positioning device

Abstract

The application belongs to the technical field of material loading positioning, and discloses a positioning device, which comprises a bearing part, a first reference part, a second reference part, a floating tensioning mechanism, an isohypse mechanism and a lifting mechanism. The tray is placed on the bearing part, and under the action of the floating tensioning mechanism, the tray can be driven to produce translation in the horizontal plane. In the moving process, the two adjacent inner side walls of the tray can abut against the first reference part and the second reference part respectively, so as to complete the positioning in the horizontal direction. Then, under the action of the lifting mechanism, the tray can be driven to move close to the isohypse mechanism until the step surface abuts against the isohypse surface, so as to complete the positioning in the vertical direction. In this way, the mechanical structure is used instead of the visual guidance system, so that the positioning accuracy of the products in the tray during the loading process can be ensured, and the professional quality of the operator is not needed, thereby reducing the production cost.

Description

Technical Field

[0001] This invention relates to the field of material feeding and positioning technology, and in particular to a positioning device. Background Technology

[0002] Material trays, such as blister packs, serve as product carriers and are widely used in fully automated production lines. Due to the manufacturing process of blister packs, their internal structure typically serves as a precision benchmark. In automated equipment, to achieve precise positioning and material handling, robots and vision guidance systems are usually required to adapt to the different material tolerances of various blister packs, thus ensuring feeding accuracy and resulting in higher equipment costs. Furthermore, this solution demands a high level of professional skill from operators, requiring expertise in vision system configuration and software programming, further increasing production and setup costs.

[0003] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a positioning device to ensure the positioning accuracy of the material tray and reduce production costs.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Positioning device, comprising:

[0007] The support section is located at the highest point and is used to support the material tray;

[0008] The first reference part and the second reference part are disposed above the bearing part and are used to position the two adjacent inner sidewalls of the material tray respectively;

[0009] A floating tensioning mechanism is configured to drive the tray to translate in a horizontal plane, so that the two inner sidewalls abut against the first reference portion and the second reference portion, respectively.

[0010] A leveling mechanism is disposed above the supporting part and has a level surface;

[0011] A lifting mechanism, connected to the bearing portion, is configured to lift the bearing portion from a first height position to a second height position after the material tray has moved, so that the stepped surface inside the material tray abuts against the level surface.

[0012] Preferably, the floating tensioning mechanism includes:

[0013] A first linear drive member has a drive end that moves along a first direction;

[0014] A mounting bracket is provided on the drive end;

[0015] The hook is slidably disposed on the mounting base along a second direction perpendicular to the first direction, and has a hook portion that conforms to the first inner corner of the tray.

[0016] Two elastic elements are respectively disposed on both sides of the hook and configured to generate adaptive deformation during the process of the hook fitting with the first inner corner.

[0017] Preferably, the first reference part includes at least two first positioning blocks, all of which are arranged along the extension direction of one of the inner sidewalls;

[0018] The second reference part includes at least two second positioning blocks, all of which are arranged along the extension direction of the other inner sidewall.

[0019] Preferably, at the intersection of the two inner sidewalls, the first reference portion and the second reference portion share the same positioning block, which is adapted to conform to the second inner angle between the two inner sidewalls.

[0020] Preferably, the first positioning blocks at both ends of the first reference part are respectively connected to a lateral displacement mechanism, and the second reference part is located in one of the lateral displacement mechanisms;

[0021] The two lateral shifting mechanisms are configured to adjust the position of the first positioning block.

[0022] Preferably, the lateral displacement mechanism includes a base and a second linear drive member, wherein the base is disposed at the drive end of the second linear drive member;

[0023] The bases of the two lateral displacement mechanisms are arranged opposite each other.

[0024] Preferably, a second positioning block located at one end of the second reference portion away from the first reference portion is connected to a moving mechanism, which is configured to adjust the distance between the second positioning block and the first reference portion.

[0025] Preferably, the height equalization mechanism includes multiple fixing blocks and multiple height equalization bolts, with each fixing block and each height equalization bolt corresponding to the other.

[0026] The equal-height bolts are screwed to the corresponding fixing blocks, and the bottoms of all the equal-height bolts form the equal-height surface.

[0027] Preferably, the support unit includes multiple platforms, and the surfaces of all the platforms together constitute a support surface for supporting the material tray;

[0028] The lifting mechanism includes multiple lifting components, each of which is corresponding to one of the multiple platforms, and any one of the lifting components is configured to adjust the height of the corresponding platform.

