Self-adaptive positioning structure and material carrying device

Abstract

The utility model relates to the technical field of automatic machining, in particular to a self-adaptive positioning structure and a material carrying device. The self-adaptive positioning structure comprises a base, an adjusting assembly and a positioning piece, the positioning piece is arranged on the adjusting assembly, and the adjusting assembly is arranged on the base; the positioning piece is used for abutting against an external positioning structure, and when the positioning piece is subjected to acting force of the external positioning structure, the adjusting assembly moves in the horizontal direction so that the positioning piece can be matched with the external positioning structure in a positioning mode. The self-adaptive positioning structure can adjust the position of the positioning piece in a self-adaptive mode so as to compensate the dislocation amount, caused by the positioning precision error, between the positioning piece and the external positioning structure, of the material carrying device, accurate positioning cooperation of the positioning piece and the external positioning structure is facilitated, and the material carrying device can accurately position the position of the material box; the position of the material box is accurately changed, and vibration of the material box in the position changing process is reduced.

Description

Technical Field

[0001] This utility model relates to the field of automated processing technology, and in particular to an adaptive positioning structure and a material handling device. Background Technology

[0002] In automated production lines, hoppers are widely used to hold PCBs of various sizes. Before drilling is completed on the PCBs, material handling equipment is needed to move the hoppers carrying the PCBs, automatically transferring the PCBs between different process platforms. High positional accuracy is required in each process of the PCBs entering and leaving the hoppers; therefore, pinhole positioning is used between the hoppers and the process platforms to ensure this accuracy.

[0003] Existing material handling devices automatically locate target positions using laser navigation. However, the positioning accuracy of these devices is relatively large, and there is significant misalignment when the material bins are moved between the platform and the material handling device. This can easily cause significant vibrations during the repositioning process, which in turn can damage the PCB board. Utility Model Content

[0004] The technical problem to be solved by this utility model is that, in the existing material handling devices, there is a large misalignment of the material box when it is moved between the support platform and the material handling device, which easily leads to a large vibration of the material box during the repositioning process. This utility model provides an adaptive positioning structure and a material handling device.

[0005] To address the aforementioned problems, this utility model provides an adaptive positioning structure, which includes a base, an adjustment component, and a positioning element. The positioning element is disposed on the adjustment component, and the adjustment component is disposed on the base. The positioning element is used to abut against an external positioning structure. When the positioning element is subjected to a force from the external positioning structure, the adjustment component moves horizontally to position the positioning element in conjunction with the external positioning structure.

[0006] Optionally, the adjustment component includes a movable member movably mounted on the base in a predetermined direction, and a positioning member is disposed on the side of the movable member facing away from the base.

[0007] Optionally, the adjustment assembly includes a first movable member and a second movable member, the first movable member being located between the second movable member and the base, the first movable member being movably mounted on the base along a first direction, and the second movable member being movably mounted on the first movable member along a second direction; the positioning member is disposed on the side of the second movable member facing away from the first movable member; wherein the first direction intersects the second direction.

[0008] Optionally, a first sub-guide rail is fixed to one side of the first moving member facing the base, and a second sub-guide rail is fixed to one side of the base facing the first moving member, the first and second sub-guide rails extend along the first direction and are arranged side by side, and a plurality of first rolling grooves are formed between adjacent sides of the first and second sub-guide rails, and a first roller is arranged in each first rolling groove.

[0009] A third sub-guide rail is fixed to one side of the first moving member facing the second moving member, and a fourth sub-guide rail is fixed to one side of the second moving member facing the first moving member, the third and fourth sub-guide rails extend along the second direction and are arranged side by side, and a plurality of second rolling grooves are formed between adjacent sides of the third and fourth sub-guide rails, and a second roller is arranged in each second rolling groove.

[0010] Optionally, the adjusting assembly further comprises a first reset member and a second reset member, the first reset member is connected between the base and the first moving member, and the first reset member can restore the first moving member to an initial position along the first direction after an external force acting on the positioning member disappears.

