Positioning device and feeding and discharging equipment
By cooperating with the driving and positioning components in the positioning device, the positioning accuracy problem when the material box docks with the loading and unloading equipment is solved, the precise correction of the material box position is achieved, and the positioning accuracy of the loading and unloading equipment is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANS CNC SCI & TECH
- Filing Date
- 2025-08-12
- Publication Date
- 2026-07-14
Smart Images
Figure CN224492739U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of printed circuit board manufacturing technology, specifically to a positioning device and loading / unloading equipment. Background Technology
[0002] When grinding printed circuit board drill bits, the drill bits are usually carried in a hopper, which is then transported to the loading / unloading equipment by an Automated Guided Vehicle (AGV). However, due to positioning accuracy deviations in the AGV transport method, positional errors easily occur when the hopper docks with the loading / unloading equipment, resulting in insufficient accuracy in the docking positioning of the hopper and the loading / unloading equipment. Utility Model Content
[0003] In order to overcome the problems existing in the prior art, the main objective of this application is to provide a positioning device that can improve the positioning accuracy of the material box.
[0004] This application also proposes a loading and unloading device that includes the above-mentioned positioning device.
[0005] To achieve the above objectives, this application specifically adopts the following technical solution:
[0006] According to a first aspect of the embodiments of this application, a positioning device is provided, including a carrier, a slider, a drive, and a positioning element;
[0007] Load-bearing components;
[0008] A sliding member is movably disposed on the support member along a first direction;
[0009] The driving component is located on the sliding component;
[0010] The positioning element is connected to the output end of the driving element. The driving element can drive the positioning element to extend in the second direction, or drive the positioning element to retract the sliding element.
[0011] The driving component is used to support the material box. When the positioning component extends out of the sliding component, the positioning component is used to position and engage with the mating component. The first direction and the second direction intersect.
[0012] The positioning device according to the embodiments of this application has at least the following beneficial effects: the bearing member is used to provide an installation base, and the driving member is used to support the material box. When it is necessary to support the material box, the sliding member can drive the driving member to move relative to the bearing member in a first direction to adjust the position of the positioning member in the first direction so that the positioning member can be aligned with the mating member. Then, the driving member can drive the positioning member to extend in a second direction. When the positioning member extends out of the sliding member, it can be positioned and engaged with the mating member. The position correction of the positioning material box is achieved through the engagement of the positioning member and the mating member. Thus, the positioning device of this application can correct the position deviation of the material box and is beneficial to improving the positioning accuracy of the material box.
[0013] Optionally, it also includes a horizontal drive member and a slide rail. The horizontal drive member is disposed on the sliding member, and the slide rail is disposed on the bearing member. The horizontal drive member is movably disposed on the slide rail in a first direction. The horizontal drive member is used to drive the sliding member to slide on the slide rail in the first direction.
[0014] Optionally, it also includes a limiting member, which is disposed on the side of the carrier away from the sliding member, and the limiting member is used to limit the position of the material box.
[0015] Optionally, it also includes a rolling element, which is arranged on the side of the carrier opposite to the sliding element and is rotatably connected to the carrier.
[0016] Optionally, the carrier has a notch extending through the second direction, and the driving member is partially placed in the notch. The driving member can drive the positioning member to extend through the notch along the second direction.
[0017] Optionally, the drive component is provided with a guide hole, and the positioning component passes through the guide hole along the second direction.
[0018] Optionally, it also includes a floating positioning part, which is disposed in the guide hole and connected to the positioning member. When the positioning member is positioned with the material box, the floating positioning part is used to adjust the position of the positioning member in the horizontal direction so that the mating part can be inserted with the positioning member.
[0019] Optionally, the floating positioning part includes a floating frame and multiple elastic elements. The floating frame is nested on the positioning element, and each elastic element is evenly arranged along the periphery of the floating frame. Each elastic element can pre-tighten the positioning element in the horizontal direction.
[0020] Optionally, the elastic element includes an elastic seat and balls, which are rotatably connected to the elastic seat. In the horizontal direction, each ball abuts against the outer periphery of the floating frame and can elastically extend and retract relative to the elastic seat.