[0029] Each of the aforementioned lifting components is correspondingly installed with a corresponding number of equal-height bolts.

[0030] Preferably, the lifting mechanism further includes a translation component, which is connected to the lifting member and configured to adjust the position of the lifting member on the horizontal plane so that the bearing part has a bearing state for bearing the material tray and a dispersed state for the material tray to pass through from bottom to top.

[0031] The beneficial effects of this invention are:

[0032] This invention proposes a positioning device. A tray is placed on a supporting part, and under the action of a floating tensioning mechanism, the tray can be driven to translate horizontally. During this movement, the two adjacent inner sidewalls of the tray abut against a first reference part and a second reference part, respectively, to complete horizontal positioning. Subsequently, under the action of a lifting mechanism, the tray is moved closer to a leveling mechanism until the stepped surface abuts against the leveling surface, completing vertical positioning. This design, using a mechanical structure instead of a vision guidance system, ensures the positioning accuracy of the product within the tray during the loading process, eliminating the need for skilled operators and thus reducing production costs. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the positioning device with a material tray in this invention;

[0034] Figure 2 yes Figure 1 Enlarged view of a portion of point A in the middle;

[0035] Figure 3 This is a schematic diagram of the positioning device in this invention;

[0036] Figure 4 This is a schematic diagram of the floating tensioning mechanism in this invention;

[0037] Figure 5 This is a schematic diagram of the translation component in this invention.

[0038] In the picture:

[0039] 100. Material tray; 110. Stepped surface;

[0040] 1. Bearing unit; 11. Platform; 2. First reference unit; 3. Second reference unit;

[0041] 4. Floating tensioning mechanism; 41. First linear drive component; 42. Mounting base; 43. Hook; 431. Hook part; 44. Elastic component;

[0042] 5. Height equalization mechanism; 51. Fixing block; 52. Height equalization bolt;

[0043] 6. Lifting mechanism; 61. Lifting component;

[0044] 7. Lateral shifting mechanism; 71. Base; 72. Second linear drive component;

[0045] 8. Moving mechanism; 81. Protrusion; 82. Adjusting screw. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0047] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0050] Please see Figures 1 to 5 This embodiment proposes a positioning device that aims to replace the expensive visual guidance system with a mechanical structure, and does not require the professional skills of the operator. The material tray 100 will be described below as an example of a blister tray.

[0051] Specifically, the positioning device includes a bearing part 1, a first reference part 2, a second reference part 3, a floating tensioning mechanism 4, a height equalization mechanism 5, and a lifting mechanism 6. The bearing part 1 is located at a first height position and is used to support the material tray 100. The first reference part 2 and the second reference part 3 are located above the bearing part 1 and are used to position the two adjacent inner side walls of the material tray 100 respectively. The floating tensioning mechanism 4 is configured to drive the material tray 100 to translate in the horizontal plane so that the two inner side walls abut against the first reference part 2 and the second reference part 3 respectively. The height equalization mechanism 5 is located above the bearing part 1 and has a height equalization surface. The lifting mechanism 6 is connected to the bearing part 1 and is configured to lift the bearing part 1 from the first height position to the second height position after the material tray 100 moves, so that the step surface 110 inside the material tray 100 abuts against the height equalization surface.

[0052] Understandably, placing the tray 100 on the support part 1 allows it to translate horizontally under the action of the floating tensioning mechanism 4. During this movement, the two adjacent inner sidewalls of the tray 100 abut against the first reference part 2 and the second reference part 3, respectively, to achieve horizontal positioning. Subsequently, the lifting mechanism 6 moves the tray 100 closer to the leveling mechanism 5 until the step surface 110 abuts against the leveling surface, thus achieving vertical positioning. This configuration, using a mechanical structure instead of a visual guidance system, ensures the positioning accuracy of the products within the tray 100 during the loading process, eliminating the need for operator expertise and reducing production costs.

