A device suitable for autonomous positioning of material cart

Abstract

The present invention provides a device suitable for autonomous positioning of a material cart, comprising a bottom plate, a lateral resisting mechanism arranged on the bottom plate, and symmetrically arranged two-way guide mechanisms; the two-way guide mechanisms are respectively located on the inner side of the lateral resisting mechanism, and the two-way guide mechanisms autonomously position material carts of different sizes by changing the spacing between each other, and the lateral resisting mechanism is used to clamp the material cart to meet actual production needs. The device of the present invention can position material carts of different sizes in actual working conditions to meet the needs of actual working conditions. At the same time, the device has a simple structure and low cost, and is suitable for autonomous positioning of material carts on various assembly lines.

Description

Technical Field

[0001] The invention relates to the technical field of automatic positioning equipment, and in particular to a device suitable for autonomous positioning of a material vehicle. Background Art

[0002] In the existing various process production lines and automated production lines, feed carts are often used. After the feed cart reaches the designated position, it needs to be positioned to prevent the feed cart from moving automatically. On the automobile production line, the feed cart usually transports the material (auto parts) to the designated position and stays for a period of time so that the manipulator and other equipment can grab it. This requires a corresponding automatic positioning device to perform precision positioning of the feed cart to prevent the feed cart from moving. In actual working conditions, the devices used for positioning are mostly fixed at the designated position and are compatible with the feed cart. When the feed cart arrives, it is positioned again, which is quick and convenient. However, at this stage, this fixed positioning device can only position the feed carts of matching sizes. On the production line, the sizes of the feed carts cannot all be the same. There must be certain size differences. This easily leads to the inability of the fixed positioning device to position the feed carts of different sizes well. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a device suitable for autonomous positioning of a material vehicle.

[0004] An embodiment of the present invention provides a device suitable for autonomous positioning of a material vehicle, comprising:

[0005] Base plate;

[0006] A transverse resisting mechanism is arranged on the bottom plate, which comprises a transverse plate, two clamping and positioning assemblies and a first position sensor, wherein the transverse plate is arranged on the upper end surface of the bottom plate, and the two clamping and positioning assemblies are symmetrically arranged at the two ends of the inner side surface of the transverse plate, and each of the clamping and positioning assemblies comprises a motor, a clamping frame and a screw, wherein the screw is rotatably mounted on the inner side surface of the transverse plate, one end of the clamping frame is sleeved on the screw and the other end is away from the transverse plate, and the motor is used to drive the screw to rotate to drive the clamping frame to move, thereby clamping the material cart;

[0007] And symmetrically arranged two lateral guide mechanisms, each of the lateral guide mechanisms includes a guide side plate and a plurality of rotation positioning components, wherein one end of the guide side plate is perpendicular to the inner side surface of the horizontal plate, and the other end is away from the horizontal plate, and each of the rotation positioning components is arranged in sequence along the outer side surface of the length direction of the guide side plate, and each of the rotation positioning components includes a Y-shaped frame, a cylinder and a positioning wheel, wherein the first end of the Y-shaped rod is provided with a rotatable positioning wheel, the second end is rotatably connected to the bottom plate, and the third end is transmission connected to the cylinder, and the cylinder drives the Y-shaped frame to rotate so that the positioning wheel passes through the guide side plate and abuts against the material cart.

[0008] Furthermore, symmetrical grooves are provided at both ends of the inner side surface of the transverse plate along the length direction, and the two screw rods are respectively accommodated in the two grooves. Mounting seats are provided at both ends of each screw rod, and the screw rods can be rotatably fixed in the corresponding grooves through the two mounting seats.

[0009] Furthermore, corresponding grooves are extended from the two ends of the two screw rods away from each other, and a driven wheel is provided at one end of each screw rod extending from the corresponding groove, and a driving wheel is provided on the output end of each motor, and the driving wheel on each motor is connected to the driven wheel on the corresponding screw rod through a transmission belt.

[0010] Furthermore, each of the clamping frames includes a moving block and three clamping rods, wherein one end of the moving block is accommodated in the corresponding groove and is sleeved on the corresponding screw rod by a threaded connection, and the other end and two side surfaces of the moving block are fixedly provided with an insert sleeve to form a cross-like structure, and each of the clamping rods corresponds to each of the insert sleeves one by one, one end of each of the clamping rods is inserted into the corresponding insert sleeve, and the other end is provided with an inwardly bent hook, and a locking groove is formed on the outer surface of each insert sleeve, and the corresponding clamping rod is locked by a locking member.

[0011] Furthermore, each of the guide side plates is provided with a plurality of avoidance openings, each of the avoidance openings on the guide side plates corresponds one-to-one to each of the positioning wheels on the outer side surface of the guide side plate, the third end of each of the Y-shaped frames is located outside of its second end, the second end of each of the Y-shaped frames is rotatably fixedly connected to the base plate through a rotating rod, each of the cylinders is fixedly connected to the corresponding guide side plate through a supporting frame, and its telescopic end is rotatably connected to the third end of the corresponding Y-shaped frame.

