CN208453979U - Positioning device and blanking palletizing system - Google Patents

Abstract

The utility model discloses a kind of positioning device and blanking palletizing system, the positioning device includes: pedestal；First positioning mechanism, including multiple rolling members, multiple rolling members are set in installation position and along X to successively arranging, and the vertex of multiple rolling members is generally aligned in the same plane；Second positioning mechanism, the second positioning mechanism include limit base, limiting slot are offered on limit base, limiting slot is along X to extension, and the bottom plate of container is equipped with rotating member, and rotating member is adapted with limiting slot size；Third positioning mechanism, third positioning mechanism include block and locker, and block is used to offset with the first side of container, and locker is used to lock second side of container.The blanking palletizing system includes container and above-mentioned positioning device.The utility model can realize high accuracy positioning to container, and its structure is simple, and low manufacture cost is easy to maintain, simultaneously because container high accuracy positioning, feeding robot directly in blanking to container, without vision detection technology, can reduce cost.

Description

Positioning device and blanking palletizing system

Technical field

The utility model relates to blanking palletizing technology fields, more particularly, to a kind of positioning device and blanking palletizing system.

Background technique

A kind of transfer matic blanking palletizing technology more common at present is the container for making multiple no required precisions, by some After positioning device realizes container preliminary space orientation, need to find lower material position using vision detection technology by robot real It now charges, last operator takes out transfer matic finished goods in a manner of switching container.Positioning dress in this blanking palletizing technology It sets and needs to increase the cost of blanking stacking, and structure is complicated using driving equipments such as cylinder combination, motors, maintenance cost is high, And positioning accuracy.Also, robot vision blanking is high to the limitation of luminosity, mist of oil, vibration etc., and precision is difficult to ensure, and needs It is higher to rely on detection techniques, the costs such as vision.

Utility model content

Technical problem to be solved in the utility model is to provide for a kind of positioning device and blanking palletizing system, can be right Container realizes high accuracy positioning, and its structure is simple, and low manufacture cost is easy to maintain, simultaneously because container high accuracy positioning, under Expect that robot directly in blanking to container, without vision detection technology, can reduce cost.

Above-mentioned technical problem is solved by the following technical programs:

A kind of positioning device, comprising:

Pedestal, pedestal, the pedestal are equipped with the corresponding installation position for placing container, and definition Z-direction is vertical direction, X to and Y The perpendicular both direction into for horizontal plane；

First positioning mechanism, first positioning mechanism include at least one set of positioning component, and the positioning component is included in Multiple rolling members of vertical rotation in surface, the multiple rolling member are set in the installation position and along the X to successively arranging, The vertex of the multiple rolling member is generally aligned in the same plane, and the multiple rolling member is used to support the bottom plate of the container；

Second positioning mechanism, second positioning mechanism include the limit base on the pedestal, on the limit base Limiting slot is offered, for the limiting slot along the X to extension, the bottom plate of the container is more equipped with rotating in the horizontal plane A rotating member, along the X to successively arranging, the rotating member is adapted multiple rotating members with the limiting slot size, The end of the limiting slot is equipped with the first import and export entered for the rotating member；And

Third positioning mechanism, the third positioning mechanism include the block and locker on the pedestal, the gear Block and the locker are set to the two sides of the installation position and arrange along the X-direction, and the block is used in the container It offsets when into the installation position with the first side of the container, the locker is used to enter the installation position in the container When lock second side of the container, first side and described second side are respectively that the container is opposite upwards in the X Two sides.