[0021] According to a second aspect of the embodiments of this application, a loading and unloading device is provided, including a material transport trolley and at least two positioning devices as described in any of the above embodiments, wherein each positioning device is spaced apart along a first direction, and the material transport trolley is used to move a material box into the positioning device or to move a material box out of the positioning device.
[0022] The loading and unloading equipment according to the embodiments of this application has at least the following beneficial effects: the material transport trolley is used to transport the material box, and the positioning device is used to further correct the positioning of the material box, which is beneficial to further improve the positioning accuracy of loading and unloading the material box.
[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0024] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:
[0025] Figure 1 This is a top view of the positioning device according to an embodiment of this application;
[0026] Figure 2 This is a front view of the positioning device according to an embodiment of this application;
[0027] Figure 3 This is an isometric view of the positioning device according to an embodiment of this application;
[0028] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle;
[0029] Figure 5 This is a bottom view of the positioning device carrying the material box according to an embodiment of this application;
[0030] Figure 6 This is an assembly diagram of the driving component and the positioning component according to an embodiment of this application;
[0031] Figure 7 A bottom view of the positioning device according to an embodiment of this application.
[0032] Figure 8 for Figure 7 A magnified view of a portion of point B in the middle;
[0033] Figure 9 This is a front view of the positioning device carrying the material box according to an embodiment of this application;
[0034] Figure 10 This is an isometric view of the positioning device carrying the material box according to an embodiment of this application.
[0035] Reference numerals: 110 bearing member, 111 notch, 120 sliding member, 130 driving member, 131 guide hole, 140 positioning member, 141 positioning end, 150 limiting member, 160 rolling member, 170 elastic member, 171 elastic seat, 172 ball, 180 floating frame;
[0036] Material box 210, mating parts 220. Detailed Implementation
[0037] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0038] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0039] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0040] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.
[0041] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0042] The embodiments of this application are described below with reference to the accompanying drawings:
[0043] refer to Figures 1 to 5 According to a first aspect of the embodiments of this application, a positioning device is provided for positioning a material box 210. The bottom of the material box 210 is provided with a mating part 220. For example, the mating part 220 can be a cylindrical sleeve. The inner peripheral wall of the cylindrical sleeve has a guide slope, which facilitates positioning and mating with the positioning part 140 to correct the position of the material box 210.
[0044] Furthermore, the position calibration fit between the mating part 220 and the positioning part 140 is not limited to the guide slope, but can also be other arc shape or irregular matching shape, as long as the position calibration of the material box can be achieved. This application does not limit this.
[0045] refer to Figures 1 to 5The positioning device of this application includes a support member 110, a slider 120, a drive member 130, and a positioning member 140. The support member 110 provides an installation base. The slider 120 is movably disposed on the support member 110 along a first direction, allowing the slider 120 to move relative to the support member 110 along the first direction. The drive member 130 is disposed on the slider 120 and can move synchronously with the slider 120 along the first direction. The positioning member 140 is connected to the output end of the drive member 130 and can move synchronously with the drive member 130 along the first direction. The drive member 130 can drive the positioning member 140 to extend along a second direction, or drive the positioning member 140 to retract the slider 120, thereby adjusting the position of the positioning member 140 along the second direction. The drive member 130 supports the material box 210. When the positioning member 140 extends from the sliding member 120, the positioning member 140 engages with the mating member 220 to correct the position of the material box 210. After correction, the drive member 130 can drive the positioning member 140 to retract the sliding member 120 along the second direction. This helps to improve the positioning accuracy of the material box 210.
[0046] Specifically, the movement of the aforementioned sliding member 120 relative to the bearing member 110 along the first direction can be driven by structures such as linear motors, cylinders, and ball screws. It can also be used in conjunction with slide rails and grooves to improve the relative motion accuracy. For example, a cylinder can be used as the power source. One of the bearing member 110 and the sliding member 120 is provided with a slide rail, and the other is provided with a groove. The slide rail is placed in the groove, and the sliding member 120 is connected to the output end of the cylinder. The sliding member 120 moves along the first direction as the piston rod of the cylinder moves.
[0047] Alternatively, the aforementioned sliding member 120 and the carrier member 110 are connected by a slide rail and a slide groove. The sliding member 120 is connected to the mover of a linear motor, and the carrier member 110 is connected to the mover of a linear motor. The linear motor drives the sliding member 120 to move relative to the carrier member 110 in the first direction.