[0012] Furthermore, each of the guide side plates includes a first plate body and a second plate body, wherein one end of the first plate body is close to the inner side surface of the horizontal plate and perpendicular to the horizontal plate, and one end of the second plate body is connected to the other end of the first plate body and the other end faces outward.

[0013] Furthermore, the transverse plate and each of the guide side plates are detachably fixedly connected to the upper surface of the base plate via a plurality of mounting feet, and a slope is provided at one end of the base plate away from the transverse plate.

[0014] Furthermore, at least two buffers are provided on the inner side of the transverse plate, and a second position sensor is provided on each of the first plates.

[0015] The beneficial effects brought about by the technical solution provided by the embodiments of the present invention are: a device suitable for autonomous positioning of a material cart of the present invention drives the movement of the clamping frame by a motor so that the material cart is clamped and positioned after it stops; a buffer is used to prevent the material cart from directly colliding with the cross plate; when the material cart enters between the two guide side plates, the position of each positioning wheel is adjusted so that each positioning wheel is against the side of the material cart, thereby positioning the material cart body; the position of the material cart is detected by the first position sensor and the second position sensor so that the clamping frame and each positioning wheel are adapted to the size of the material cart. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the relative relationship between a device suitable for autonomous positioning of a material vehicle and the material vehicle of the present invention;

[0017] Figure 2 It is a schematic diagram of the overall structure of a device suitable for autonomous positioning of a material vehicle according to the present invention;

[0018] Figure 3 yes Figure 1 A schematic diagram of the structure of the middle lateral resistance mechanism;

[0019] Figure 4 yes Figure 3 A local enlarged schematic diagram of the middle A;

[0020] Figure 5 yes Figure 2 A schematic diagram of the structure of the middle guide side plate;

[0021] Figure 6 yes Figure 2 Schematic diagram of the structure of the rotary positioning component.

[0022] In the figure: 1-bottom plate, 2-lateral resistance mechanism, 3-lateral guide mechanism, 4-material cart, 5-horizontal plate, 6-clamping positioning assembly, 7-groove, 8-buffer, 9-first position sensor, 10-screw, 11-driven wheel, 12-driving wheel, 13-transmission belt, 14-motor, 15-moving block, 16-insertion cylinder, 17-clamping rod, 18-guide side plate, 19-rotation positioning assembly, 20-installation foot, 21-first plate body, 22-second plate body, 23-avoidance, 24-cylinder, 25-Y-frame, 26-positioning wheel, 27-rotating rod, 28-support frame, 29-second position sensor. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0024] Please refer to Figure 1 An embodiment of the present invention provides a device suitable for autonomous positioning of a material cart, which includes a base plate 1, a lateral blocking assembly 2, and two side guide mechanisms 3. The autonomous positioning device is used to position material carts 4 of different sizes to meet the needs of actual working conditions.

[0025] Please refer to Figures 1 to 4 The lateral resisting assembly 2 and the two lateral guiding mechanisms 3 are both arranged on the upper end surface of the base plate 1, and the two lateral guiding mechanisms 3 are symmetrically arranged at the two ends of the inner side surface of the lateral guiding assembly 2. It should be noted here that the side of the lateral guiding assembly 2 close to the two lateral guiding mechanisms 3 is the inner side surface; the end of the base plate 1 away from the lateral guiding assembly 2 is provided with a slope, which facilitates the entry of the material cart 4; at the same time, the base plate 1 is provided with an opening at the position between the two lateral guiding mechanisms 3, so as to avoid the bottom of the material cart 4 from scraping the base plate 1 under special circumstances.

[0026] The lateral guide component 2 includes a transverse plate 5 and two clamping and positioning components 6, wherein the transverse plate 5 is fixed to the upper end surface of the base plate 1 by a plurality of mounting feet 20, and the two clamping and positioning components 6 are symmetrically arranged at both ends of the inner side surface of the transverse plate 5, and the two clamping and positioning components 6 are used to clamp and position the material cart 4; the inner side surface of the transverse plate 5 is provided with a plurality of first position sensors 9. In this embodiment, the number of the first position sensors 9 is two, and they are symmetrically arranged on the inner side surface of the transverse plate 5. The two first position sensors 9 are used to detect the position of the material cart 4, and then the two clamping and positioning components 6 realize clamping and positioning according to the position of the material cart 4. It should be noted here that the autonomous positioning device in this embodiment also includes an external controller, and the controller stores a corresponding control program. After the two first position sensors 9 detect the position of the material cart 4, the information is transmitted to the controller. Then, the controller controls the two clamping and positioning components 6 according to the position information to realize the clamping and positioning of the material cart 4, and this controller and its control program are a relatively common prior art, so they are not described in detail here.

[0027] Symmetrical grooves 7 are respectively provided at both ends of the inner side surface of the transverse plate 5, and the length direction of each groove 7 is symmetrical with the length direction of the transverse plate 5. The two adjacent ends of the two grooves 7 are not connected, and the two grooves 7 correspond to the two clamping and positioning components 6 one by one, respectively. Each groove 7 is used to limit the moving range of the corresponding clamping and positioning component 6, so the length of each groove 7 is not limited by the drawings of this embodiment.