[0011] The second reset member is connected between the first moving member and the second moving member, and the second reset member can restore the second moving member to the initial position along the second direction after the external force acting on the positioning member disappears.

[0012] Optionally, two first reset members are provided, one end of one of the first reset members is connected to one side of the base along the first direction, one end of the other first reset member is connected to the other side of the base along the first direction, and the other ends of the two first reset members are connected to the first moving member.

[0013] Optionally, the two first reset members are located on opposite sides of the base along the second direction.

[0014] Optionally, two second reset members are provided, one end of one of the second reset members is connected to one side of the first moving member along the second direction, one end of the other second reset member is connected to the other side of the first moving member along the second direction, and the other ends of the two second reset members are connected to the second moving member.

[0015] Optionally, the two second reset members are located on the same side of the first moving member along the first direction.

[0016] Optionally, the positioning member comprises a guiding section and a fixing section, the guiding section is adapted to guide the external positioning structure to move to the fixing section, and the cross-sectional area of the guiding section gradually decreases or gradually increases in the direction in which the guiding section extends away from the base.

[0017] Optionally, the positioning member is a positioning taper pin or a positioning hole.

[0018] In another aspect, the utility model provides a material handling device, including mobile device, elevating system, frame and at least one fork arm, mobile device can walk on ground, frame is fixed on the top of mobile device, elevating system is installed on frame,

[0019] The fork arm includes a fork arm body and the self-adaptive positioning structure described above, one end of the fork arm body is connected to the output end of the elevating system, and the elevating system is used to drive the fork arm to lift, when the fork arm body supports the material box, the positioning member is positioned and matched with the external positioning structure on the material box.

[0020] The material handling device of the utility model, when the fork arm is inserted into the material box, the positioning member and the external positioning structure are in contact but not aligned, the external positioning structure has a force on the positioning member of the fork arm that continues to move, when the force is transmitted to the adjusting assembly, the adjusting assembly can move horizontally to adaptively adjust the position of the positioning member, so that the positioning member is aligned with the external positioning structure and is positioned and matched with the external positioning structure. The self-adaptive positioning structure can adaptively adjust the position of the positioning member to compensate for the misalignment between the positioning member and the external positioning structure caused by the positioning precision error of the material handling device, which is beneficial to the accurate positioning and matching of the positioning member and the external positioning structure, so that the material handling device accurately positions the position of the material box to accurately reposition the material box and reduce the vibration of the material box during repositioning. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme of the utility model embodiment, the following will briefly introduce the drawings needed to be used in the description of the utility model embodiment. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0022] Figure 1 is a structural schematic view of the self-adaptive positioning structure in

[0023] Figure 2 is Figure 1

[0024] Figure 3 is​Figure 2 a decomposition schematic view of the material handling device in

[0025] Figure 4 a use state diagram of the material handling device in Figure 1

[0026] Figure 5 a structure schematic view of the magazine in Figure 4

[0027] The reference signs in the specification are as follows:

[0028] 100, magazine; 10, box body; 11, top plate; 12, bottom plate; 13, external positioning structure; 200, material handling device; 20, fork arm; 201, adaptive positioning structure; 202, fork arm body; 21, moving device; 22, frame body; 23, lifting mechanism; 24, fixed section; 25, guide section; 1, positioning piece; 2, base; 3, first moving piece; 4, second moving piece; 5, reset structure; 51, first reset piece; 52, second reset piece; 6, first sub-guide rail; 7, second sub-guide rail; 8, third sub-guide rail; 9, fourth sub-guide rail. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical schemes and beneficial effects solved by the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model.

[0030] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and is not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0031] ​​In the description of the utility model, it is necessary to explain that, unless there are explicit provisions and limitations, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or it can be detachable connection, or it can be integrally connected, it can be mechanical connection, or it can be electrical connection, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements, for ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0032] As Figures 1 to 4 The utility model embodiment provides a material handling device 200 for transferring the box 100, the material handling device 200 includes at least one fork arm 20, the fork arm 20 includes fork arm body 202 and adaptive positioning structure 201, and the adaptive positioning structure 201 is at the top of the fork arm body 202.

