Positioning module and feeding and discharging line body with same

Abstract

The positioning module comprises two sets of mounting plates and a first driving mechanism, the two sets of mounting plates are oppositely arranged, a material taking position used for arranging a material storage strip is formed between the two sets of mounting plates, and the opposite sides of the two sets of mounting plates are each provided with a plurality of sets of pushing pieces and bearing mechanisms; a third driving mechanism and a sliding plate are further arranged on each mounting plate, the bearing mechanisms are arranged on the mounting plates through the sliding plates, the third driving mechanisms are arranged on the mounting plates, and the output ends of the third driving mechanisms are connected with the sliding plates; and the output end of the first driving mechanism is connected with the mounting plates and is used for driving the two groups of mounting plates to get close to each other, so that the pushing piece can extrude the elastic part on the material storage strip, and the workpiece can fall on the supporting plate mechanism after being separated from the deformed jig. According to the positioning module, the annular workpieces can be accurately transplanted between the mechanical arm and the material storage strip which are used for positioning the workpieces in an inner supporting mode, and the automation degree is improved.

Description

Technical Field

[0001] The present application relates to the technical field of positioning mechanisms, and in particular to a positioning module and a loading and unloading line having the same. Background Art

[0002] In related technologies, when batch processing of annular workpieces is required, the workpieces are often secured using a magazine bar capable of simultaneously supporting multiple annular workpieces. Specifically, multiple jigs on the magazine bar are used to securely hold the workpieces, and then all workpieces are processed simultaneously. However, the pick-up end of the robot that loads and unloads multiple workpieces from the magazine bar also uses a support mechanism. Therefore, how to achieve automated loading and unloading of workpieces between the magazine bar and the robot bar is a current problem that needs to be solved. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a positioning module that can achieve precise transfer of annular workpieces between a manipulator and a storage bar that both position the workpieces in an internal support manner, thereby improving the degree of automation.

[0004] The utility model also provides a loading and unloading line body having the positioning module.

[0005] The positioning module according to the first embodiment of the present invention includes: a mounting plate and a first driving mechanism, the mounting plate is provided with two groups arranged relatively to each other and a material taking position for setting a material storage bar is formed between the two groups of mounting plates, several groups of pushing members and supporting mechanisms are provided on opposite sides of the two groups of mounting plates, each group of mounting plates is also provided with a third driving mechanism and a slide plate, the supporting mechanism is arranged on the mounting plate through the slide plate, the third driving mechanism is arranged on the mounting plate, and the output end is connected to the slide plate; the output end of the first driving mechanism is connected to the mounting plate, and is used to drive the two groups of mounting plates to approach each other, so that the pushing member can squeeze the elastic part on the material storage bar, so that the workpiece can fall onto the support plate mechanism after breaking away from the deformed jig; wherein the supporting mechanism includes a second driving component and a support plate component, the support plate component is correspondingly arranged above the pushing member, and is used to support the workpiece, and can push the workpiece out of the elastic part of the material storage bar under the drive of the second driving component, and the third driving mechanism is used to drive the two groups of slide plates to approach or move away from each other, so that the support plate assemblies on both sides can position or release the workpiece.

[0006] The positioning module according to the embodiment of the present invention has at least the following beneficial effects: this positioning module includes a first driving mechanism and a mounting plate arranged oppositely, and opposite sides of the mounting plates are provided with a pushing member, a slide plate, a third driving mechanism and a supporting mechanism; when it is necessary to unload the workpiece on the material storage bar, the material storage bar is located at the material picking position between the two mounting plates, and the first driving mechanism first drives the mounting plates to approach each other, so that the pushing members of the two mounting plates can approach and squeeze the elastic part on the material storage bar, so that the workpiece originally supported by the elastic part falls and falls on the supporting assembly above the pushing member, and then the supporting assembly can rise under the drive of the second driving assembly, so that the workpiece is separated from the elastic part, and then the third driving mechanism drives the slide plate to approach, so that the support plate assemblies on both sides of the mounting plate are close to each other, and the outer side of the workpiece is positioned for the subsequent picking up of the robot; and when the machine is needed When the manipulator loads the workpiece onto the storage bar, the storage bar is located at the material picking position, and the elastic part on the storage bar is in a state of being squeezed and retracted by the pushing member, and the support plate assembly is also located above the material picking position. When the manipulator releases the workpiece onto the support plate assembly, the support plate assemblies on both sides of the mounting plate are driven away from each other by the third driving mechanism, and the workpiece is driven down by the second driving assembly so that the workpiece can be sleeved on the elastic part, and then the mounting plates on both sides are gradually driven away from each other by the first driving mechanism, and the pushing member gradually moves away from the elastic part of the storage bar. The elastic part can be stretched open under the action of the elastic restoring force, thereby supporting the workpiece of the outer shell, and the support plate assembly also gradually moves away from the bottom of the workpiece, thereby realizing precise transfer of the workpiece between the manipulator and the storage bar; in summary, the positioning module of the present application can realize precise transfer of annular workpieces between the manipulator and the storage bar that both position the workpieces in an internal support manner, thereby improving the degree of automation.