[0053] The floating tensioning mechanism 4 includes a first linear drive 41, a mounting base 42, a hook 43, and two elastic members 44. The first linear drive 41 has a drive end that moves along a first direction; the mounting base 42 is disposed on the drive end; the hook 43 is slidably disposed on the mounting base 42 along a second direction perpendicular to the first direction, and has a hook portion 431 that conforms to the first inner corner of the tray 100; the two elastic members 44 are respectively disposed on both sides of the hook 43 and are configured to generate adaptive deformation during the process of the hook portion 431 fitting with the first inner corner. Understandably, before the material tray 100 is horizontally positioned, the hook 43, under the action of the first linear drive 41, is positioned inside the material tray 100, with the hook 431 positioned opposite the first inner corner. The first linear drive 41 is preferably a linear cylinder (preferred in the prior art). When positioning the material tray 100, the linear cylinder resets. During this process, the hook 431 moves closer to the first inner corner, pushing the material tray 100 to move horizontally. Because the hook 431 is contoured to the first inner corner, under the action of the elastic member 44, the hook 431 can deflect to conform to the first inner corner. The elastic member 44 is preferably a spring plunger (preferred in the prior art).

[0054] It should be noted that the edges and corners of the molds used in the production of blister packs are often rounded to distribute stress during production. Correspondingly, the first inner corner of the blister pack is also rounded. When the material tray 100 is horizontally positioned, the rounded corner serves as a guide angle to ensure that the first inner corner fits with the hook 431, thereby adapting to the material tolerances of different blister packs.

[0055] In addition, the blister trays need to have a stepped surface 110 processed on the inside during the production process to prevent damage to the product during the stacking process.

[0056] In this embodiment, the first reference part 2 includes at least two first positioning blocks, all of which are arranged along the extension direction of one of the inner sidewalls; the second reference part 3 includes at least two second positioning blocks, all of which are arranged along the extension direction of the other inner sidewall. It is understood that when the tray 100 is horizontally positioned, the first and second positioning blocks, as fixed structures, are located inside the tray 100. When the floating tensioning mechanism 4 drives the tray 100 to move, the inner sidewall of the tray 100 can abut against all the first and second positioning blocks to complete the positioning.

[0057] Furthermore, at the intersection of the two inner sidewalls, the first reference part 2 and the second reference part 3 share the same positioning block, which conforms to the second inner angle between the two inner sidewalls. It can be understood that when horizontally positioning the tray 100, this positioning block can simultaneously abut against two adjacent inner sidewalls, thus serving as a reference for the two inner sidewalls. The conforming to the second inner angle ensures a guiding function during the positioning process, further improving positioning accuracy.

[0058] Taking a rectangular tray 100 as an example, the first reference part 2 is opposite to the long side of the tray 100, and the second reference part 3 is opposite to the wide side of the tray 100. The first inner corner is opposite to the second inner corner. Under the action of the floating tensioning mechanism 4, the straight side of the second inner corner can be made to abut against the first reference part 2 and the second reference part 3 respectively to complete the positioning.

[0059] Furthermore, since two points determine a straight line, the number of first positioning blocks is preferably two, and the distance between the outer contours of the two first positioning blocks is less than the length of the inner side of the tray 100. The number of second positioning blocks is also preferably two, and the distance between the outer contours of the two second positioning blocks is less than the width of the inner side of the tray 100. Since the first reference part 2 and the second reference part 3 share the same positioning block at the intersection of the two inner sidewalls, the total number of positioning blocks is three.

[0060] During the processing of the material tray 100, ribs are often machined on each inner sidewall to ensure the structural strength of the material tray 100. The positions of the ribs differ for different models of material tray 100. Therefore, in this embodiment, the first positioning blocks at both ends of the first reference part 2 are respectively connected to a side-shifting mechanism 7, and the second reference part 3 is located within one of the side-shifting mechanisms 7; the two side-shifting mechanisms 7 are configured to adjust the position of the first positioning blocks. It is understood that this arrangement allows the position of the first positioning blocks to be adjusted according to material trays 100 of different lengths, thereby improving the applicability of the positioning device.

[0061] The lateral shifting mechanism 7 includes a base 71 and a second linear drive member 72, with the base 71 disposed at the drive end of the second linear drive member 72; the bases 71 in the two lateral shifting mechanisms 7 are arranged opposite to each other. It can be understood that the two first positioning blocks are respectively located on the two bases 71, and the distance between them can be adjusted under the action of the second linear drive member 72. Furthermore, the second positioning blocks and the floating tensioning mechanism 4 are respectively located on the two bases 71.

[0062] Furthermore, a moving mechanism 8 is connected to the second positioning block located at the end of the second reference part 3 opposite to the first reference part 2. The moving mechanism 8 is configured to adjust the distance between the second positioning block and the first reference part 2. It can be understood that since the first reference part 2 and the second reference part 3 share the same positioning block, the distance between the two second positioning blocks can be adjusted under the action of the moving mechanism 8 to accommodate trays 100 of different widths.