[0033] As Figure 5 The box 100 includes the box body 10, and the box body 10 has a material storage space for storing materials, and the material storage space has an inlet and outlet, which is used for feeding and discharging materials. The "material" includes but is not limited to PCB board, wooden board and other parts. The box body 10 includes a supporting plate, and the fork arm 20 of the material handling device 200 transfers the box 100 by supporting the supporting plate, and the supporting plate is provided with an external positioning structure 13.

[0034] As Figure 2 And Figure 3 The adaptive positioning structure 201 includes a base 2, an adjusting assembly and a positioning piece 1, the base 2 is installed on the fork arm body 202, the positioning piece 1 is arranged on the adjusting assembly, and the adjusting assembly is arranged on the base 2. When the positioning piece 1 is subjected to the force of the external positioning structure 13, the adjusting assembly moves in the horizontal direction to position and cooperate the positioning piece 1 with the external positioning structure 13.

[0035] When the fork arm 20 of the material handling device 200 supports the box 100, the external positioning structure 13 is positioned and cooperated with the positioning piece 1 to lock the box 100 on the fork arm 20, thereby limiting the movement of the box 100 on the fork arm 20 and improving the stability when the box 100 is carried.

[0036] It can be understood that the material handling device 200 can also include a moving device 21, a lifting mechanism 23 and a frame 22, the moving device 21 can walk on the ground, the frame 22 is fixed on the top of the moving device 21, and the lifting mechanism 23 is installed on the frame 22. The fork arm body 202 extends in a direction, one end of the fork arm body 202 is connected with the output end of the lifting mechanism 23, and the lifting mechanism 23 is used to drive the fork arm 20 to lift.

[0037] Specifically, as shown in Figure 5 When the position of the positioning member 1 contacts but does not align with the external positioning structure 13, the external positioning structure 13 has a force on the positioning member 1 on the fork arm 20 that continues to move, and the force can specifically be embodied as the gravity of the external positioning structure 13 itself. When the gravity is downwardly applied to the positioning member and transmitted to the adjusting assembly, the adjusting assembly moves in the horizontal direction to adaptively adjust the position of the positioning member 1, so that the positioning member 1 aligns with and is positioned and matched with the external positioning structure 13, and the locking between the bin 100 and the fork arm 20 is achieved.

[0038] The adaptive positioning structure 201 can adaptively adjust the position of the positioning member 1 to compensate for the misalignment amount between the positioning member 1 and the external positioning structure 13 caused by the positioning precision error of the material handling device 200, which is beneficial to the accurate positioning and matching of the positioning member 1 and the external positioning structure 13, so that the material handling device 200 accurately positions the bin 100 to accurately reposition the bin 100 and reduce the vibration of the bin 100 in the repositioning process. The "repositioning" includes the material handling device 200 taking the bin 100 off the stack or the bearing platform and placing the bin 100 on the stack or the bearing platform.

[0039] The material handling device 200 of the utility model, when the fork arm 20 is inserted to the bin 100 and the positioning member 1 contacts but does not align with the external positioning structure 13, the external positioning structure 13 has a force on the positioning member 1 on the fork arm 20 that continues to move, and the force is transmitted to the adjusting assembly. When the adjusting assembly can move horizontally to adaptively adjust the position of the positioning member 1, so that the positioning member 1 aligns with and is positioned and matched with the external positioning structure 13. The adaptive positioning structure 201 can adaptively adjust the position of the positioning member 1 to compensate for the misalignment amount between the positioning member 1 and the external positioning structure 13 caused by the positioning precision error of the material handling device 200, which is beneficial to the accurate positioning and matching of the positioning member 1 and the external positioning structure 13, so that the material handling device 200 accurately positions the bin 100 to accurately reposition the bin 100 and reduce the vibration of the bin 100 in the repositioning process.

