Positioning device

Abstract

Provided is a positioning device (100), comprising: a base (10); a plurality of positioning assemblies (20), wherein the plurality of positioning assemblies are spaced on the base, and each positioning assembly allows for switching between an open state and a closed state, wherein when the positioning assemblies are in the closed state, a member to be clamped (200) can be clamped, and when the positioning assemblies are in the open state, the member to be clamped can be picked and placed; a transmission member (30), wherein the transmission member is connected to the plurality of positioning assemblies and capable of moving to drive the plurality of positioning assemblies to move synchronously; and a driving member (40), wherein the driving member is connected to the transmission member so as to drive the transmission member. The positioning device does not require arrangement of a separate driving member for each positioning assembly, thereby reducing the number of driving members, simplifying a driving pipeline, reducing the plane size required by a jig, and lowering the cost.

Description

Positioning device

[0001] This disclosure claims priority to Chinese patent application number 202323224582.5, filed with the Patent Office of China on November 28, 2023, and entitled “Positioning Device,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the technical field of battery manufacturing, and more particularly, to a positioning device. Background Art

[0003] In a prismatic lithium battery production line, cells / batteries (workpieces) are loaded from the logistics line to various assembly equipment (e.g., X-ray, hot pressing, welding, mylar packaging, case insertion, helium inspection, and liquid injection). Currently, 90% of assembly equipment requires transfer or secondary positioning modules during this loading process to improve or maintain workpiece positioning accuracy, creating favorable conditions for subsequent process operations.

[0004] In the existing technology, the simplest fixture is the 4-hole positioning fixture shown in Figure 1. The functional action of each push block is realized separately by a guide cylinder. The fixture of this structure requires a large plane size, a large number of cylinders, a complex air path, a loose structure, and a high cost.

[0005] Public content

[0006] The present disclosure provides a new technical solution for a positioning device, which can at least solve the problem of the positioning device having many parts and a complex structure in the prior art.

[0007] The present disclosure provides a positioning device, comprising: a base; a plurality of positioning components, wherein the plurality of positioning components are spaced apart on the base, and each of the positioning components can be switched between an open state and a closed state, wherein when the positioning component is in the closed state, it can clamp the part to be clamped, and when the positioning component is in the open state, the part to be clamped can be taken and placed; a transmission component, wherein the transmission component is connected to the plurality of positioning components, and the transmission component can move to drive the plurality of positioning components to move synchronously; and a driving component, wherein the driving component is connected to the transmission component to drive the transmission component.

[0008] Optionally, the positioning assembly includes: a planetary wheel, which is movable between a first position and a second position, and the planetary wheel is connected to the transmission member to be driven by the transmission member; a push block assembly, which is movably connected to the planetary wheel, and the push block assembly is switchable between the open state and the closed state, when the planetary wheel is in the first position, the push block assembly is in the open state, and when the planetary wheel is in the second position, the push block assembly is in the closed state.

[0009] Optionally, each of the push block assemblies includes: a first pushing member, the first pushing member extends along a first direction and is movable in the first direction, one end of the first pushing member abuts against the planetary wheel disc to be pushed by the planetary wheel disc; a second pushing member, the second pushing member extends along a second direction and is movable in the second direction, one end of the second pushing member abuts against the planetary wheel disc to be pushed by the planetary wheel disc; a positioning block, the positioning block being provided at one end of the first pushing member away from the planetary wheel disc and one end of the second pushing member away from the planetary wheel disc, wherein when the push block assembly is in the open state, the distance between the positioning block and the center of the planetary wheel disc is L1, and when the push block assembly is in the closed state, the distance between the positioning block and the center of the planetary wheel disc is L2, and L1>L2.

[0010] Optionally, one end of the first pusher and the second pusher are respectively provided with a first mating inclined surface extending obliquely relative to their respective movement directions, and the outer peripheral surface of the planetary wheel is provided with a second mating inclined surface mating with the first mating inclined surface, and the planetary wheel can rotate around its own axis to drive the first pusher and the second pusher.

[0011] Optionally, a first elastic member extending along the first direction is provided between the first pushing member and the base, a portion of the first elastic member abuts the first pushing member, and another portion of the first elastic member abuts the base; a second elastic member extending along the second direction is provided between the second pushing member and the base, a portion of the second elastic member abuts the second pushing member, and another portion of the second elastic member abuts the base.

