 cannot enter the accommodating space. This can prevent the robot from grabbing the part 5 in the wrong position, thus avoiding collision and safety risks between the part 5 and the equipment.

[0041] like Figures 3-5 and Figure 7As shown, the positioning rack mechanism 3 further includes a plurality of first Y-axis positioning components arranged on both sides of the movable frame; the clamping positioning unit further includes a second Y-axis positioning component that cooperates with the first Y-axis positioning component; the first Y-axis positioning component includes a rotating seat 34 fixedly connected to the frame, and a Y-axis guide wheel 35 arranged on the rotating seat 34; the second Y-axis positioning component includes a base plate 41, a plurality of first brackets 42 arranged on the base plate 41, and a Y-axis guide plate 43 connected to the upper part of the first brackets 42. When the positioning rack mechanism 3 moves into the space formed between the two clamping positioning units, the Y-axis guide wheel 35 contacts the Y-axis guide plate 43, thereby realizing the Y-axis positioning of the positioning rack mechanism 3.

[0042] It is understood that in this embodiment, four first Y-direction positioning components are provided, distributed in pairs on both sides of the moving frame; specifically, when the moving frame moves into the accommodating space, the Y-direction guide wheel 35 will first contact the Y-direction guide plate 43, and the moving frame will be positioned in the Y direction by the Y-direction guide wheel 35 and the Y-direction guide plate 43, so as to prevent the moving frame from moving in the Y direction.

[0043] like Figure 4 and Figure 5 and Figure 7 As shown, the positioning rack mechanism 3 further includes two first front-end positioning blocks 312 disposed on one side of the movable frame, and the two first front-end positioning blocks 312 are distributed on both sides of the side of the frame; the clamping positioning unit further includes a third bracket 46, on which second front-end positioning blocks 47 are disposed; when the positioning rack mechanism 3 moves into the space formed between the two clamping positioning units, the two first front-end positioning blocks 312 respectively contact the second front-end positioning blocks 47 of the two clamping positioning units, thereby realizing the X-axis positioning of the positioning rack mechanism 3.

[0044] It is understandable that when the moving frame moves forward into the accommodating space, the moving frame drives the first front-end positioning block 312 to move forward. When the moving frame drives the first front-end positioning block 312 to contact the second front-end positioning block 47, the moving frame will be unable to continue moving forward, thereby achieving X-axis positioning of the moving frame.

[0045] At least one of the first front-end positioning blocks 312 is V-shaped, and the second front-end positioning block 47 corresponding to the V-shaped first front-end positioning block 312 is provided with a first V-shaped groove 49, which is adapted to the V-shaped first front-end positioning block 312.

[0046] It is understandable that due to prolonged contact and movement between the Y-direction guide wheel 35 and the Y-direction guide plate 43, wear can easily occur, resulting in a gap between them. This causes a deviation in the Y-direction positioning of the positioning rack mechanism 3, leading to the robot arm grasping the part 5 in the wrong position. Therefore, a first front-end positioning block 312 and a first V-shaped groove 49 are provided. Specifically, in this embodiment, one of the first front-end positioning blocks 312 is V-shaped; in other embodiments, two first front-end positioning blocks 49 are V-shaped. All end positioning blocks 312 can be V-shaped. When the moving frame drives the first V-shaped front end positioning block 312 forward to contact the second front end positioning block 47 with the first V-shaped groove 49, the positioning of the material rack mechanism 3XY direction can be achieved through the cooperation of the first V-shaped groove 49 and the V-shaped first front end positioning block 312. That is to say, when the Y-direction guide wheel 35 or the Y-direction guide plate 43 wears and a gap is generated between them, the Y-direction positioning can still be achieved through the cooperation of the first V-shaped groove 49 and the V-shaped first front end positioning block 312.