[0040] In an embodiment, as shown in Figure 2 and Figure 3As shown, the adjusting assembly comprises a first moving piece 3 and a second moving piece 4, the first moving piece 3 is located between the second moving piece 4 and the base 2, the first moving piece 3 is movably mounted on the base 2 along a first direction, and the second moving piece 4 is movably mounted on the first moving piece 3 along a second direction. The positioning piece 1 is arranged on the side of the second moving piece 4 away from the first moving piece 3, wherein the first direction intersects the second direction. Figure 2 D1 in the figure represents the first direction, and D2 represents the second direction.

[0041] When the positioning piece 1 is subjected to the force of the external positioning structure 13, the first moving piece 3 can move along the first direction, and the second moving piece 4 can move along the second direction to adaptively adjust the position of the positioning piece 1 along the first direction and the second direction, so that the positioning piece 1 is aligned with and positioned with the external positioning structure 13, and the positioning and locking between the material box 100 and the fork arm 20 are realized.

[0042] Compared with the adjusting assembly that is adaptively adjusted along a single direction, the adjusting assembly can realize the position adjustment of the positioning piece 1 along the first direction and the second direction to compensate for the misalignment amount between the positioning piece 1 and the external positioning structure 13 along the first direction and the second direction, so that the adaptive positioning structure can compensate for a larger positioning accuracy error of the material handling device.

[0043] In other embodiments, the adjusting assembly can comprise a moving piece movably mounted on the base 2 along a set direction, and the positioning piece 1 is arranged on the side of the moving piece away from the base 2. The set direction can be Figure 2 D1 direction or D2 direction in the figure.

[0044] In an embodiment, the base 2 is mounted on the fork arm body 202 by screws.

[0045] In an embodiment, the first direction is perpendicular to the second direction.

[0046] In an embodiment, a first sub-guide rail 6 is fixed to the side of the first moving piece 3 facing the base 2, a second sub-guide rail 7 is fixed to the side of the base 2 facing the first moving piece 3, the first sub-guide rail 6 and the second sub-guide rail 7 extend along the first direction and are arranged side by side, a plurality of first rolling grooves are formed between the adjacent sides of the first sub-guide rail 6 and the second sub-guide rail 7, and a first roller is arranged in each first rolling groove.

[0047] When the first moving piece 3 moves relative to the base 2 along the first direction, the first moving piece 3 drives the first sub-guide rail 6 to move relative to the second sub-guide rail 7, and the first roller rolls. The first sub-guide rail 6, the second sub-guide rail 7 and the first roller together form a cross-roller guide on the market, so that the first moving piece 3 and the base 2 are in rolling contact, thereby reducing the friction when the first moving piece 3 moves relative to the base 2 along the first direction, and facilitating smooth movement of the first moving piece 3.

[0048] A third sub-guide rail 8 is fixed on the side of the first moving member 3 facing the second moving member 4, and a fourth sub-guide rail 9 is fixed on the side of the second moving member 4 facing the first moving member 3. The third sub-guide rail 8 and the fourth sub-guide rail 9 both extend along the second direction and are arranged side by side. Multiple second rolling grooves are formed between the adjacent sides of the third sub-guide rail 8 and the fourth sub-guide rail 9, and a second roller is provided in each second rolling groove.

[0049] When the second moving member 4 moves relative to the first moving member 3 in the second direction, the second moving member 4 drives the fourth sub-guide rail 9 to move relative to the third sub-guide rail 8, and the second roller rolls. The third sub-guide rail 8, the fourth sub-guide rail 9, and the second roller together form a cross roller guide rail, which makes the second moving member 4 roll in contact with the first moving member 3, thereby reducing the frictional force when the second moving member 4 moves relative to the first moving member 3 in the second direction, which is conducive to the smooth movement of the second moving member 4 in the second direction.

[0050] In one embodiment, two first sub-guide rails 6 are provided along the second direction, two second sub-guide rails 7 are provided along the second direction, two third sub-guide rails 8 are provided along the first direction, and two fourth sub-guide rails 9 are provided along the first direction.