The positioning device, the first positioning mechanism therein are same by keeping the vertex of multiple rolling members to be thereon located at Plane, namely the bottom plate of container and the contact point of each rolling member is kept to be located at sustained height, form a high-precision support Face, to guarantee that the bottom plate heights of container are constant, thus positioning of the container in Z-direction when realizing blanking stacking.Rolling member is set The resistance that container enters or exit installation position can be reduced by setting, and reduce the wear phenomenon of container.Also, use rolling member and container Bottom plate between realize point contact, it is only necessary to make the contact point of all rolling member and container be generally aligned in the same plane i.e. can guarantee appearance Device Z-direction precision, compared to using the case where face contact, the design of point contact is easier between other components and the bottom plate of container In guarantee container Z-direction precision.In wherein the second positioning mechanism, be caught in limiting slot by using rotating member, come so that Container is limited in Y-direction, guarantees precision of the container in Y-direction when blanking stacking.In third positioning mechanism wherein, pass through The setting of X upward block and locker, so that the first side of container and second side are limited, so that container is in X to quilt Limit, when ensure that blanking stacking container X to precision.And the setting of block and locker, convenient container enter and move back Positioning device out.The positioning device avoids innovatively using simple using driving mechanisms such as traditional cylinder, motors Structure realizes novel positioning method (three-dimensional localization), is easy to make realization, and cost of manufacture is lower.Also, the positioning Device can realize high accuracy positioning of the container on three-dimensional, be convenient in the direct blanking to container of feeding robot, blanking machine Device people only needs to install tutorial program operation, without vision detection technology, reduces the production cost.

The above-mentioned technical solution in relation to positioning device is further described below:

The rolling member includes first bearing in one of the embodiments,；And/or the rotating member includes the second axis It holds.Bearing is standard component, and first bearing and second bearing is respectively adopted to make rolling member and rotating member, is advantageously ensured that all Rolling member and rotating member precision, to guarantee that the vertex of all rolling members can be generally aligned in the same plane, to guarantee to hold Device is in Z-direction high accuracy positioning；Also it can guarantee that the radial dimension of all rotating members is identical, offset with the inner wall of limiting slot, from And realize container in Y-direction high accuracy positioning.And the mechanical strength and stability of first bearing and second bearing are high, are less prone to The phenomenon that deformation or abrasion.

The positioning component is two groups in one of the embodiments, and positioning component described in two groups is arranged along the Y-direction Cloth, the vertex of all rolling members are respectively positioned on same plane, and the limit base is between positioning component described in two groups； And/or the block is two, two blocks are arranged along the Y-direction, and the locker is two, two locks Tight device arranges along the Y-direction and is located at the two sides of the installation position.Two groups of positioning components for Z-direction positioning can basis The width of container is symmetrical, to guarantee container stress equalization, is further ensured that container in the positioning accuracy of Z-direction.For Y-direction The limit base of positioning can be set to the middle position of two groups of positioning components, be further ensured that container positioning accuracy.In addition, for X to The block and locker of positioning are also two, and two blocks and two lockers can correspond to the even width arrangement of container, are protected Stress equalization when demonstrate,proving container positioning, to guarantee precision when container positioning.

The block is concaved with accommodation groove towards the locker on one side in one of the embodiments, described First side of container is equipped with the limited block that with accommodation groove one-to-one correspondence and shape matches.Pass through limited block and accommodation groove Cooperation may be implemented the quick positioning of container, also, guaranteeing that X is also furthermore achieved in Y-direction to the basis of positioning Positioning.

The accommodation groove is in the V-shape or trapezoidal shape that extend out in one of the embodiments, the shape of the limited block with The shape of the accommodation groove matches.The accommodation groove of V-shape or trapezoidal shape advantageously forms a guiding role, so that limited block Can automatic capturing, in quick insertion accommodation groove, realize quickly positioning.

Position and the limited block of the locker on the trolley are set to institute in one of the embodiments, It states on the bottom plate of container, so that stress of the container when three-dimensional positions is focused on bottom plate, when container being promoted to position Stability is not in other wild effects such as to topple over, shake.

It in one of the embodiments, further include buffer, the buffer and the block are set to the installation position The same side, the buffer with the first side of the container for being in contact.When the setting of buffer is in place for realizing container Buffer function, to play the role of protection to container.

It in one of the embodiments, further include lead limit switch, the lead limit switch and the block are set to The same side of the installation position, the lead limit switch and feeding robot are electrically connected.When container is in place, container touching Lead limit switch, lead limit switch send container with regard to bit instruction, after feeding robot receives instruction to feeding robot Start to act, workpiece is fitted into container.