[0063] For example, the moving mechanism 8 includes a protrusion 81 disposed on the base 71 and an adjusting screw 82 passing through the protrusion 81. The adjusting screw 82 is screwed to the second positioning block. By rotating the adjusting screw 82, the second positioning block can be moved closer to or away from the first reference part 2. In order to prevent the second positioning block from rotating, a slide rail is provided between the second positioning block and the base 71. The length direction of the slide rail is consistent with the length direction of the adjusting screw 82.

[0064] In this embodiment, the height equalization mechanism 5 includes multiple fixing blocks 51 and multiple height equalization bolts 52, with each fixing block 51 and each height equalization bolt 52 corresponding to one another. The height equalization bolts 52 are screwed onto their corresponding fixing blocks 51, and the bottoms of all the height equalization bolts 52 form a level surface. By rotating the height equalization bolts 52, the bottom height of each height equalization bolt 52 can be adjusted. Under the action of the lifting mechanism 6, the material tray 100 can be moved closer to the bottom of the height equalization bolt 52 and abut against it, thereby completing the vertical positioning of the material tray 100.

[0065] In practical applications, the number of fixing blocks 51 and equal-height bolts 52 is preferably four. Two fixing blocks 51 are set on one of the bases 71 and are located between the first positioning block and the floating tensioning mechanism 4. The other two fixing blocks 51 are fixed on another base 71 and are located between two second positioning blocks so as to move synchronously with the first positioning block and adapt to different types of material trays 100.

[0066] In this embodiment, the supporting part 1 includes multiple platforms 11, the surfaces of all platforms 11 together forming a supporting surface for supporting the material tray 100; the lifting mechanism 6 includes multiple lifting components 61, each lifting component 61 corresponding to one of the multiple platforms 11, and each lifting component 61 is configured to adjust the height of the corresponding platform 11; the multiple lifting components 61 are also corresponding to one of the multiple equal-height bolts 52. This arrangement ensures that the part of the material tray 100 subjected to thrust is directly aligned with the multiple equal-height bolts 52, thereby guaranteeing that the stepped surface 110 simultaneously contacts each equal-height bolt 52, preventing warping of the material tray 100 during positioning and thus improving positioning accuracy.

[0067] During the material loading process, the material tray 100 needs to be received by the elevator from the previous process, and then the positioning device positions the material tray 100 so that the robot can grab the products inside the material tray 100. To facilitate the placement of the material tray 100 on the support part 1, in this embodiment, the lifting mechanism 6 also includes a translation component. The translation component is connected to the lifting member 61 and is configured to adjust the position of the lifting member 61 on the horizontal plane so that the support part 1 has both a supporting state for the material tray 100 and a dispersed state for the material tray 100 to pass through from bottom to top. It can be understood that after the elevator receives the material, it can adjust the position of the lifting member 61 on the horizontal plane under the action of the translation component so that the support part 1 is in a dispersed state. Then the elevator raises the material tray 100. When the material tray 100 is between the first height position and the second height position, the translation component can switch the support part 1 from the dispersed state to the supporting state. Then the elevator descends. During the descent, the material tray 100 can be placed on each platform 11.

[0068] For example, four platforms 11 and four lifting members 61 are provided. Two platforms 11 and two lifting members 61 form a lifting assembly. The two lifting assemblies can move closer or further apart from each other under the action of the translation assembly, so that the bearing part 1 can switch between the bearing state and the dispersed state.

[0069] Preferably, the two sets of lifting components are respectively set on the two bases 71. Under the action of the second linear drive 72, the state of the bearing part 1 can be switched. That is, the lateral movement mechanism 7 is the lateral movement component in the lifting mechanism 6. This setting can reduce the number of structures and further reduce production costs.