[0051] In one embodiment, such as Figure 3 As shown, the adjustment assembly also includes a first reset member 51 and a second reset member 52. The first reset member 51 is connected between the base 2 and the first moving member 3. The first reset member 51 can restore the first moving member 3 to its initial position along the first direction after the external force acting on the positioning member 1 disappears.

[0052] The second reset member 52 is connected between the first moving member 3 and the second moving member 4; the second reset member 52 is capable of restoring the second moving member 4 to its initial position along the second direction after the external force acting on the positioning member 1 disappears. The first reset member 51 and the second reset member 52 are collectively referred to as the reset structure 5.

[0053] When the positioning member 1 is subjected to the force of the external positioning structure 13, the first moving member 3 overcomes the elastic force of the first reset member 51 and moves along the first direction, while the second moving member 4 overcomes the elastic force of the second reset member 52 and moves along the second direction, so as to adaptively adjust the position of the positioning member 1. After the external force on the positioning member 1 disappears, the first moving member 3 moves along the first direction under the action of the first reset member 51, and the second moving member 4 moves along the second direction under the action of the second reset member 52, so that the positioning member 1 returns to its initial position. The forces acting on the first moving member 3 and the second moving member 4 are simple, which is conducive to realizing the unidirectional movement of the first moving member 3 and the unidirectional movement of the second moving member 4.

[0054] When the material handling device 200 places the bin 100 on the stack or the carrying platform of the processing procedure, the moving device 21 drives the fork arm 20 to exit from the bin 100, and the external force applied by the external positioning structure 13 on the positioning member 1 disappears.

[0055] In an embodiment, the first restoring member 51 is provided with at least two, and in the initial position, all the first restoring members 51 balance the force acting on the first moving member 3 in the first direction.

[0056] The second restoring member 52 is provided with at least two, and in the initial position, all the second restoring members 52 balance the force acting on the second moving member 4 in the second direction, so as to improve the stability of the positioning member 1 in the initial position.

[0057] In an embodiment, the first restoring member 51 is provided with two, one end of one of the first restoring members 51 is connected to one side of the base 2 in the first direction, one end of the other first restoring member 51 is connected to the other side of the base 2 in the first direction, and the other ends of the two first restoring members 51 are connected to the first moving member 3.

[0058] When the first moving member 3 returns to the initial position in the first direction, the two first restoring members 51 can buffer and dampen the first moving member 3 from both sides of the first direction, so as to ensure the stability of the first moving member 3 when returning to the initial position.

[0059] The second restoring member 52 is provided with two, one end of one of the second restoring members 52 is connected to one side of the first moving member 3 in the second direction, one end of the other second restoring member 52 is connected to the other side of the first moving member 3 in the second direction, and the other ends of the two second restoring members 52 are connected to the second moving member 4.

[0060] When the second moving member 4 returns to the initial position in the second direction, the two second restoring members 52 can buffer and dampen the second moving member 4 from the opposite sides of the second direction, so as to ensure the stability of the second moving member 4 when returning to the initial position.

[0061] In an embodiment, the two first restoring members 51 are respectively located on the opposite sides of the base 2 in the second direction, so that the torques of the two first restoring members 51 on the first moving member 3 cancel each other out, avoiding the deflection of the first moving member 3 on the base 2.

[0062] In an embodiment, the two second restoring members 52 are located on the same side of the first moving member 3 in the first direction.

[0063] In an embodiment, the first restoring member 51 is a spring, and the second restoring member 52 is a spring.

[0064] In other embodiments, the first reset member 51 can be an elastic rope or an elastic rubber member, and the second reset member 52 can be an elastic rope or an elastic rubber member.

[0065] In an embodiment, the first moving member 3 is provided with a first hook on both sides in the second direction, and the other ends of the two first reset members 51 are hung on the two first hooks respectively. The second moving member 4 is provided with a second hook at the middle position of one side in the first direction, and the other ends of the two second reset members 52 are hung on the second hook.

[0066] In an embodiment, the positioning member 1 comprises a guide segment 25 and a fixed segment 24, the guide segment 25 is adapted to guide the external positioning structure 13 to move to the fixed segment 24, and the cross-sectional area of the guide segment 25 gradually decreases or gradually increases in the direction in which the guide segment 25 extends away from the base 2.