The pedestal is equipped with two guide grooves being arranged side by side along the Y-direction in one of the embodiments, described Guide groove extends along the X-direction, and first positioning mechanism and second positioning mechanism are set to two guiding Between slot, the container is equipped with movable pulley, and the end of the guide groove is equipped with the second import and export entered for the movable pulley. The setting of guide groove is used to be oriented to and be limited for container walking.

The technical program additionally provides a kind of blanking palletizing system, including container and above-mentioned positioning device, the container Bottom plate be equipped with rotating member, more loading rods are equipped in the container.

The blanking palletizing system realizes three-dimensional high-precision positioning to container using above-mentioned positioning device, so that blanking Robot only needs to install tutorial program operation, without vision detection technology, reduces the production cost.Meanwhile it is described fixed Position apparatus structure is simple, and cost of manufacture is lower, advantageously reduces system overall cost.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of positioning device described in an embodiment of the present invention；

Fig. 2 is the exploded view of blanking palletizing system described in an embodiment of the present invention；

Fig. 3 is side view of the blanking palletizing system when container is in place in Fig. 2.

Description of symbols:

100, positioning device, 110, pedestal, 120, positioning component, the 121, first mounting base, 122, rolling member, 130, limit Seat, 131, limiting slot, 1311, first import and export, the 140, second mounting base, 141, block, 1411, accommodation groove, 142, locker, 150, buffer, 160, lead limit switch, 170, guide plate, 171, guide groove, 1711, second import and export, 180, buttcover plate, 190, support base, 200, container, 210, bottom plate, the 220, first side, 230, second side, 240, rotating member, 250, movable pulley, 260, Loading rod, 270, limited block.

Specific embodiment

It is below in conjunction with attached drawing and specifically real for the purpose of this utility model, technical solution and advantage is more clearly understood Mode is applied, the utility model is described in further detail.It should be understood that the specific embodiments described herein Only to explain the utility model, the protection scope of the utility model is not limited.

It should be noted that it can be directly anchored to another when element is referred to as " being fixed on " another element On element or another element can also be fixed on by element placed in the middle.When an element be known as " connection " another Element, it can be directly to another element or be also possible to be connected to another yuan by element placed in the middle Part.In addition, unless otherwise indicated, otherwise the descriptions such as the term " first " in specification and " second " are used only for distinguishing specification In various components, element, step etc., without being intended to indicate that various components, element, the logical relation between step or suitable Order relation etc..

As shown in Figure 1, positioning device 100 described in an embodiment of the present invention, including pedestal 110, the first localization machine Structure, the second positioning mechanism and third positioning mechanism.Wherein, the pedestal 110 is supported in as the bottom of entire positioning device 100 On ground or work top.Definition Z-direction is vertical direction, and X is to being perpendicular both direction in horizontal plane with Y-direction.The bottom Seat 110 is equipped with the corresponding installation position for placing container 200, wherein the container 200 can be trolley, storage case, support bracket etc.. For positioning in Z-direction to container 200, second positioning mechanism is used in Y-direction to container 200 first positioning mechanism It is positioned, the third positioning mechanism in X to container 200 for positioning.It, can be manually by container in blanking stacking 200 push on the installation position of positioning device 100 or container 200 automatically walk to the installation position of positioning device 100 on, Zhi Houding Position device 100 positions container 200, and feeding robot grabbing workpiece (such as other workpiece of gear, nut) and can be transferred to appearance In device 200, to implement stacking.It is artificial that container 200 is pushed to leave positioning device 100 or container 200 automatically after stacking Drive remotely located device 100.