[0007] According to some embodiments of the present invention, the pushing member is a roller.

[0008] According to some embodiments of the present invention, the material storage bar is provided with a plurality of jigs, and at least one end of the jig is provided with at least three elastic parts, which have elastic forces that move away from or gather together to support or release the workpiece; the support plate assembly includes a plurality of support plate parts, and the support plate parts can be inserted between adjacent elastic parts.

[0009] According to some embodiments of the present invention, a fourth driving mechanism and a support plate are further included. The mounting plate and the first driving mechanism are both arranged on the support plate. The output end of the fourth driving mechanism is connected to the support plate and is used to drive the support plate to rise and fall.

[0010] According to the second embodiment of the present invention, the loading and unloading line includes the positioning module of the first embodiment of the present invention, and also includes a second conveying mechanism, which is used to convey the storage bar with the workpiece, and the conveying path passes under the positioning module.

[0011] The loading and unloading line according to the embodiment of the present invention has at least the following beneficial effects: by arranging the positioning module on the conveying path of the second conveying mechanism, batches of storage bars can pass through the positioning module in sequence, and the loading and unloading of workpieces on the storage bars can be realized.

[0012] According to some embodiments of the present invention, the second conveying mechanism includes a fifth driving mechanism and a conveying chain. The output end of the fifth driving mechanism is connected to the conveying chain and is used to drive the conveying chain to rotate. The conveying chain is provided with multiple positioning members in sequence along the conveying direction. The positioning members are adapted to the positioning holes at both ends of the storage bar so that the two ends of the storage bar can be hung on the positioning members.

[0013] According to some embodiments of the present invention, a material unloading robot and a first material bin are further included. The transfer track of the material unloading robot passes through the material fetching position and the first material bin, and is used to transfer the workpiece located on the pallet assembly to the first material bin.

[0014] According to some embodiments of the present invention, a loading robot and a second silo are further included. The loading robot's transfer path passes through the second silo and the positioning module, and is used to transfer the workpiece to be processed in the second silo to the pallet assembly.

[0015] According to some embodiments of the present invention, a flipping mechanism is further included. The flipping mechanism is mounted above the second conveying mechanism and is used to flip the material storage bar on the second conveying mechanism so that the other end of the fixture is flipped upward for unloading and loading.

[0016] According to some embodiments of the present invention, the flipping mechanism includes a sixth drive mechanism and a clamping member, the sixth drive mechanism includes a first drive module, a second drive module and a third drive module, the output end of the first drive module is connected to the clamping member, and is used to drive the two clamping members to move closer to or away from each other to clamp or release the material storage bar, the output end of the second drive module is connected to the first drive module, and is used to drive the material storage bar to rotate through the first drive module, and the output end of the third drive module is connected to the second drive module, and is used to drive the second drive module to rise and fall.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0019] Figure 1 A top view of a loading and unloading line according to an embodiment of the second aspect of the present invention;

[0020] Figure 2This is a schematic diagram of the overall structure of the positioning module of the first embodiment of the utility model;

[0021] Figure 3 for Figure 2 A front view of the positioning module shown in ;

[0022] Figure 4 for Figure 2 A top view of the positioning module shown in ;

[0023] Figure 5 for Figure 2 A partial enlarged view of position A in the positioning module shown in FIG;

[0024] Figure 6 for Figure 4 A partial enlarged view of position B in the positioning module shown in FIG;

[0025] Figure 7 for Figure 2 The structural diagram of the storage bar shown in ;

[0026] Figure 8 for Figure 1 The structural diagram of the turning mechanism in the loading and unloading line is shown in FIG.