[0067] In an embodiment, as shown in Figure 2 and Figure 5 the positioning member 1 is a positioning taper pin, one end of the fixed segment 24 is connected to the base 2, and the other end of the fixed segment 24 is connected to the guide segment 25. In the direction in which the guide segment 25 extends away from the base 2, the cross-sectional area of the guide segment 25 gradually decreases. The external positioning structure 13 is a positioning hole which is inserted and matched with the positioning member 1. The guide segment can guide the positioning hole to be sleeved on the positioning member 1, which is conducive to the alignment and insertion of the positioning taper pin and the positioning hole. When the positioning member 1 is inserted into the positioning hole, quick locking is realized. When the positioning member and the positioning hole are separated, unlocking is realized. The structure is simple and easy to realize.

[0068] In other embodiments, the external positioning structure 13 can be a positioning protrusion or an elastic positioning pin, and the positioning member 1 is a positioning hole which is inserted and matched with the positioning protrusion or the elastic positioning pin. At this time, in the direction in which the guide segment 25 extends away from the base 2, the cross-sectional area of the guide segment 25 gradually increases.

[0069] In other embodiments, the reset structure 5 formed by the first reset member 51 and the second reset member 2 can be replaced by an elastic ring. The second moving member 4 is provided with a floating column on the side facing the base 2. The first moving member 3 is provided with an avoiding hole. The base 2 is provided with a floating hole. The floating column passes through the avoiding hole and penetrates into the floating hole. The elastic ring is arranged between the floating hole and the floating column. When the external force acting on the positioning member 1 causes the second moving member 4 to move in the second direction, the floating column extrudes the elastic ring in the second direction. When the external force acting on the positioning member 1 causes the first moving member 3 to move in the first direction, the floating column extrudes the elastic ring in the first direction.

[0070] In an embodiment, the box 10 has a top plate 11, a bottom plate 12 and side plates connecting the top plate 11 and the bottom plate 12, and the external positioning structure 13 is arranged on the side of the top plate 11 facing the bottom plate 12, so that the fork arm 20 can support the top plate 11, and the box 100 can be transported in an upper suspension manner. At this time, the top plate 11 is a support plate.

[0071] Compared with the bottom of the box 100 supported by the material handling device 200, the box 100 transported in the upper suspension manner can be stacked on other boxes 100. Therefore, the material handling device 200 can stack multiple boxes 100 together one by one in the above-mentioned upper suspension manner. It can be understood that, as the stacking height increases, the lifting mechanism 23 can lift the fork arm 20 to a height matching the stacking height, so that the target box 100 is stacked on the top of the corresponding stacked box. Finally, the fork arm 20 is inserted into the bottommost box 100 and supports the top plate 11 of the corresponding box 10, and the material handling device 200 transports the entire stacked box to the stockyard, thereby reducing the number of round trips of the material handling device 200 and improving the material conveying efficiency.

[0072] Moreover, after the stacked box is placed on the stockyard, the fork arm 20 of the material handling device 200 can also be inserted into the topmost box 100 in the stacked box, so as to transfer the topmost box 100 to other buffer positions of the stockyard in an upper suspension manner, thereby achieving the arrangement of the boxes 100 on the stockyard.

[0073] As can be seen from the above, the box 100 can realize the transportation of a single box 100 by the material handling device 200, the transportation of multiple stacked boxes by the material handling device 200, and the arrangement of the boxes 100 on the stockyard by the material handling device 200, and the flexibility of the arrangement of the box 100 between processes is high.

[0074] In an embodiment, the external positioning structure 13 is a positioning hole, the top plate 11 is provided with a positioning protrusion protruding toward the side of the bottom plate 12, and the positioning hole is arranged on the positioning protrusion to improve the structural strength of the positioning hole, and the positioning hole has an opening facing the bottom plate 12. When the fork arm 20 is inserted into the box 100 from the material inlet and outlet, the positioning member 1 on the fork arm 20 abuts against the bottom surface of the top plate 11, the positioning protrusion abuts against the fork arm 20, until the positioning member 1 moves to the positioning hole, and the positioning member 1 is inserted into the positioning hole through the opening of the positioning hole.