[0048] Alternatively, the aforementioned support member 110 is connected to a lead screw structure extending along the first direction, and the sliding member 120 is connected to a nut structure threadedly connected to the lead screw structure. As the lead screw rotates around the first direction, it drives the nut structure to move along the first direction, thereby enabling the sliding member 120 to move relative to the support member 110 along the first direction.
[0049] Similarly, the aforementioned driving component 130 can also be driven by a cylinder, linear motor, lead screw and nut, etc., and the relative motion accuracy can be improved by using a slide rail and slide groove. Its working principle is the same as the movement of the sliding component 120 relative to the bearing component 110 in the first direction, and will not be described in detail here.
[0050] Therefore, before the drive member 130 supports the material box 210, the sliding member 120 moves relative to the bearing member 110 along the first direction, which can adjust the position of the drive member 130 and the positioning member 140 along the first direction, so that when the material box 210 is placed, the drive member 130 supports the material box 210 along the second direction, and the drive member 130 abuts against the mating member 220. Then, the positioning member 140 is driven to extend along the second direction, so that the positioning member 140 exceeds the surface of the material box 210 supported by the drive member 130. The positioning member 140 can be partially embedded in the mating member 220, and the position of the material box 210 is corrected by the guide slope provided by the mating member 220.
[0051] It should be noted that the position correction of the material box 210 is a further correction based on the material box 210 having a handling positioning reference, that is, a position adjustment within a small range. For example, the displacement parameter of the material box 210 before and after position correction can be 10mm to 15mm. In addition, the first direction can be one of the horizontal directions, and the second direction can be the vertical direction.
[0052] refer to Figures 1 to 5 In the above embodiment, the positioning member 140 includes a positioning end 141 for cooperating with the mating member 220. Along the second direction, from the positioning end 141 to the center of the positioning member 140, the cross-sectional area of the positioning member 140 gradually increases. The outer peripheral wall of the positioning end 141 matches the shape of the inner peripheral wall of the mating member 220. For example, it can be a cone, a sphere, or other shape with a guiding function. Thus, the cooperation between the positioning member 140 and the mating member 220 is smoother, and it is easier to position the material box 210.
[0053] refer to Figures 1 to 5 The aforementioned positioning device may further include a horizontal drive member and a slide rail. The horizontal drive member is disposed on the sliding member 120, and the slide rail is disposed on the bearing member 110. The horizontal drive member is movably disposed on the slide rail in a first direction. The horizontal drive member is used to drive the sliding member 120 to slide on the slide rail in the first direction, so that the sliding member 120 can move relative to the bearing member 110 in the first direction. The movement of the sliding member 120 in the first direction can also drive the drive member 130 to move. In turn, the drive member 130 can drive the positioning member 140 to move, thereby realizing the position adjustment of the positioning member 140 in the first direction, which is beneficial to improving the adaptability to the bearing of material boxes 210 of different sizes.
[0054] Specifically, the slide rail is connected to the carrier 110 and extends along the first direction. The horizontal drive can be a cylinder. The piston rod of the cylinder can be connected to a slider that cooperates with the slide rail. The slider 120 is connected to the slider and can move as the slider slides relative to the slide rail, so that the slider 120 slides on the slide rail along the first direction.
[0055] Alternatively, the horizontal drive component can also be a ball screw structure. The screw extending along the first direction is fixed to the bearing component 110. The slider and slide rail are threadedly connected to the screw structure, and the slider 120 is connected to the slider. The screw structure can be driven to rotate around the first direction as an axis by a stepper motor, thereby driving the slider to move along the first direction. The slider drives the slider 120 to move along the first direction.
[0056] Alternatively, the aforementioned support member 110 is connected to the stator of a linear motor, the sliding member 120 is connected to the mover of a linear motor, and the sliding member 120 is slidably connected to the slide rail, thereby driving the sliding member 120 to move along the first direction.
[0057] refer to Figures 1 to 5 The aforementioned positioning device may further include a limiting member 150, which is disposed on the side of the bearing member 110 away from the sliding member 120. The limiting member 150 is used to limit the position of the material box 210, which is beneficial to improve the initial positioning accuracy of the material box 210, thereby facilitating subsequent position correction.