[0027] Reference numerals:

[0028] Positioning module 1000; mounting plate 1100; pushing member 1110; first driving mechanism 1200; slide plate 1300; third driving mechanism 1400; supporting mechanism 1500; second driving assembly 1510; support plate portion 1520; fourth driving mechanism 1600; support plate 1700; storage bar 700; fixture 710; elastic portion 711; workpiece 720; second conveying mechanism 2000; unloading robot 3100; first hopper 3200; loading robot 3300; second hopper 3400; flipping mechanism 4000; clamping member 4100; first driving module 4200; second driving module 4300; third driving module 4400. DETAILED DESCRIPTION

[0029] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0030] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0031] In the description of this application, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0032] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0033] In the description of this application, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0034] Reference below Figures 1 to 8 The positioning module 1000 and the loading and unloading line having the same according to an embodiment of the present invention are described.

[0035] like Figures 2 to 5As shown, the positioning module 1000 according to the embodiment of the first aspect of the present invention includes: a mounting plate 1100 and a first drive mechanism 1200, the mounting plate 1100 is provided with two groups of relatively arranged and a material taking position for setting the storage bar 700 is formed between the two groups of mounting plates 1100, and the two groups of mounting plates 1100 are provided with a plurality of groups of pushing members 1110 and a supporting mechanism 1500 on opposite sides. Each group of mounting plates 1100 is also provided with a third drive mechanism 1400 and a slide 1300, the supporting mechanism 1500 is provided on the mounting plate 1100 through the slide 1300, the third drive mechanism 1400 is provided on the mounting plate 1100, and the output end is connected to the slide 1300; the output end of the first drive mechanism 1200 is connected to It is connected to the mounting plate 1100 and is used to drive the two groups of mounting plates 1100 to approach each other, so that the pushing member 1110 can squeeze the elastic part 711 on the storage bar 700, so that the workpiece 720 can break away from the deformed fixture 710 and fall onto the support plate mechanism; wherein, the supporting mechanism 1500 includes a second driving component 1510 and a support plate component, the support plate component is correspondingly arranged above the pushing member 1110, and is used to support the workpiece 720, and can push the workpiece 720 out of the elastic part 711 of the storage bar 700 under the drive of the second driving component 1510, and the third driving mechanism 1400 is used to drive the two groups of slides 1300 to approach or move away from each other, so that the support plate components on both sides can position or release the workpiece 720.

[0036] It can be understood that this positioning module 1000 includes a first driving mechanism 1200 and an oppositely arranged mounting plate 1100, and opposite sides of the mounting plate 1100 are provided with a pusher 1110, a slide plate 1300, a third driving mechanism 1400 and a supporting mechanism 1500; when it is necessary to unload the workpiece 720 on the storage bar 700, the storage bar 700 is located at the material taking position between the two mounting plates 1100, and the first driving mechanism 1200 first drives the mounting plates 1100 to approach each other, so that the pushers 1110 of the two mounting plates 1100 can approach each other. The second driving mechanism 1510 then drives the slide 1300 to move the workpiece 720 away from the elastic portion 711, and then the third driving mechanism 1400 drives the slide 1300 to move closer, so that the support plate assemblies on both sides of the mounting plate 1100 move closer to each other and position the outer side of the workpiece 720 for the subsequent picking up of the robot. When the workpiece 720 is loaded onto the material storage bar 700, the material storage bar 700 is located at the material taking position, and the elastic portion 711 on the material storage bar 700 is in a state of being squeezed and retracted by the pushing member 1110, and the support plate assembly is also located above the material taking position. When the manipulator releases the workpiece 720 onto the support plate assembly, the support plate assemblies on both sides of the mounting plate 1100 are driven away from each other by the third driving mechanism 1400, and the workpiece 720 is driven down by the second driving assembly 1510, so that the workpiece 720 can be sleeved on the elastic portion 711, and then the mounting plates 1100 on both sides are in the first Driven by the driving mechanism 1200, it gradually moves away, and the pushing member 1110 gradually moves away from the elastic part 711 of the storage bar 700. The elastic part 711 can be stretched open under the action of the elastic restoring force, thereby supporting the workpiece 720 of the outer shell. At the same time, the support plate assembly also gradually moves away from the bottom of the workpiece 720, thereby realizing the precise transfer of the workpiece 720 between the manipulator and the storage bar 700; in summary, the positioning module 1000 of the present application can realize the precise transfer of the annular workpiece 720 between the manipulator and the storage bar 700, both of which position the workpiece 720 in an internal support manner, thereby improving the degree of automation.