[0047] like Figure 3 and Figures 5-7 As shown, the positioning rack mechanism 3 further includes two rear positioning blocks 310 disposed on the side of the movable frame opposite to the first front positioning block 312, and the two rear positioning blocks 310 are distributed on both sides of the frame side; the clamping positioning unit further includes a clamping assembly 48, which, when the positioning rack mechanism 3 moves into the space formed between the two clamping positioning units, presses the rear positioning blocks 310 by activating the clamping assembly 48, thereby further realizing the X-axis positioning of the positioning rack mechanism 3; the clamping assembly 48 includes a driving member, a rotatable swing arm 482, and a rear pressing block 483 disposed on the swing arm 482; when the positioning rack mechanism 3 moves into the space formed between the two clamping positioning units, the driving member drives the swing arm 482 to rotate, so that the rear pressing block 483 presses the rear positioning block 310.

[0048] The driving component is a cylinder 481, fixed to a first bracket 42 near the opening of the receiving space. A swing arm 482 is rotatably connected to the first bracket 42 near the opening of the receiving space. The output end of the cylinder 481 is coupled to one side of the swing arm 482. The cylinder 481 driving the swing arm 482 to swing is existing technology and will not be elaborated here. In the initial state, the cylinder 481 drives the swing arm 482 to swing away from the receiving space, thereby preventing the swing arm 482 from blocking the positioning rack mechanism 3 from entering the receiving space. When the positioning rack mechanism 3... After entering the receiving space, when the first front positioning block 312 contacts the second front positioning block 47, the operator can start the cylinder 481. The output end of the cylinder 481 drives the swing arm 482 to swing towards the receiving space. The swing arm 482 drives the rear clamping block 483 to swing. The rear clamping block 483 will swing to contact the rear positioning block 310, thereby pressing the rear positioning block 310 and preventing the positioning material rack mechanism 3 from exiting the receiving space to the rear, thereby further realizing the X-axis positioning of the positioning material rack mechanism 3.

[0049] At least one of the rear end clamping blocks 483 is V-shaped, and the rear end positioning block 310 corresponding to the V-shaped rear end clamping block 483 is provided with a second V-shaped groove 311, which is adapted to the V-shaped rear end clamping block 483.

[0050] In this embodiment, only one rear end clamping block 483 is V-shaped. In other embodiments, all rear end clamping blocks 483 can be V-shaped. The rear end positioning block 310 with the second V-shaped groove 311 and the first front end positioning block 312 with the V-shape are obliquely opposite each other. When the swing arm 482 drives the V-shaped rear end clamping block 483 to move closer to the receiving space, the V-shaped rear end clamping block 483 will move into the second V-shaped groove 311. Through the cooperation of the second V-shaped groove 311 and the V-shaped rear end clamping block 483, the positioning of the material rack mechanism in the XY direction can be further realized.

[0051] In summary, by pressing the Z-axis positioning block 37 with the roller 45, the abnormal moving frame is returned to its normal state. This allows the robotic arm to properly grasp part 5. Furthermore, the cooperation between the Z-axis positioning block 37 and the roller 45 ensures stable Z-axis positioning of the positioning rack mechanism 3. Additionally, when the operator places the positioning rack mechanism 3 in the wrong position, the vertical plate blocks the second support 44 and the roller 45, preventing the inverted positioning rack mechanism 3 from entering the receiving space. This avoids the robot grasping part 5 in the wrong position, thus preventing collisions and damage to the parts. 5. Safety risks arise between the equipment and the device; in addition, the positioning of the material rack mechanism 3XY can be achieved by the cooperation of the first V-shaped groove 49 and the V-shaped first front end positioning block 312, and by the cooperation of the second V-shaped groove 311 and the V-shaped rear end clamping block 483. That is to say, when the Y-direction guide wheel 35 or the Y-direction guide plate 43 wears and a gap is generated between them, the Y-direction positioning can still be achieved by the cooperation of the first V-shaped groove 49 and the V-shaped first front end positioning block 312, and by the cooperation of the second V-shaped groove 311 and the V-shaped rear end clamping block 483.