[0058] Specifically, along the second direction, the limiting member 150 protrudes outward from the surface of the bearing member 110. The limiting member 150 can be single or multiple. The limiting member 150 is configured to enclose a placement area that matches the shape and size of the material box 210. The material box 210 is placed in the placement area to achieve the initial positioning of the material box 210, thereby improving the initial positioning accuracy of the material box 210 and facilitating the adaptation of the positioning member 140 and the mating member 220 to further correct the position of the material box 210.
[0059] refer to Figures 1 to 5 Along the second direction, the positioning device further includes a rolling element 160. The rolling element 160 is arranged on the side of the bearing element 110 away from the sliding element 120 and is rotatably connected to the bearing element 110. Along the second direction, the rolling element 160 can support the material box 210. When the positioning element 140 is adapted to the mating element 220, the material box 210 moves in the horizontal direction, and the rolling element 160 supporting the material box 210 rolls, which can reduce the resistance encountered when the position of the material box 210 is adjusted, making it easier for the material box 210 to be adjusted in position, and improving the smoothness of the positioning of the material box 210.
[0060] Specifically, the aforementioned rolling element 160 can adopt a universal ball structure. The rolling element 160 may include a ball head and a ball seat. The ball seat is connected to the bearing element 110. The ball head is embedded in the ball seat and can rotate relative to the ball seat. When the material box 210 is placed in the placement area, the ball head contacts the bottom of the material box 210. The rotation of the ball head supports the movement of the material box 210, converting sliding friction into rolling friction. This helps to reduce the resistance encountered when the material box 210 moves, making it easier to adjust the position of the material box 210 under the push of the positioning element 140, and improving the smoothness of the positioning of the material box 210.
[0061] refer to Figures 1 to 5 The aforementioned support member 110 may also be provided with a notch 111 extending along the second direction. The drive member 130 is partially placed in the notch 111. The drive member 130 can drive the positioning member 140 to extend through the notch 111 along the second direction. Thus, the drive member 130 can support the material box 210 at the notch 111, and the positioning member 140 can extend through the notch 111 to fit with the mating member 220. Therefore, by providing the notch 111 on the support member 110, the drive member 130 and the positioning member 140 can be limited within the horizontal range occupied by the support member 110, making the positioning device more compact.
[0062] Furthermore, if two positioning devices are used to support the material box 210, the two bearing members 110 are arranged at intervals along the first direction to form a channel, and the two bearing members 110 have a notch 111 on the side facing each other. When positioning the material box 210, the two positioning members 140 extend from the corresponding notch 111 along the second direction to match and position with the mating member 220. Compared with positioning the material box 210 at the interval between the two bearing members 110, this avoids occupying the channel space, facilitates the picking and placing of the material box 210, and extends the distance between the two positioning members 140 along the first direction. Therefore, when there is an angular deviation in the material box 210, the two positioning members 140 can form a larger positioning correction distance. Consequently, when the positioning members 140 and the mating member 220 are matched to correct the same displacement, the angle of the material box 210 can be corrected more precisely, which helps to further improve the overall positioning accuracy.
[0063] refer to Figures 5 to 8 The aforementioned driving member 130 may also be provided with a guide hole 131. Along the second direction, the positioning member 140 passes through the guide hole 131. When the driving member 130 drives the positioning member 140 to move along the second direction, the guide hole 131 cooperates with the outer wall of the positioning member 140 through its inner wall, limiting the horizontal displacement of the positioning member 140, making the movement trajectory of the positioning member 140 more stable, which helps to reduce the positional deviation when the positioning member 140 cooperates with the mating member 220, and further improves the positioning accuracy of the positioning device.
[0064] refer to Figures 5 to 8The aforementioned positioning device may further include a floating positioning part, which is disposed within the guide hole 131 and connected to the positioning member 140. When the positioning member 140 is positioned with the material box 210, the floating positioning part adjusts the horizontal position of the positioning member 140 so that the mating member 220 can be inserted into the positioning member 140. At least a portion of the floating positioning part can generate elastic deformation in the horizontal direction. Therefore, during the positioning process, the positioning member 140 can dynamically adjust its horizontal position to achieve mating positioning with the mating member 220, which is beneficial for improving the adaptability of the positioning device to different working conditions and the reliability of the positioning operation.