[0037] It is understandable that the pusher 1110 is a roller. Figure 5 As shown, in this embodiment, since the pushing member 1110 is a roller, in the process of the first driving mechanism 1200 driving the pushing member 1110 to squeeze the elastic part 711 of the storage bar 700, as the elastic part 711 is squeezed and deformed, there is rolling friction between the pushing member 1110 and the elastic part 711, thereby reducing the wear between the pushing member 1110 and the elastic part 711, improving the tightening effect of the elastic part 711 on the workpiece 720, and preventing the friction force of the elastic part 711 from decreasing and causing the workpiece 720 to fall off.

[0038] Specifically, the surface of the elastic portion 711 is rough, and knurling or other methods of increasing friction may be provided to prevent the workpiece 720 from falling off.

[0039] It is understood that the material storage bar 700 is provided with a plurality of jigs 710, and at least one end of the jig 710 is provided with at least three elastic parts 711, and the elastic parts 711 have elastic forces that move away from or gather together to support or release the workpiece 720; the support plate assembly includes a plurality of support plate parts 1520, and the support plate parts 1520 can be inserted between adjacent elastic parts 711. For example, Figures 5 to 7 As shown, in this embodiment, a plurality of jigs 710 for supporting the workpiece 720 are provided on the material storage bar 700, and at least three elastic parts 711 are provided at at least one end of each jig 710. The three elastic parts 711 can gather together under the action of external force, so that they can pass through the interior of the annular workpiece 720, and expand under the action of their own elastic restoring force, so as to support the workpiece 720; and the plurality of support plate parts 1520 of the support plate assembly can be alternately inserted between adjacent elastic parts 711, and avoidance positions are also formed between adjacent support plate parts 1520, and the elastic part 711 can enter the avoidance position, thereby avoiding interference between the support plate part 1520 and the elastic part 711, and realizing the mutual transfer of the workpiece 720 between the two.

[0040] It is understandable that it further includes a fourth driving mechanism 1600 and a support plate 1700, the mounting plate 1100 and the first driving mechanism 1200 are both provided on the support plate 1700, and the output end of the fourth driving mechanism 1600 is connected to the support plate 1700 and is used to drive the support plate 1700 to move up and down. Figure 3 As shown, in this embodiment, the mounting plate 1100 and the first driving mechanism 1200 are both arranged on the support plate 1700, and the fourth driving mechanism 1600 can drive the support plate 1700 to rise and fall, thereby achieving alignment between the heights of the two mounting plates 1100 and the storage bar 700.

[0041] like Figure 1 、 Figure 8 As shown, the loading and unloading line according to the second embodiment of the utility model includes a positioning module 1000 as described in the first embodiment above, and also includes a second conveying mechanism 2000. The second conveying mechanism 2000 is used to convey the storage bar 700 with the workpiece 720, and the conveying path passes under the positioning module 1000.

[0042] It is understandable that by arranging the positioning module 1000 on the conveying path of the second conveying mechanism 2000 , batches of storage bars 700 can pass through the positioning module 1000 in sequence, and the loading and unloading of workpieces 720 on the storage bars 700 can be achieved.

[0043] Specifically, a lifting mechanism can be provided at the position where the second conveying mechanism 2000 supports the storage bar 700, thereby realizing a method of lifting and lowering the storage bar 700, so that the storage bar 700 reaching the positioning module 1000 can be adapted to the height of the positioning module 1000; or a lifting mechanism can be provided on the positioning module 1000 to adjust the height of the positioning module 1000, thereby realizing the adaptation of the positioning module 1000 to the height of the storage bar 700 reaching the positioning module 1000.

[0044] It is understandable that the second conveying mechanism 2000 includes a fifth driving mechanism and a conveying chain. The output end of the fifth driving mechanism is connected to the conveying chain and is used to drive the conveying chain to rotate. The conveying chain is provided with a plurality of positioning members in sequence along the conveying direction. The positioning members are adapted to the positioning holes at both ends of the storage bar 700 so that both ends of the storage bar 700 can be hung on the positioning members. For example, Figure 1 As shown, in this embodiment, the second conveying mechanism 2000 includes a conveying chain for conveying the storage bar 700 and a fifth driving mechanism for driving the conveying chain to transmit. A plurality of positioning members are provided on the conveying chain along the conveying direction. The positioning members can be used to position the storage bar 700, thereby facilitating the accuracy of the subsequent positioning module 1000 on the action position of the storage bar 700, and also improving the accuracy of the positioning of the workpiece 720.