Wherein, specifically, please continue to refer to Fig. 1, first positioning mechanism includes at least one set of positioning component 120.Institute Stating positioning component 120 includes multiple rolling members 122 that (face XZ) rotates in vertical plane, and the multiple rolling member 122 is set to institute It states in installation position and along the X to successively arranging.The vertex of the multiple rolling member 122 is generally aligned in the same plane, the multiple Rolling member 122 is used to support the bottom plate 210 of the container 200.Since during routine use, 200 long-time of container is used Abrasion deformation and loose-parts phenomenon can occur, the Z-direction precision of container 200 is caused to be difficult to ensure.In the present embodiment, first is fixed The vertex of multiple rolling members 122 of the position mechanism by holding thereon is generally aligned in the same plane, namely keeps the bottom plate 210 of container 200 It is located at sustained height with the contact point of each rolling member 122, a high-precision and stable supporting surface is formed, to guarantee container 200 210 constant height of bottom plate, thus positioning of the container 200 in Z-direction when realizing blanking stacking.The setting of rolling member 122 can To reduce the resistance that container 200 enters or exit installation position, the wear phenomenon of container 200 is reduced.Also, use rolling member 122 Point contact is realized between the bottom plate 210 of container 200, it is only necessary to be located at all rolling member 122 and the contact point of container 200 Same plane be can guarantee container 200Z to precision, connect compared to using face between other components and the bottom plate 210 of container 200 The case where touching, the design of point contact be easier to guarantee container 200Z to precision.

Please continue to refer to Fig. 1, second positioning mechanism includes the limit base 130 on the pedestal 110, the limit Limiting slot 131 is offered on the seat 130 of position.The limiting slot 131 is along the X to extension.Incorporated by reference to 3, the bottom of the container 200 Plate 210 is equipped with the multiple rotating members 240 rotated in the horizontal plane (face XY), multiple rotating members 240 along the X to according to Secondary arrangement.The rotating member 240 is adapted with 131 size of limiting slot.The end of the limiting slot 131 is equipped with to be turned for described The first import and export 1311 that moving part 240 enters.Container 200 enters inside limiting slot 131 after first import and export 1311, passes through It is caught in limiting slot 131 using rotating member 240, rotating member 240 and the two sides cell wall of limiting slot 131 offset, and come so that container 200 It is limited in Y-direction, guarantees precision of the container 200 in Y-direction when blanking stacking.Direction indicated by arrow A in Fig. 1 is to hold Device 200 enters the direction of positioning device 100.

Please continue to refer to Fig. 1, the third positioning mechanism includes the block 141 and locker on the pedestal 110 142, the block 141 and the locker 142 are set to the two sides of the installation position and arrange along the X-direction.Incorporated by reference to Fig. 2, the block 141 are used to offset when the container 200 enters the installation position with the first side 220 of the container 200, The locker 142 is used to lock second side 230 of the container 200 when the container 200 enters the installation position.It is described First side 220 and described second side 230 are respectively the container 200 in the upward opposite two sides the X.Pass through the upward gear of X The setting of block 141 and locker 142, so that the first side 220 of container 200 and second side 230 are limited, so that container 200X to being limited, when ensure that blanking stacking container 200 X to precision.And the setting of block 141 and locker 142, Convenient container 200 enters and exits positioning device.It should be noted that the locker 142 can be selected now according to actual needs Some locking devices, such as compactor, hand wheel lock, belong to the prior art, and locker 142 itself is simultaneously not belonging to the utility model Improvement scope in, do not describe in detail then.

In summary, the positioning device 100 is avoided using driving mechanisms such as traditional cylinder, motors, innovatively Novel positioning method (three-dimensional localization) is realized using simple structure, is easy to make realization, cost of manufacture is lower.And And the positioning device 100 can realize high accuracy positioning of the container 200 on three-dimensional, under being convenient for feeding robot direct In material to container 200, feeding robot only needs to install tutorial program operation, without vision detection technology, reduces system Make cost.

Further, in first positioning mechanism, as shown in Figure 1, the positioning component 120 further includes for installing First mounting base 121 of the rolling member 122.The rolling member 122 mainly includes that (high-precision axis can be selected in first bearing Hold), it further include the fastener for installing first bearing.Bearing is standard component, and rolling member 122 is made of first bearing, Advantageously ensure that the vertex of all rolling members 122 can be generally aligned in the same plane, to guarantee that container 200 is high-precision fixed in Z-direction Position.And the phenomenon that mechanical strength and stability of bearing are high, are less prone to deformation or abrasion.It should be noted that described Other rolling members such as other high-precision idler wheels also can be selected in rolling member 122.