[0075] In other embodiments, the positioning protrusion can be cancelled, and the positioning hole can be directly formed on the top plate 11.

[0076] In an embodiment, the external positioning structure 13 is provided with at least two, and all the external positioning structures 13 are spaced apart in a direction perpendicular to the opening direction of the material inlet and outlet. Correspondingly, the positioning member 1 is provided with at least two, and all the positioning members 1 are spaced apart, and the positioning member 1 corresponds to the external positioning structure 13 one by one.

[0077] When the fork arm 20 supports the top plate 11, at least two positioning members 1 are inserted into the corresponding external positioning structure 13 one by one, so that the locking position between the material box 100 and the fork arm 20 has at least two positions, so as to further improve the stability of the material handling device 200 when carrying the material box 100.

[0078] In an embodiment, the fork arm 20 is provided with at least two, and all the fork arms 20 are spaced apart, and each fork arm 20 is provided with a positioning member 1.

[0079] Specifically, the fork arm 20 is provided with two, and each fork arm 20 is provided with a positioning member 1, and correspondingly, the top plate 11 of the material box 100 is provided with two external positioning structures 13.

[0080] In an embodiment, the frame body 22 is located on one side of the moving device 21 in the first direction, and the fork arm 20 is located directly above the moving device 21. Compared with the design that the fork arm 20 is arranged on the side of the frame body 22 away from the moving device 21, this design can reduce the space occupied by the material handling device 200. Moreover, when the fork arm 20 supports the material, the material box 100 and the moving device 21 are located on the same side of the frame body 22, and the moving device 21 runs more stably, and there is no need to additionally arrange a counterweight.

[0081] In an embodiment, the moving device 21 is an automatic guided vehicle (also known as an AGV vehicle). The motion control system of the AGV vehicle can control the driving system and the steering mechanism according to the results of navigation and path planning, realize the forward movement, backward movement, turning and other actions of the AGV vehicle, so that the AGV vehicle can accurately travel according to the preset trajectory. At the same time, the motion control system also adjusts the speed, acceleration and the like of the AGV vehicle, to ensure the stability and safety of the travel.

[0082] In an embodiment, the top end of the frame body 22 is provided with a navigation laser instrument, and the moving device 21 scans the surrounding environment according to the navigation laser instrument to determine its position and direction in space, so as to walk according to the preset trajectory.

[0083] In an embodiment, the bottom of the bottom plate 12 is provided with external positioning structures 13, and the external positioning structures 13 on the bottom plate 12 are located directly below the external positioning structures 13 on the top plate 11. When the fork arms 20 of the material handling device 200 support the bottom plate 12, the external positioning structures 13 on the bottom plate 12 are positioned and matched with the positioning member 1 to lock the bin 100 on the fork arms 20, so that the fork arms 20 can stably carry the bin 100 in a bottom lifting manner, and thus the bin 100 can be transported in two modes of upper suspension and bottom lifting, thereby further improving the flexibility of the bin 100 when being arranged between processes.

[0084] In addition, an embodiment of the utility model provides a kind of self-adapting positioning structure 201, its structure is identical with the self-adapting positioning structure 201 in any embodiment described above, and here no longer repeat.The self-adapting positioning structure 201 can be applied to the fork arms 20 of material handling device 200, also can be applied in material stack, on the bearing platform of processing equipment.

[0085] The above-described embodiments are only used to illustrate the technical solutions of the utility model, rather than limit them; although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of technical features; and these modifications or replacements do not make the essence of corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model, and should be included in the protection scope of the utility model.

Claims

1. An adaptive positioning structure, characterized by, The adaptive positioning structure (201) comprises a base (2), an adjusting assembly and a positioning piece (1), the positioning piece (1) is arranged on the adjusting assembly, and the adjusting assembly is arranged on the base (2); the positioning piece (1) is used for abutting against an external positioning structure (13), when the positioning piece (1) is subjected to the force of the external positioning structure (13), the adjusting assembly moves in a horizontal direction, so that the positioning piece (1) is positioned and matched with the external positioning structure (13).