[0065] Specifically, the floating positioning part can surround the outer peripheral wall of the connecting positioning member 140. The side of the floating positioning member 140 away from the positioning member 140 can be provided with elastic elements such as springs and rubber blocks. In the horizontal direction, the side of the floating positioning part away from the positioning member 140 abuts against the wall of the guide hole 131. Thus, the horizontal position of the positioning member 140 can be adjusted by the compression or rebound of the elastic element.
[0066] Alternatively, the floating positioning part is connected to the wall of the guide hole 131, and the floating positioning part is arranged around the outer peripheral wall of the positioning member 140. In the horizontal direction, the side of the floating positioning part facing the positioning member 140 is provided with elastic elements such as spring, rubber block and elastic pin, and the elastic elements abut against the positioning member 140. Similarly, the horizontal position of the positioning member 140 can be adjusted by the compression or rebound of the elastic elements.
[0067] It should be noted that the horizontal direction includes the first direction, and the second direction can be perpendicular to the horizontal direction.
[0068] refer to Figures 5 to 8 The aforementioned floating positioning part may include a floating frame 180 and a plurality of elastic elements 170. The floating frame 180 is nested on the positioning element 140. Each elastic element 170 is evenly arranged along the periphery of the floating frame 180. Each elastic element 170 can pre-tighten the positioning element 140 in the horizontal direction, so that the positioning element 140 can be stably maintained in a horizontal preset position when it is not subjected to external force, avoiding unnecessary displacement of the positioning element 140 due to vibration, shaking and other factors, which helps to ensure the stability of the initial position of the positioning element 140 and provides a reliable reference for subsequent insertion with the mating part 220.
[0069] Specifically, the floating frame 180 can move along the second direction with the positioning member 140. The elastic member 170 can be an elastic element such as a spring or rubber. Each elastic member 170 is evenly arranged around the periphery of the floating frame 180 with an axis parallel to the second direction as its reference axis. In the horizontal direction, each elastic member 170 can be connected to the side of the floating frame 180 facing the positioning member 140 and abut against the outer peripheral wall of the positioning member 140, or it can be connected to the side of the floating frame 180 away from the positioning member 140 and abut against the wall of the guide hole 131. By pre-installing different elastic members 170, or by adjusting the initial compression degree of the elastic members 170, the pre-tightening degree of the positioning member 140 can be adjusted. Thus, after the mating member 220 disengages from the positioning member 140, the pre-tightening force of the elastic member 170 can automatically reset the positioning member 140 to its initial position without the need for an additional reset mechanism, which helps to simplify the structure and improve the reliability of the positioning device for repeated positioning.
[0070] refer to Figures 5 to 8 The aforementioned elastic element 170 may further include an elastic seat 171 and ball bearings 172. The ball bearings 172 are rotatably connected to the elastic seat 171. In the horizontal direction, each ball bearing 172 abuts against the outer periphery of the floating frame 180 and can elastically extend and retract relative to the elastic seat 171. Thus, during the insertion process of the positioning element 140 and the mating element 220, when the driving element 130 drives the positioning element 140 to move in the second direction, the ball bearings 172 can reduce the moving resistance of the positioning element 140 by rotating. At the same time, the elastic extension and retraction characteristics of the elastic seat 171 enable the ball bearings 172 to elastically extend and retract in the horizontal direction, making the position adjustment of the positioning element 140 in the horizontal direction more flexible.
[0071] Specifically, the elastic seat 171 can be connected to the floating frame 180. An elastic element can be provided inside the elastic seat 171. In the horizontal direction, the ball 172 is rotatably connected to one end of the elastic seat 171 facing the positioning member 140. One side of the ball 172 abuts against the elastic element, and the other side of the ball 172 abuts against the positioning member 140. If the positioning member 140 is driven to move along the second direction to extend or retract, the ball 172 rolls relative to the elastic seat 171, so that the movement of the positioning member 140 along the second direction is rolling friction, making the movement smoother. The elastic element can pre-tighten the positioning member 140 through the ball 172, and the elastic element can compress and rebound, which facilitates the horizontal position adjustment of the positioning member 140.