The positioning component 120 is two groups, and positioning component 120 described in two groups is arranged along the Y-direction, all rollings The vertex of moving part 122 is respectively positioned on same plane.Two groups of positioning components 120 can be symmetrical according to the width of container 200, to protect 200 stress equalization of container is demonstrate,proved, is further ensured that container 200 in the positioning accuracy of Z-direction.It should be noted that in other embodiments In, the quantity of the positioning component 120 can be one or more groups of etc..

In second positioning mechanism, as shown in Figure 1, the limit base 130 be set to two groups described in positioning component 120 it Between, it is further ensured that 200 positioning accuracy of container.It is worth noting that, the limit base 130 can be the groove body knot of integral type Structure can also be and combine the trough body structure formed by several pieces of side baffles.Also, first mounting base 121 and the limit base 130 are installed on the pedestal 110 by a support base 190, and channel steel can be selected in the support base 190.On the one hand channel steel is used In supporting the first positioning mechanism and the second positioning mechanism, on the other hand there is preferable mechanical strength and rigidity, it is ensured that by Power demand, guarantee will not deform after prolonged use, guarantee the positioning accuracy of the first positioning mechanism and the second positioning mechanism.

Incorporated by reference to Fig. 3, it further includes using that the rotating member 240, which mainly includes second bearing (high-precision bearing can be selected), In the fastener for installing the second bearing.Bearing is standard component, using second bearing come rotating member 240, be can guarantee all The radial dimension of rotating member 240 is identical, and the inner wall with limiting slot 131 offsets, to realize that container 200 is high-precision fixed in Y-direction Position.And the phenomenon that mechanical strength and stability of bearing are high, are less prone to deformation or abrasion.Wherein, each rotating member It include two second bearings in 240, two second bearings are arranged along the Y-direction, and two second bearings are for further Ensure the positioning accuracy of container 200 in the Y direction.It should be noted that in other embodiments, high-precision limit can be used Other rotating members such as wheel replace the second bearing, and can also only include second axis in each rotating member 240 It holds.

In the third positioning mechanism, as shown in Figure 1, the third positioning mechanism further includes the second mounting base 140, institute Block 141 is stated to be installed on pedestal 110 by second mounting base 140.The block 141 is two, two blocks 141 arrange along the Y-direction.The locker 142 is also two, and two lockers 142 are arranged and divided along the Y-direction Not Wei Yu the installation position two sides.Single corresponding the first mounting base for being installed on a positioning component 120 of the locker 142 121 end.The width that two blocks 141 and two lockers 142 can correspond to container 200 is arranged symmetrically, and guarantees that container 200 is fixed Stress equalization when position, to guarantee precision when container 200 positions.It should be noted that in other embodiments, the block 141 and the quantity of the locker 142 can be set as one or more according to actual needs.

Further, the block 141 is concaved with accommodation groove 1411 towards the locker 142 on one side.It please tie Fig. 2 is closed, the first side 220 of the container 200 is equipped with the limit that with the accommodation groove 1411 one-to-one correspondence and shape matches Block 270.May be implemented the quick positioning of container 200 by the cooperation of limited block 270 and accommodation groove 1411, also, guarantee X to Also the positioning in Y-direction is furthermore achieved on the basis of positioning.

Further, as depicted in figs. 1 and 2, the accommodation groove 1411 is in the V-shape or trapezoidal shape extended out, the limit The shape of position block 270 and the shape of the accommodation groove 1411 match.The accommodation groove 1411 of V-shape or trapezoidal shape advantageously forms One guiding role, enables 270 automatic capturing of limited block, in quick insertion accommodation groove 1411, realizes quickly positioning.It needs Illustrate, in other embodiments, the accommodation groove 1411 is also designed to square groove, arc-shaped slot etc..

The position of the limited block 270 and the locker 142 on the trolley is set to the container 200 On bottom plate 210, so that stress of the container 200 when three-dimensional positions is focused on bottom plate 210, when container 200 being promoted to position Stability, be not in other wild effects such as to topple over, shake.