[0052] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0053] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A positioning device for conveying automotive parts, comprising a positioning rack mechanism for carrying parts and a clamping positioning mechanism; the positioning rack mechanism includes a movable frame, and the clamping positioning mechanism includes two clamping positioning units, with a space formed between the two clamping positioning units for accommodating the positioning rack mechanism; Its features are: The positioning rack mechanism further includes a plurality of first Z-axis positioning components arranged on both sides of the movable frame, and the clamping positioning unit includes a plurality of second Z-axis positioning components. The first Z-axis positioning component includes a mounting member fixedly connected to the movable frame, and a wedge-shaped Z-axis positioning block disposed on the mounting member; The second Z-axis positioning component includes a second bracket and a roller disposed on the second bracket. When the positioning material rack mechanism moves into the space formed between the two clamping positioning units, the upper surface of the roller contacts the upper surface of the Z-axis positioning block, thereby realizing the Z-axis positioning of the positioning material rack mechanism. The positioning rack mechanism further includes a plurality of first Y-axis positioning components arranged on both sides of the movable frame; the clamping positioning unit further includes a second Y-axis positioning component that cooperates with the first Y-axis positioning component; the first Y-axis positioning component includes a rotating seat fixedly connected to the movable frame, and a Y-axis guide wheel arranged on the rotating seat; the second Y-axis positioning component includes a base plate, a plurality of first brackets arranged on the base plate, and a Y-axis guide plate connected to the upper part of the first brackets. When the positioning rack mechanism moves into the space formed between the two clamping positioning units, the Y-axis guide wheel contacts the Y-axis guide plate, thereby realizing the Y-axis positioning of the positioning rack mechanism; The positioning rack mechanism further includes two first front-end positioning blocks disposed on one side of the movable frame, the two first front-end positioning blocks being distributed on both sides of the movable frame side; the clamping positioning unit further includes a third bracket, on which second front-end positioning blocks are disposed; when the positioning rack mechanism moves into the space formed between the two clamping positioning units, the two first front-end positioning blocks respectively contact the second front-end positioning blocks of the two clamping positioning units, thereby realizing the X-axis positioning of the positioning rack mechanism.

2. The positioning device according to claim 1, characterized in that: During normal operation of the positioning device, the Z-direction positioning block in the first Z-direction positioning component, which is the last to enter the space formed between the two clamping positioning units, extends downward to form a vertical plate.

3. The positioning device according to claim 1, characterized in that: At least one of the first front-end positioning blocks is V-shaped, and the second front-end positioning block corresponding to the V-shaped first front-end positioning block is provided with a first V-shaped groove, the first V-shaped groove being adapted to the V-shaped first front-end positioning block.

4. The positioning device according to claim 3, characterized in that: The positioning rack mechanism further includes two rear positioning blocks disposed on the side of the moving frame opposite to the first front positioning block, and the two rear positioning blocks are distributed on both sides of the side of the moving frame; the clamping positioning unit further includes a clamping assembly, which, when the positioning rack mechanism moves into the space formed between the two clamping positioning units, clamps the rear positioning blocks by activating the clamping assembly, thereby further realizing the X-axis positioning of the positioning rack mechanism.

5. The positioning device according to claim 4, characterized in that: The clamping assembly includes a drive unit, a rotatable swing arm, and a rear end clamping block disposed on the swing arm; when the positioning rack mechanism moves into the space formed between the two clamping and positioning units, the drive unit is activated to drive the swing arm to rotate, so that the rear end clamping block clamps the rear end positioning block.

6. The positioning device according to claim 5, characterized in that: At least one of the rear end clamping blocks is V-shaped, and the rear end positioning block corresponding to the V-shaped rear end clamping block is provided with a second V-shaped groove, the second V-shaped groove being adapted to the V-shaped rear end clamping block.

7. The positioning device according to claim 1, characterized in that: The movable frame includes a frame body, a plurality of support members arranged in a ring around the upper part of the frame body for lifting the parts, and a plurality of wheels arranged in a ring around the lower part of the frame body.

8. The positioning device according to claim 7, characterized in that: The upper part of the support member is formed by tilting downwards from the top towards the middle of the frame body.

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