[0012] Optionally, each of the positioning assemblies includes two of the planetary wheels, and each of the positioning assemblies also includes: a linkage plate, which is connected to the two planetary wheels so that the two planetary wheels move synchronously, one of the planetary wheels is connected to the transmission member, and each of the planetary wheels is connected to multiple push block assemblies.

[0013] Optionally, each of the planetary wheels is connected to two of the first pushing members and one of the second pushing members, and the two second pushing members of each positioning assembly are arranged on opposite sides of the two planetary wheels.

[0014] Optionally, the transmission member is formed as a sun wheel disc rotatable around its own axis, and the transmission member is provided with a plurality of transmission ends, each of the transmission ends being movably connected to a corresponding planetary wheel disc.

[0015] Optionally, there are four positioning assemblies, and the four positioning assemblies are arranged at intervals along the circumference of the transmission member, and the transmission member is provided with four transmission ends.

[0016] Optionally, the driving member is a pneumatic cylinder or an oil cylinder, and one end of the driving member is movably connected to any one of the transmission ends to drive the transmission member.

[0017] According to the positioning device disclosed in the present invention, multiple positioning components can be driven by connecting the multiple positioning components through a transmission member, and the driving member is connected to the transmission member. There is no need to set a separate driving member for a single positioning component, which greatly reduces the number of driving members, streamlines the driving pipeline, reduces the plane size required for the fixture, and reduces the cost.

[0018] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0020] FIG1 is a schematic structural diagram of a positioning device in the prior art;

[0021] FIG2 is a top view of a positioning device according to an embodiment of the present disclosure;

[0022] FIG3 is a side view of a positioning device according to an embodiment of the present disclosure;

[0023] FIG4 is a cross-sectional view of a positioning device according to an embodiment of the present disclosure;

[0024] FIG5 is a partial enlarged schematic diagram of FIG4;

[0025] FIG6 is a schematic diagram of a positioning device in an open state according to an embodiment of the present disclosure;

[0026] FIG7 is a schematic diagram of a positioning device in a closed state according to an embodiment of the present disclosure.

[0027] Figure numerals: positioning device 100; part to be clamped 200; base 10; shelf 11; positioning assembly 20; planetary wheel 21; second mating inclined surface 211; push block assembly 22; first pushing member 221; second pushing member 222; positioning block 223; first mating inclined surface 224; first elastic member 225; linkage plate 23; transmission member 30; transmission end 31; driving member 40. DETAILED DESCRIPTION

[0028] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0029] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0030] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0031] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0032] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] The positioning device 100 according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0034] As shown in FIG. 2 to FIG. 7 , the positioning device 100 according to an embodiment of the present disclosure includes a base 10 , a plurality of positioning assemblies 20 , a transmission member 30 and a driving member 40 .

[0035] Specifically, multiple positioning components 20 are arranged at intervals on the base 10, and each positioning component 20 can be switched between an open state and a closed state. When the positioning component 20 is in a closed state, it can clamp the part to be clamped 200. When the positioning component 20 is in an open state, the part to be clamped 200 can be taken and placed. The transmission component 30 is connected to the multiple positioning components 20, and the transmission component 30 can move to drive the multiple positioning components 20 to move synchronously. The driving component 40 is connected to the transmission component 30 to drive the transmission component 30.

[0036] In other words, as shown in Figures 2 to 5, the positioning device 100 according to the embodiment of the present disclosure can be used to position the part to be clamped 200, which can be a workpiece such as a battery cell or a battery. The positioning device 100 is mainly composed of a base 10, multiple positioning components 20, a transmission component 30 and a driving component 40, wherein the base 10 constitutes the overall supporting structure of the positioning device 100, and the positioning components 20, the transmission component 30 and the driving component 40 and other structures can be arranged on the base 10. The structure of the base 10 can be reasonably adjusted according to the use scenario and needs of the positioning device 100, and a shelf 11 can be set on the base 10, and the shelf 11 can be used to support the part to be clamped 200.