[0045] It is understood that the unloading robot 3100 and the first silo 3200 are also included. The transfer track of the unloading robot 3100 passes through the material taking position and the first silo 3200 and is used to transfer the workpiece 720 located on the pallet assembly to the first silo 3200. For example, Figure 1 As shown, in this embodiment, the workpiece 720 on the positioning module 1000 can be transferred to the first material bin 3200 through the unloading robot 3100, that is, the unloading of the workpiece 720 on the storage bar 700 can be achieved.

[0046] It is understood that the loading robot 3300 and the second silo 3400 are also included. The transfer path of the loading robot 3300 passes through the second silo 3400 and the positioning module 1000, and is used to transfer the workpiece 720 to be processed in the second silo 3400 to the pallet assembly. Figure 1 As shown, in this embodiment, the workpiece 720 to be processed in the second silo 3400 can be transferred to the storage bar 700 through the loading robot 3300, that is, automatic loading to the storage bar 700 is achieved.

[0047] It is understood that a flip mechanism 4000 is also included, which is mounted above the second conveying mechanism 2000 and is used to flip the storage bar 700 on the second conveying mechanism 2000 so that the other end of the fixture 710 is flipped upward for unloading and loading. Figure 1 、 Figure 8 As shown, in this embodiment, the loading and unloading line also includes a flipping mechanism 4000, and both ends of the fixture 710 of the storage bar 700 are provided with elastic parts 711 for supporting the workpiece 720. In this way, when the positioning module 1000 positions the workpiece 720 at one end of the storage bar 700 and the unloading robot 3100 unloads it, then with the transportation of the second conveying mechanism 2000, the storage bar 700 can be flipped through the flipping mechanism 4000, so that the workpiece 720 at the other end of the storage bar 700 is positioned and unloaded by another group of positioning modules 1000 and unloading robots 3100, so that the efficiency of the entire unloading is higher and the investment in the storage bar 700 is saved.

[0048] Specifically, in this embodiment, four groups of positioning modules 1000 are provided along the conveying direction of the second conveying mechanism 2000, and two groups of flipping mechanisms 4000 are provided, and are respectively located between the first group of positioning modules 1000 and the second group of positioning modules 1000, and between the third group of positioning modules 1000 and the fourth group of positioning modules 1000. Two groups of unloading robots 3100 correspond to the first two groups of positioning modules 1000, and two groups of loading robots 3300 correspond to the last two groups of positioning modules 1000. During use, the existing first group of positioning modules 1000 and the first group of unloading robots 3100 cooperate to realize positioning and unloading of the workpiece 720 at one end of the jig 710 on the storage bar 700, and then the storage bar 700 is flipped over by the first group of flipping mechanisms 4000, and then the second group of positioning modules 1000 and the second group of unloading robots 3100 cooperate to realize positioning and unloading of the workpiece 720 at the other end of the jig 710 on the storage bar 700, and then the third group of positioning modules 1000 and the first group of loading robots 3300 cooperate to realize loading of the other end of the jig 710 on the storage bar 700, and after the storage bar 700 is flipped over by the second group of flipping mechanisms 4000, the fourth group of positioning modules 1000 and the second group of loading robots 3300 load one end of the jig 710 on the storage bar 700.

[0049] It can be understood that the flipping mechanism 4000 includes a sixth driving mechanism and a clamping member 4100. The sixth driving mechanism includes a first driving module 4200, a second driving module 4300 and a third driving module 4400. The output end of the first driving module 4200 is connected to the clamping member 4100 and is used to drive the two clamping members 4100 to move closer to or away from each other to clamp or release the storage bar 700. The output end of the second driving module 4300 is connected to the first driving module 4200 and is used to drive the storage bar 700 to rotate through the first driving module 4200. The output end of the third driving module 4400 is connected to the second driving module 4300 and is used to drive the second driving module 4300 to rise and fall. For example, Figure 8 As shown, in this embodiment, when the flipping mechanism 4000 flips the storage bar 700, it is first driven by the first driving module 4200, and the clamping parts 4100 located on both sides of the storage bar 700 approach each other to clamp the two ends of the storage bar 700. Then, under the drive of the third driving module 4400, the clamping parts 4100 drive the storage bar 700 to rise to disengage from the second conveying mechanism 2000. Then, under the drive of the second driving module 4300, the clamping parts 4100 drive the storage bar 700 to rotate, so that the two ends of the jig 710 on the storage bar 700 are swapped up and down.