[0072] refer to Figures 1 to 10According to a second aspect of the embodiments of this application, a loading and unloading device is provided, including a material transport trolley and at least two of the above-mentioned positioning devices, each positioning device being arranged at intervals along a first direction. The material transport trolley is used to move the material box 210 into the positioning device or to move the material box 210 out of the positioning device. The positioning device can perform positioning correction on the material box 210, so that the position accuracy of loading and unloading is higher.
[0073] Specifically, the distance between the two positioning devices along the first direction can be greater than the width of the companion robot, so that a passage for the material transport trolley to pass through is formed between the two positioning devices. Taking the loading process as an example, the specific process is as follows: the material transport trolley transports the material box 210 to the top of the two positioning devices. Both positioning devices use drive components 130 to support the material box 210 along the second direction, and the drive components 130 of different positioning devices correspond one-to-one with the mating parts 220 at the bottom of the material box 210. Then, the two drive components 130 drive the corresponding positioning parts 140 to move along the second direction, so that the two positioning parts 140 extend and are adapted to the two mating parts 220 one-to-one. Under the guidance, the positioning correction of the material box 210 is realized.
[0074] If the material box 210 is offset to the left, the mating of the positioning element 140 and the mating element 220 will push the material box 210 to the right; if the material box 210 is offset to the right, the mating of the positioning element 140 and the mating element 220 will push the material box 210 to the left; if the material box 210 has an angular deflection, the mating of the positioning element 140 and the mating element 220 can generate torque to correct the tilt of the material box 210. Through the cooperation of the two positioning devices, the translational and angular deviations of the material box 210 can be corrected simultaneously, which is beneficial to further improving the positioning accuracy of the material box 210.
[0075] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.
Claims
1. A positioning device for positioning a material box, wherein a mating component is provided at the bottom of the material box, characterized in that, The positioning device includes: Load-bearing components; A sliding member is movably disposed on the support member along a first direction; A driving element is disposed on the sliding element; A positioning element is connected to the output end of the driving element, and the driving element can drive the positioning element to extend in a second direction, or drive the positioning element to retract the sliding element; The driving member is used to support the material box. When the positioning member extends out of the sliding member, the positioning member is used to position and engage with the mating member. The first direction and the second direction intersect.
2. The positioning device according to claim 1, characterized in that, It also includes a horizontal drive member and a slide rail. The horizontal drive member is disposed on the sliding member, and the slide rail is disposed on the bearing member. The horizontal drive member is movably disposed on the slide rail along the first direction. The horizontal drive member is used to drive the sliding member to slide along the slide rail in the first direction.
3. The positioning device according to claim 1, characterized in that, It also includes a limiting member, which is disposed on the side of the carrier opposite to the sliding member, and the limiting member is used to limit the position of the material box.
4. The positioning device according to claim 1, characterized in that, It also includes a rolling element, which is arranged on the side of the carrier opposite to the sliding element and is rotatably connected to the carrier.
5. The positioning device according to claim 1, characterized in that, The support member has a notch extending through the second direction, and the driving member is partially placed in the notch. The driving member can drive the positioning member to extend through the notch along the second direction.
6. The positioning device according to claim 1, characterized in that, The driving component is provided with a guide hole, and the positioning component passes through the guide hole along the second direction.
7. The positioning device according to claim 6, characterized in that, It also includes a floating positioning part, which is disposed in the guide hole and connected to the positioning member. When the positioning member is positioned with the material box, the floating positioning part is used to adjust the position of the positioning member in the horizontal direction so that the mating part can be inserted with the positioning member.
8. The positioning device according to claim 7, characterized in that, The floating positioning part includes a floating frame and a plurality of elastic elements. The floating frame is nested on the positioning element, and each of the elastic elements is evenly arranged along the periphery of the floating frame. Each of the elastic elements can pre-tighten the positioning element in the horizontal direction.
9. The positioning device according to claim 8, characterized in that, The elastic element includes an elastic seat and ball bearings. The ball bearings are rotatably connected to the elastic seat. Along the horizontal direction, each ball bearing abuts against the outer periphery of the floating frame and can elastically extend and retract relative to the elastic seat.
10. A loading and unloading device, characterized in that, The device includes a material transport trolley and at least two positioning devices according to any one of claims 1 to 9, wherein each of the positioning devices is spaced apart along the first direction, and the material transport trolley is used to move the material box into the positioning device or to move the material box out of the positioning device.