[0037] The positioning assembly 20 may include two or more, multiple positioning assemblies 20 are relatively spaced apart and arranged on the base 10, and each positioning assembly 20 can be used to clamp or release the part to be clamped 200. When the positioning assembly 20 is in an open state, the positioning assembly 20 can form an open positioning frame structure, at which time, the part to be clamped 200 can be placed on or removed from the positioning assembly 20. When the positioning assembly 20 is in a closed state, the positioning frame is in a closed state, and the positioning assembly 20 can clamp the part to be clamped 200 so that the part to be clamped 200 is positioned. The operation of taking and placing the part to be clamped 200 on the positioning assembly 20 is understandable and easy to implement for those skilled in the art, and therefore will not be described in detail.

[0038] The transmission member 30 is connected to multiple positioning assemblies 20 and can drive the multiple positioning assemblies 20 to move synchronously during movement, thereby achieving synchronous clamping or loosening of the multiple positioning assemblies 20 with respect to the clamped object 200. The driving member 40 is connected to the transmission member 30 and can drive the transmission member 30 through a driving structure, thereby driving multiple positioning assemblies 20 to achieve synchronous movement through a single driving structure.

[0039] Therefore, according to the positioning device 100 of the embodiment of the present disclosure, by connecting multiple positioning components 20 by a transmission member 30, and connecting the driving member 40 to the transmission member 30, it is possible to drive multiple positioning components 20, and there is no need to separately set a driving member 40 for a single positioning component 20, which greatly reduces the number of driving members 40, streamlines the driving pipeline, reduces the plane size required for the fixture, and reduces the cost.

[0040] According to one embodiment of the present disclosure, the positioning assembly 20 includes a planetary wheel 21 and a push block assembly 22 .

[0041] Specifically, the planetary wheel 21 is movable between a first position and a second position, the planetary wheel 21 is connected to the transmission member 30 to be driven by the transmission member 30, the push block assembly 22 is movably connected to the planetary wheel 21, and the push block assembly 22 is switchable between an open state and a closed state. When the planetary wheel 21 is in the first position, the push block assembly 22 is in an open state, and when the planetary wheel 21 is in the second position, the push block assembly 22 is in a closed state.

[0042] In other words, the positioning assembly 20 is mainly composed of two parts: a planetary wheel 21 and a push block assembly 22. The push block assembly 22 constitutes a clamping structure that can directly clamp or release the part to be clamped 200. The planetary wheel 21 is connected to the push block assembly 22 and directly drives the push block assembly 22 to switch between the open state and the closed state. The planetary wheel 21 can be connected to the transmission member 30, so that the transmission member 30 cooperates with the planetary wheel 21 to drive the push block assembly 22 to move.

[0043] Therefore, the structure of opening and closing the positioning assembly 20 by cooperating with the planetary wheel 21 and the push block assembly 22 is simple and feasible, with fewer parts and low cost.

[0044] In some specific embodiments of the present disclosure, each pushing block assembly 22 includes: a first pushing member 221 , a second pushing member 222 and a positioning stopper 223 .

[0045] Specifically, the first pushing member 221 extends along the first direction and is movable in the first direction, one end of the first pushing member 221 abuts against the planetary wheel disc 21 to be pushed by the planetary wheel disc 21, the second pushing member 222 extends along the second direction and is movable in the second direction, one end of the second pushing member 222 abuts against the planetary wheel disc 21 to be pushed by the planetary wheel disc 21, the positioning block 223 is provided at one end of the first pushing member 221 away from the planetary wheel disc 21 and one end of the second pushing member 222 away from the planetary wheel disc 21, wherein, when the pushing block assembly 22 is in the open state, the distance between the positioning block 223 and the center of the planetary wheel disc 21 is L1, and when the pushing block assembly 22 is in the closed state, the distance between the positioning block 223 and the center of the planetary wheel disc 21 is L2, L1>L2.

[0046] 6 and 7 illustrate the structure of the positioning assembly 20 of the positioning device 100 in different states according to an embodiment of the present disclosure, wherein FIG6 is a schematic diagram of the positioning assembly 20 in an open state, and FIG7 is a schematic diagram of the positioning assembly 20 in a closed state.

[0047] In other words, as shown in FIG6 , the multiple positioning blocks 223 on the push block assembly 22 can be combined to form an openable and closable positioning frame. When the push block assembly 22 is in the open state, the distance between the positioning blocks 223 on the first push member 221 and the second push member 222 and the planetary wheel disc 21 is large. At this time, the positioning frame structure formed by the multiple positioning blocks 223 can be used to freely take and place the to-be-clamped part 200. As shown in FIG7 , when the push block assembly 22 is in the closed state, the distance between the positioning blocks 223 on the first push member 221 and the second push member 222 and the planetary wheel disc 21 is small. At this time, the positioning frame structure formed by the multiple positioning blocks 223 can be used to clamp and fix the to-be-clamped part 200, thereby providing a positioning action for the to-be-clamped part 200.