[0070] Based on the above, taking a rectangular blister pack as an example, the positioning process of the material tray 100 is described. The lifting end of the elevator receives the blister pack conveyed by the previous process, and the long side of the blister pack can extend to the outside of the lifting end. Under the action of the second linear drive 72, the two bases 71 are controlled to move away from each other. At this time, the lifting component 61, the platform 11, the fixing block 51, the equalizing bolt 52, the three positioning blocks, and the floating tensioning mechanism 4 move synchronously with the corresponding bases 71. When the blister pack is between the first height position and the second height position, the second linear drive 72 controls the two bases 71 to move closer to each other. At this time, the projections of the three positioning blocks and the hook 43 on the horizontal plane are... All are located inside the blister tray. The lifting end then lowers the blister tray, allowing it to rest on the four platforms 11. Under the action of the lifting component 61, the tray 100 is raised to a third height position, which is between the first and second height positions. At this point, the three positioning blocks and parts of the hooks 43 extend into the interior of the blister tray. Under the action of the first linear drive component 41, the hooks 43 move towards and abut against the first inner corner, pushing the tray 100 to move horizontally until the long side of the blister tray abuts against the first reference part 2 and the wide side abuts against the second reference part 3, completing the horizontal positioning. Subsequently, under the action of the lifting component 61, the supporting part 1 is raised from the first height position to the second height position, so that the stepped surface 110 inside the tray 100 abuts against the level surface, completing the vertical positioning.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A positioning device, characterized in that, include: The support part (1) is located at a first height position and is used to support the material tray (100); The first reference part (2) and the second reference part (3) are disposed above the bearing part (1) and are used to position the two adjacent inner sidewalls of the tray (100) respectively. The floating tensioning mechanism (4) is configured to drive the tray (100) to translate in the horizontal plane so that the two inner sidewalls abut against the first reference part (2) and the second reference part (3) respectively; A leveling mechanism (5) is disposed above the bearing part (1) and has a leveling surface; The lifting mechanism (6) is connected to the bearing part (1) and is configured to lift the bearing part (1) from a first height position to a second height position so that the step surface (110) inside the tray (100) abuts against the level surface; The floating tensioning mechanism (4) includes: The first linear drive (41) has a drive end that moves along a first direction; Mounting base (42) is disposed on the drive end; The hook (43) is slidably disposed on the mounting base (42) along a second direction perpendicular to the first direction, and has a hook portion (431) that conforms to the first inner angle of the tray (100); Two elastic elements (44) are respectively disposed on both sides of the hook (43) and configured to generate adaptive deformation during the process of the hook (431) fitting with the first inner corner.

2. The positioning device according to claim 1, characterized in that, The first reference part (2) includes at least two first positioning blocks, all of which are arranged along the extension direction of one of the inner sidewalls; The second reference part (3) includes at least two second positioning blocks, all of which are arranged along the extension direction of the other inner sidewall.

3. The positioning device according to claim 2, characterized in that, At the intersection of the two inner sidewalls, the first reference part (2) and the second reference part (3) share the same positioning block, which is adapted to conform to the second inner angle between the two inner sidewalls.

4. The positioning device according to claim 2, characterized in that, The first positioning blocks at both ends of the first reference part (2) are respectively connected to a side shifting mechanism (7), and the second reference part (3) is located in one of the side shifting mechanisms (7); The two lateral shifting mechanisms (7) are configured to adjust the position of the first positioning block.

5. The positioning device according to claim 4, characterized in that, The lateral shifting mechanism (7) includes a base (71) and a second linear drive member (72), wherein the base (71) is disposed at the drive end of the second linear drive member (72); The bases (71) of the two lateral movement mechanisms (7) are arranged opposite to each other.

6. The positioning device according to claim 4, characterized in that, A second positioning block located at one end of the second reference part (3) away from the first reference part (2) is connected to a moving mechanism (8), which is configured to adjust the distance between the second positioning block and the first reference part (2).

7. The positioning device according to claim 1, characterized in that, The equalization mechanism (5) includes multiple fixing blocks (51) and multiple equalization bolts (52), with each fixing block (51) and each equalization bolt (52) being arranged in a one-to-one correspondence. The equal-height bolts (52) are screwed to the corresponding fixing blocks (51), and the bottoms of all the equal-height bolts (52) form the equal-height surfaces.

8. The positioning device according to claim 7, characterized in that, The support part (1) includes a plurality of platforms (11), and the platform surfaces of all the platforms (11) together constitute a support surface for supporting the tray (100); The lifting mechanism (6) includes a plurality of lifting components (61), which are arranged one-to-one with a plurality of platforms (11), and any one of the lifting components (61) is configured to adjust the height of the corresponding platform (11); Multiple lifting components (61) are provided in a one-to-one correspondence with multiple equal-height bolts (52).

9. The positioning device according to claim 8, characterized in that, The lifting mechanism (6) further includes a translation component, which is connected to the lifting member (61) and configured to adjust the position of the lifting member (61) on the horizontal plane so that the bearing part (1) has a bearing state of bearing the material tray (100) and a dispersion state of the material tray (100) passing through from bottom to top.

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