In the present embodiment, as shown in Figure 1, the positioning device 100 further includes buffer 150,150 He of buffer The block 141 is set to the same side of the installation position, and the buffer 150 is also installed in second mounting base 140.Institute Buffer 150 is stated for being in contact with the first side 220 of the container 200, when buffer 150 is in place for realizing container 200 Buffer function, to play the role of protection to container 200.Optionally, the buffer 150 is two, and two described slow It rushes device 150 to arrange along the Y-direction, the width direction that can correspond to container 200 is arranged symmetrically.

Please continue to refer to Fig. 1, the positioning device 100 further includes lead limit switch 160, the lead limit switch 160 and the block 141 be set to the installation position the same side.The lead limit switch 160 is mountable to second peace It fills on seat 140, is also directly mounted on pedestal 110.The lead limit switch 160 and feeding robot (attached drawing is not shown) electricity Property connection (wired connection or wireless connection).When container 200 is in place, container 200 touches lead limit switch 160, stroke limit Bit switch 160 sends container 200 with regard to bit instruction to feeding robot, and feeding robot starts to act after receiving instruction, by workpiece It is fitted into container 200.

In addition, as shown in Figure 1, the pedestal 110 is equipped with two guide grooves 171 being arranged side by side along the Y-direction, bottom On seat 110 guide groove 171 can be cooperatively formed by the way that two pieces of guide plates 170 being arranged side by side are arranged.The guide groove 171 Extend along the X-direction.First positioning mechanism and second positioning mechanism be set to two guide grooves 171 it Between.Incorporated by reference to Fig. 2, the container 200 is equipped with movable pulley 250, and the end of the guide groove 171, which is equipped with, supplies the movable pulley 250 second import and exports 1711 entered.The setting of guide groove 171 is used to be oriented to and be limited for the walking of container 200.

Further, the limiting slot 131 is in outer expanding shape close to one end of the first import and export 1311；The guide groove 171 close to one end of the second import and export 1711 be in outer expanding shape.Namely the limiting slot 131 is close to the first import and export The width of 1311 one end is gradually increased along towards the direction of the first import and export 1311；The guide groove 171 is close to institute The width for stating one end of second import and export 1711 is gradually increased along towards the direction of the second import and export 1711.Such design Convenient container 200 enters in positioning device 100.

Please continue to refer to Fig. 1, the positioning device 100 further includes buttcover plate 180, and the buttcover plate 180 is set to the bottom The inlet of seat 110.The buttcover plate 180 includes and the first end and opposite with the first end of the pedestal 110 docking Second end.The thickness of the buttcover plate 180 is gradually reduced along the direction of the first end to the second end, and described first It holds concordant with the pedestal 110.The setting of buttcover plate 180 so that container 200 and the butt-joint operation of positioning device 100 simply just Victory, operator only need simply to switch trolley can bulk blanking, operation is simple and work load is low.Each guide groove The guide plate 170 in 171 outside extends to the buttcover plate 180 along the X direction, for just initially entering pedestal to container 200 Guide and limit is realized when 110.

As shown in Figures 2 and 3, another embodiment of the utility model additionally provides a kind of blanking palletizing system, including container 200 and above-mentioned positioning device 100.The blanking palletizing system further includes feeding robot, and the feeding robot attached drawing is not It shows.The bottom plate 210 of the container 200 is equipped with above-mentioned rotating member 240.More (two or two are equipped in the container 200 It is more than root) loading rod 260.Feeding robot is attached on a loading rod 260 by gradually covering each workpiece, and passes through power sense Device feedback thrust signal is answered to judge whether current loading rod 260 is filled.After filling workpiece on the loading rod 260, blanking machine Workpiece is then loaded on next loading rod 260 by device people successively.From the foregoing, it will be observed that the blanking palletizing system is determined using above-mentioned Position device 100 realizes three-dimensional high-precision positioning to container 200, so that feeding robot only needs to install tutorial program operation, nothing Vision detection technology need to be used, is reduced the production cost.Meanwhile 100 structure of positioning device is simple, cost of manufacture is lower, Advantageously reduce system overall cost.