[0048] Thus, a positioning frame is formed by the cooperation of multiple positioning blocks 223, and the position of the positioning blocks 223 is adjustable, thereby realizing the placement and positioning of the part to be clamped 200. The structure is simple and reasonable, positioning is convenient, and there are few parts, which can effectively simplify the overall layout of the positioning device 100.

[0049] According to some embodiments of the present disclosure, one end of the first pusher 221 and the second pusher 222 are respectively provided with a first mating inclined surface 224 extending obliquely relative to their respective movement directions, and the outer peripheral surface of the planetary wheel 21 is provided with a second mating inclined surface 211 mating with the first mating inclined surface 224, and the planetary wheel 21 can rotate around its own axis to drive the first pusher 221 and the second pusher 222.

[0050] Specifically, as shown in Figures 6 and 7, the first pusher 221 and the second pusher 222 are both driven by the planetary wheel 21 to move in their respective directions. By setting the end faces of the first pusher 221 and the second pusher 222 that abut against the planetary wheel 21 as a first matching inclined surface 224, and setting a second matching inclined surface 211 corresponding to the number and position of the first pusher 221 and the second pusher 222 on the outer peripheral surface of the planetary wheel 21, the planetary wheel 21 can drive the movement of the first pusher 221 and the second pusher 222 when it rotates around its own axis. The matching structure is simpler and more reasonable, and the operation is more convenient.

[0051] In some specific embodiments of the present disclosure, a first elastic member 225 extending along the first direction is provided between the first pushing member 221 and the base 10, a portion of the first elastic member 225 abuts the first pushing member 221, and another portion of the first elastic member 225 abuts the base 10, and a second elastic member extending along the second direction is provided between the second pushing member 222 and the base 10, a portion of the second elastic member abuts the second pushing member 222, and another portion of the second elastic member abuts the base 10.

[0052] Figures 4 and 5 show the assembly structure of the first pushing member 221, the first elastic member 225 and the base 10. The assembly structure of the second pushing member 222, the second elastic member and the base 10 is similar, except that the movement direction and length of the second pushing member 222 can be different from the movement direction and length of the first pushing member 221. The specific design can be reasonably adjusted according to actual needs and is not described in detail here.

[0053] As shown in Figures 4 and 5, mounting grooves are respectively provided at corresponding positions on the first pushing member 221 and the base 10. When the first pushing member 221 and the base 10 are assembled, the mounting grooves of the two can cooperate to form a chamber for setting the first elastic member 225. Half of the first elastic member 225 can be set in the mounting groove of the first pushing member 221, and the other half can be set in the mounting groove of the base 10.

[0054] Therefore, by arranging the first elastic member 225 between the first pushing member 221 and the base 10, the first elastic member 225 can form an elastic force between the first pushing member 221 and the base 10, which not only enables the push block assembly 22 to adapt to the clamped members 200 of different sizes, but also enables the push block assembly 22 to automatically reset when the force of the driving member 40 on the push block assembly 22 disappears, thereby further improving the practicality of the positioning device 100.

[0055] Optionally, according to one embodiment of the present disclosure, each positioning assembly 20 includes two planetary wheels 21, and each positioning assembly 20 also includes: a linkage plate 23, the linkage plate 23 is connected to the two planetary wheels 21 so that the two planetary wheels 21 move synchronously, one of the planetary wheels 21 is connected to the transmission member 30, and each planetary wheel 21 is connected to multiple push block assemblies 22.

[0056] In other words, as shown in Figures 6 and 7, in this embodiment, each positioning assembly 20 not only includes one planetary wheel disc 21, but is composed of two planetary wheel discs 21 in parallel, and each planetary wheel disc 21 is respectively connected to a push block assembly 22, and a linkage plate 23 is provided between the two planetary wheel discs 21, and the two ends of the linkage plate 23 are respectively connected to the two planetary wheel discs 21, so that when any one of the planetary wheel discs 21 moves, the other planetary wheel disc 21 will also move synchronously.