2. The self-positioning structure of claim 1, wherein, The adjusting assembly comprises a moving piece, the moving piece is movably arranged on the base (2) in a set direction, and the positioning piece (1) is arranged on a side of the moving piece away from the base (2).

3. The self-positioning structure of claim 1, wherein, The adjusting assembly comprises a first moving piece (3) and a second moving piece (4), the first moving piece (3) is located between the second moving piece (4) and the base (2), the first moving piece (3) is movably arranged on the base (2) in a first direction, the second moving piece (4) is movably arranged on the first moving piece (3) in a second direction, the positioning piece (1) is arranged on a side of the second moving piece (4) away from the first moving piece (3), and the first direction intersects the second direction.

4. The self-positioning structure of claim 3, wherein, A first sub-guide rail (6) is fixed to a side of the first moving piece (3) facing the base (2), a second sub-guide rail (7) is fixed to a side of the base (2) facing the first moving piece (3), the first sub-guide rail (6) and the second sub-guide rail (7) extend in the first direction and are arranged side by side, a plurality of first rolling grooves are formed between adjacent sides of the first sub-guide rail (6) and the second sub-guide rail (7), and a first roller is arranged in each first rolling groove; A third sub-guide rail (8) is fixed to a side of the first moving piece (3) facing the second moving piece (4), a fourth sub-guide rail (9) is fixed to a side of the second moving piece (4) facing the first moving piece (3), the third sub-guide rail (8) and the fourth sub-guide rail (9) extend in the second direction and are arranged side by side, and a plurality of second rolling grooves are formed between adjacent sides of the third sub-guide rail (8) and the fourth sub-guide rail (9), and a second roller is arranged in each second rolling groove.

5. The self-positioning structure of claim 3, wherein, The adjusting assembly further comprises a first reset piece (51) and a second reset piece (52), the first reset piece (51) is connected between the base (2) and the first moving piece (3), and the first reset piece (51) can restore the first moving piece (3) to an initial position in the first direction after an external force acting on the positioning piece (1) disappears; The second reset piece (52) is connected between the first moving piece (3) and the second moving piece (4), and the second reset piece (52) can restore the second moving piece (4) to the initial position in the second direction after the external force acting on the positioning piece (1) disappears.

6. The self-positioning structure of claim 5, wherein, The first reset member (51) is provided with two, one end of one of the first reset member (51) is connected to the base (2) along one side of the first direction, the other end of the other first reset member (51) is connected to the base (2) along the other side of the first direction, the other end of the two first reset members (51) is connected to the first moving member (3); The second reset member (52) is provided with two, one end of one of the second reset member (52) is connected to the first moving member (3) along one side of the second direction, the other end of the other second reset member (52) is connected to the first moving member (3) along the other side of the second direction, the other end of the two second reset members (52) is connected to the second moving member (4).

7. The self-positioning structure of claim 6, wherein, The two second reset members (52) are located on the same side of the first moving member (3) along the first direction.

8. The self-adapting positioning structure according to any one of claims 1 to 7, characterized in that, The positioning member (1) comprises a guide segment (25) and a fixed segment (24), the guide segment (25) is suitable for guiding the external positioning structure (13) to move to the fixed segment (24), in the direction in which the guide segment (25) extends away from the base (2), the cross-sectional area of the guide segment (25) gradually decreases or gradually increases.

9. The self-positioning structure of claim 8, wherein, The positioning member (1) is a positioning taper pin or a positioning hole.

10. A material handling device characterized by, The self-adapting positioning structure (201) of any one of claims 1 to 9 is used for the self-adapting positioning structure (201) of the forklift (10), the self-adapting positioning structure (201) is connected to the forklift (10), and the self-adapting positioning structure (201) is connected to the external positioning structure (13) on the material box (100) when the forklift (10) supports the material box (100).

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