Further, the material bar body 261 is inclined relative to horizontal setting, and the material bar body 261 is equipped with and institute The second connection end stating the first connecting pin of the connection of guide column 262 and being connect with the inner wall of the container 200, first connection End is located at the top of the second connection end.The material bar body 261 being obliquely installed may advantageously facilitate each workpiece and pass through its own On gravity quick load to material bar body 261.It should be noted that in other embodiments, the loading rod 260 can also be horizontal It places.

Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance Shield all should be considered as described in this specification.

Above embodiments only express the several embodiments of the utility model, and the description thereof is more specific and detailed, but simultaneously The limitation to utility model patent range therefore cannot be interpreted as.It should be pointed out that for the ordinary skill people of this field For member, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this reality With novel protection scope.

Claims (10)

1. a kind of positioning device characterized by comprising

Pedestal, the pedestal be equipped with corresponding to container installation position, definition Z-direction be vertical direction, X to Y-direction be horizontal plane Interior perpendicular both direction；

First positioning mechanism, first positioning mechanism include at least one set of positioning component, and the positioning component is included in vertically Multiple rolling members of rotation in surface, the multiple rolling member is set in the installation position and along the X to successively arranging, described The vertex of multiple rolling members is generally aligned in the same plane, and the multiple rolling member is used to support the bottom plate of the container；

Second positioning mechanism, second positioning mechanism include the limit base on the pedestal, are opened up on the limit base There is limiting slot, for the limiting slot along the X to extension, the bottom plate of the container is equipped with multiple turns rotated in the horizontal plane Moving part, along the X to successively arranging, the rotating member is adapted multiple rotating members with the limiting slot size, described The end of limiting slot is equipped with the first import and export entered for the rotating member；And

Third positioning mechanism, the third positioning mechanism include block and locker on the pedestal, the block and The locker is set to the two sides of the installation position and arranges along the X-direction, and the block is used to enter in the container It offsets when the installation position with the first side of the container, the locker is used to lock when the container enters the installation position Second side of the tight container, first side and described second side are respectively the container in the upward opposite two sides the X.

2. positioning device according to claim 1, which is characterized in that the rolling member includes first bearing；And/or institute Stating rotating member includes second bearing.

3. positioning device according to claim 1, which is characterized in that the positioning component is two groups, is positioned described in two groups Component is arranged along the Y-direction, and the vertex of all rolling members is respectively positioned on same plane, and the limit base is set to two groups of institutes It states between positioning component；And/or the block is two, two blocks are arranged along the Y-direction, and the locker is Two, two lockers arrange along the Y-direction and are located at the two sides of the installation position.

4. positioning device according to any one of claim 1 to 3, which is characterized in that the block is towards the locking Device is concaved with accommodation groove on one side, and the first side of the container is equipped with accommodation groove one-to-one correspondence and shape matches The limited block of conjunction.

5. positioning device according to claim 4, which is characterized in that the accommodation groove is in the V shape or trapezoidal extended out Shape, the shape of the limited block and the shape of the accommodation groove match.

6. positioning device according to claim 4, which is characterized in that the container is trolley, the limited block and described Locker is on the bottom plate that the position on the trolley is set to the container.

7. positioning device according to any one of claim 1 to 3, which is characterized in that it further include buffer, the buffering Device and the block are set to the same side of the installation position, and the buffer with the first side of the container for being in contact.

8. positioning device according to any one of claim 1 to 3, which is characterized in that it further include lead limit switch, institute It states lead limit switch and the block is set to the same side of the installation position, the lead limit switch and feeding robot electricity Property connection.

9. positioning device according to any one of claim 1 to 3, which is characterized in that the pedestal is equipped with along institute Two guide grooves that Y-direction is arranged side by side are stated, the guide groove extends along the X-direction, first positioning mechanism and described Second positioning mechanism is set between two guide grooves, and the container is equipped with movable pulley, and the end of the guide groove is set There is the second import and export entered for the movable pulley.

10. a kind of blanking palletizing system, which is characterized in that including container and positioning as claimed in any one of claims 1-9 wherein Device, the bottom plate of the container are equipped with rotating member, are equipped with more loading rods in the container.