[0057] Therefore, the design of this structure enables each positioning assembly 20 to include more push block assemblies 22, so that it can be suitable for clamping parts 200 to be clamped with different sizes, and has a wider range of applications.

[0058] In some specific embodiments of the present disclosure, each planetary wheel 21 is respectively connected to two first pushers 221 and one second pusher 222 , and the two second pushers 222 of each positioning assembly 20 are disposed on opposite sides of the two planetary wheels 21 .

[0059] Specifically, as shown in Figures 6 and 7, in this embodiment, each positioning assembly 20 includes two planetary wheel discs 21, and each planetary wheel disc 21 is connected to three pushing structures, namely two first pushing members 221 and one second pushing member 222. The four first pushing members 221 connected to the two planetary wheel discs 21 can reciprocate along the first direction in Figure 6, and the movement directions of the first pushing members 221 on both sides of the planetary wheel disc 21 in the first direction are opposite, and the two second pushing members 222 connected to the two planetary wheel discs 21 can reciprocate in the second direction, and the movement directions of the second pushing members 222 on both sides of the planetary wheel disc 21 in the second direction are opposite.

[0060] Therefore, by providing each positioning assembly 20 with 6 mutually cooperating pushing structures, not only does the positioning assembly 20 have a better clamping and positioning effect, but it also has a wider range of applications.

[0061] Optionally, according to an embodiment of the present disclosure, the transmission member 30 is formed as a sun wheel disc rotatable around its own axis, and a plurality of transmission ends 31 are provided on the transmission member 30 , and each transmission end 31 is movably connected to a corresponding planetary wheel disc 21 .

[0062] That is to say, the transmission member 30 is designed as a wheel structure that can rotate around its own axis, and the multiple transmission ends 31 on the transmission member 30 can be movably linked with the corresponding planetary wheels 21, so that the movement of multiple planetary wheels 21 can be driven by the movement of one transmission member 30.

[0063] In some specific embodiments of the present disclosure, there are four positioning assemblies 20 , and the four positioning assemblies 20 are arranged at intervals along the circumference of the transmission member 30 . The transmission member 30 is provided with four transmission ends 31 .

[0064] Specifically, as shown in Figures 6 and 7, in this embodiment, there are four positioning assemblies 20, which are arranged in a matrix. The transmission member 30 is arranged between the four positioning assemblies 20, and the four transmission ends 31 on the transmission member 30 can be movably connected with the four planetary wheel discs 21 of the four positioning assemblies 20 respectively, that is, each transmission end 31 is movably connected with a planetary wheel disc 21 in each positioning assembly 20, so that one transmission member 30 can drive the four positioning assemblies 20 to move, which greatly reduces the number of parts of the positioning device 100 and fully reduces the volume of each component.

[0065] Optionally, the driving member 40 is a pneumatic cylinder or an oil cylinder, and one end of the driving member 40 is movably connected to any one of the transmission ends 31 to drive the transmission member 30 .

[0066] As shown in Figures 3 and 4, the driving member 40 can be a cylinder or oil cylinder structure. One end of the driving member 40 can be assembled on the base 10 through a hinge pin, and the other end of the driving member 40 can be connected to a transmission end 31 of the transmission member 30 through a hinge pin. By extending and retracting the driving member 40, the transmission member 30 can be driven to rotate forward or reverse, thereby providing power for the movement of the positioning assembly 20 and realizing the opening and closing action of the positioning frame.

[0067] The following describes in detail the activity process of the positioning device 100 according to the embodiment of the present disclosure with reference to FIG6 and FIG7 .

[0068] As shown in Figure 6, when the push block assembly 22 is in the open state, the distance between the positioning block 223 on the first push member 221 and the second push member 222 and the planetary wheel 21 is large. At this time, the positioning frame structure enclosed by multiple positioning blocks 223 can be used to freely take and place the part to be clamped 200.

[0069] When it is necessary to position the clamped part 200, the driving part 40 is opened and one end of it is extended. One end of the driving part 40 drives the transmission end 31 of the transmission part 30 to rotate. When the transmission end 31 rotates, it drives the four planetary wheels 21 to rotate synchronously. When the planetary wheels 21 rotate, it simultaneously drives the first pushing member 221 and the second pushing member 222 to shrink toward the center of the corresponding planetary wheel 21 along their respective extension directions, thereby making the push block assembly 22 move to the state shown in Figure 7. At this time, the distance between the positioning block 223 on the first pushing member 221 and the second pushing member 222 and the planetary wheel 21 is small. The positioning frame structure enclosed by multiple positioning blocks 223 can be used to clamp and fix the part to be clamped 200, thereby providing a positioning action for the part to be clamped 200.