[0050] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. Positioning module, characterized in that, include: The mounting plates are provided with two groups arranged opposite to each other and a material taking position for arranging the material storage strips is formed between the two groups of mounting plates. The opposite sides of the two groups of mounting plates are provided with a plurality of groups of pushing members and supporting mechanisms. Each group of mounting plates is also provided with a third driving mechanism and a slide plate. The supporting mechanism is arranged on the mounting plate through the slide plate. The third driving mechanism is arranged on the mounting plate, and the output end is connected to the slide plate. The first driving mechanism, wherein the output end of the first driving mechanism is connected to the mounting plate and is used to drive the two groups of mounting plates to move closer to each other, so that the pushing member can squeeze the elastic portion on the material storage bar, so that the workpiece can break away from the deformed elastic portion and fall onto the supporting plate mechanism; wherein, The supporting mechanism includes a second driving assembly and a pallet assembly. The pallet assembly is correspondingly arranged above the pushing member and is used to support the workpiece and can push the workpiece out of the elastic part of the storage bar under the drive of the second driving assembly. The third driving mechanism is used to drive the two groups of slides to move closer to or away from each other so that the pallet assemblies on both sides can position or release the workpiece.

2. The positioning module according to claim 1, characterized in that: The pushing member is a roller.

3. The positioning module according to claim 2, characterized in that: The material storage bar is provided with a plurality of jigs, and at least one end of the jig is provided with at least three elastic parts, and the elastic parts have elastic forces that move away from or gather together to support or release the workpiece; the support plate assembly includes a plurality of support plate parts, and the support plate parts can be inserted between adjacent elastic parts.

4. The positioning module according to claim 3, characterized in that: It also includes a fourth driving mechanism and a support plate. The mounting plate and the first driving mechanism are both arranged on the support plate. The output end of the fourth driving mechanism is connected to the support plate and is used to drive the support plate to move up and down.

5. Loading and unloading line, characterized in that: It comprises the positioning module as described in any one of claims 1 to 4 above, and further comprises a second conveying mechanism, wherein the second conveying mechanism is used to convey the material storage bar with the workpiece, and the conveying path passes under the positioning module.

6. The loading and unloading line according to claim 5, characterized in that: The second conveying mechanism includes a fifth driving mechanism and a conveying chain. The output end of the fifth driving mechanism is connected to the conveying chain and is used to drive the conveying chain to rotate. The conveying chain is provided with multiple positioning members in sequence along the conveying direction. The positioning members are adapted to the positioning holes at both ends of the material storage bar so that the two ends of the material storage bar can be hung on the positioning members.

7. The positioning module according to claim 6, characterized in that: It also includes a material unloading robot and a first material bin. The transfer track of the material unloading robot passes through the material fetching position and the first material bin, and is used to transfer the workpiece located on the pallet assembly to the first material bin.

8. The loading and unloading line according to claim 7, characterized in that: It also includes a loading robot and a second material bin. The transfer path of the loading robot passes through the second material bin and the positioning module, and is used to transfer the workpiece to be processed in the second material bin to the pallet assembly.

9. The loading and unloading line according to claim 8, characterized in that: It also includes a flipping mechanism, which is mounted above the second conveying mechanism and is used to flip the material storage bar on the second conveying mechanism so that the other end of the jig is flipped upward for unloading and loading.

10. The loading and unloading line according to claim 9, characterized in that: The flipping mechanism includes a sixth driving mechanism and a clamping member, and the sixth driving mechanism includes a first driving module, a second driving module and a third driving module. The output end of the first driving module is connected to the clamping member and is used to drive the two clamping members to move closer to or away from each other to clamp or release the material storage bar. The output end of the second driving module is connected to the first driving module and is used to drive the material storage bar to rotate through the first driving module. The output end of the third driving module is connected to the second driving module and is used to drive the second driving module to rise and fall.

Images