[0070] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A positioning device, characterized in that: include: Pedestal; A plurality of positioning components, wherein the plurality of positioning components are arranged at intervals on the base, and each of the positioning components can be switched between an open state and a closed state, wherein when the positioning component is in the closed state, the component to be clamped can be clamped, and when the positioning component is in the open state, the component to be clamped can be taken in and put out; A transmission member, the transmission member is connected to the plurality of positioning components, and the transmission member is movable to drive the plurality of positioning components to move synchronously; A driving member is connected to the transmission member to drive the transmission member.

2. The positioning device according to claim 1 or 2, characterized in that: The positioning component comprises: a planetary wheel disc, the planetary wheel disc being movable between a first position and a second position, the planetary wheel disc being connected to the transmission member to be driven by the transmission member; A push block assembly, wherein the push block assembly is movably connected to the planetary wheel disc, and the push block assembly can be switched between the open state and the closed state. When the planetary wheel disc is located at the first position, the push block assembly is located at the open state, and when the planetary wheel disc is located at the second position, the push block assembly is located at the closed state.

3. The positioning device according to claim 2, characterized in that: Each of the push block assemblies comprises: A first pushing member, the first pushing member extends along a first direction and is movable in the first direction, one end of the first pushing member abuts against the planetary wheel disc to be pushed by the planetary wheel disc; a second pushing member, the second pushing member extending along a second direction and being movable in the second direction, one end of the second pushing member abutting against the planetary wheel disc to be pushed by the planetary wheel disc; a positioning stopper, the positioning stopper being arranged at one end of the first pusher away from the planetary wheel disc and one end of the second pusher away from the planetary wheel disc, Wherein, when the push block assembly is in the open state, the distance between the positioning block and the center of the planetary wheel disc is L1, and when the push block assembly is in the closed state, the distance between the positioning block and the center of the planetary wheel disc is L2, and L1>L2.

4. The positioning device according to claim 3, characterized in that: One end of the first pusher and the second pusher is respectively provided with a first mating inclined surface extending obliquely relative to their respective activity directions, and the outer peripheral surface of the planetary wheel is provided with a second mating inclined surface mating with the first mating inclined surface, and the planetary wheel can rotate around its own axis to drive the first pusher and the second pusher.

5. The positioning device according to claim 3 or 4, characterized in that: A first elastic member extending along a first direction is provided between the first pushing member and the base, a portion of the first elastic member abuts against the first pushing member, and another portion of the first elastic member abuts against the base; A second elastic member extending along the second direction is provided between the second pushing member and the base, a portion of the second elastic member abuts against the second pushing member, and another portion of the second elastic member abuts against the base.

6. The positioning device according to claim 5, characterized in that: Each of the positioning assemblies comprises two planetary wheels, and each of the positioning assemblies further comprises: A linkage plate is connected to the two planetary wheels so that the two planetary wheels move synchronously, wherein one of the planetary wheels is connected to the transmission member, and each of the planetary wheels is respectively connected to a plurality of the push block assemblies.

7. The positioning device according to claim 6, characterized in that: Each of the planetary wheels is respectively connected to two of the first pushing members and one of the second pushing members, and the two second pushing members of each positioning assembly are arranged on opposite sides of the two planetary wheels.

8. The positioning device according to any one of claims 2 to 7, characterized in that: The transmission member is formed as a sun wheel disc rotatable around its own axis. The transmission member is provided with a plurality of transmission ends, and each of the transmission ends is movably connected to the corresponding planetary wheel disc.

9. The positioning device according to claim 8, characterized in that: There are four positioning assemblies, and the four positioning assemblies are arranged at intervals along the circumference of the transmission member, and the transmission member is provided with four transmission ends.

10. The positioning device according to claim 8 or 9, characterized in that: The driving member is a pneumatic cylinder or an oil cylinder, and one end of the driving member is movably connected to any one of the transmission ends to drive the transmission member.

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