[0028] Each of the clamping and positioning components 6 includes a motor 14, a screw 10 and a clamping frame, wherein the screw 10 is accommodated in the corresponding groove 7, and mounting seats are respectively provided at both ends of the screw 10. The screw 10 can be rotatably fixed in the corresponding groove 7 through the mounting seats at both ends. Each of the mounting seats can be a bearing seat, etc. One end of the clamping frame is accommodated in the corresponding groove 7 and is sleeved on the screw 10 by a threaded connection. The motor 14 is transmission-connected to the screw 10, and the motor 14 is used to drive the screw 10 to rotate, thereby driving the movement of the clamping frame, and further realizing the clamping and positioning of the material cart 4.

[0029] The two ends of the two screw rods 10 that are far away from each other extend out corresponding grooves 7 respectively, and one end of each screw rod 10 extending out of the corresponding groove 7 is fixedly provided with a driven wheel 11, and each motor 14 is fixed on the inner side surface of the horizontal plate 5, and a driving wheel 12 is fixedly provided at its output end. The driving wheel 12 on each motor 14 is connected to the driven wheel 11 on the corresponding screw rod 10 through a transmission belt 13, so that the corresponding screw rod 10 can be driven to rotate by each motor 14, thereby driving the corresponding clamping frame.

[0030] Each of the clamping frames includes a moving block 15 and three clamping rods 17, wherein one end of the moving block 15 is accommodated in the corresponding groove 7, and the end of the moving block 15 located in the corresponding groove 7 is sleeved on the corresponding screw rod 10 by a threaded connection, and the other end of the moving block 15 and its two side surfaces are respectively fixed with an insert sleeve 16, and a cross-like structure is formed between the three insert sleeves 16 and the moving block 15, and the three clamping rods 17 correspond to the three insert sleeves 16 one by one, respectively, and each of the insert sleeves 16 is provided with a locking groove, and one end of each clamping rod 17 is inserted into the corresponding insert sleeve 16, and the clamping rod 17 is locked by the mutual cooperation between the locking groove and the locking piece. In this embodiment, the locking piece is a screw; the other end of each clamping rod 17 is provided with an inwardly bent hook, so that the clamping of the material carts 4 of different sizes can be achieved by each of the clamping rods 17 on the two clamping frames.

[0031] At least two buffers 8 are fixedly provided on the inner side surface of the transverse plate 5. In the present embodiment, there are two buffers 8, which are evenly arranged on the inner side surface of the transverse plate 5. The two buffers 8 are used to prevent the material cart 4 from directly hitting the transverse plate 5 due to inertia.

[0032] Please refer to Figure 2 , Figure 5 and Figure 6 Each of the lateral guide mechanisms 3 includes a guide side plate 18 and a plurality of rotation positioning components 19, wherein one end of the guide side plate 18 is perpendicular to the inner side surface of the transverse plate 5, and the other end is away from the transverse plate 5, and the guide side plate 18 is fixedly connected to the upper end surface of the base plate 1 through a plurality of mounting feet 20, and each of the rotation positioning components 19 is located on the outer side surface of the guide side plate 18, and each of the rotation positioning components 19 is arranged in sequence along the length direction of the guide side plate 18.

[0033] It should be noted here that, in this embodiment, the opposite sides of the two guide side plates 18 are inner sides, and the opposite sides are outer sides.

[0034] Each of the guide side plates 18 is provided with a plurality of avoidance openings 23, and each of the avoidance openings 23 on the guide side plates 18 corresponds one by one to each of the rotation positioning assemblies 19 on its outer side surface; each of the rotation positioning assemblies 19 comprises a cylinder 24, a Y-shaped frame 25, and a positioning wheel 26, wherein the Y-shaped frame 25 has three ends, the first end of the Y-shaped frame 25 is provided with a rotatable positioning wheel 26, the second end is rotatably connected to the bottom plate 1, and the third end is transmission-connected to the cylinder 24, the cylinder 24 is fixedly connected to the outer side surface of the corresponding guide side plate 18 through a support frame 28, and the third end of the Y-shaped frame 25 is located on the outer side of its second end, so that the rotation of the positioning wheel 26 can be controlled by the extension and retraction of the cylinder 24, so that the positioning wheel 26 extends to the inner side surface of the corresponding guide side plate 18 through the corresponding avoidance opening 23, and then abuts against the material cart 4, thereby achieving the positioning of the material carts 4 of different sizes while playing a guiding role.

[0035] A rotating rod 27 is disposed at the second end of each Y-shaped frame 25 , and the upper end of each rotating rod 27 is rotatably connected to the second end of the corresponding Y-shaped frame 25 , and the lower end is fixedly connected to the upper end surface of the bottom plate 1 .

[0036] It should be noted here that, since the two lateral guide mechanisms 3 are symmetrical to each other, as long as the position of each positioning wheel 26 on the outer side of each guide side plate 18 is reasonably controlled, the clamping of the material carts 4 of different sizes can be achieved. At the same time, since each positioning wheel 26 can be rotatable, it can play a certain guiding role when the material cart 4 enters; it should also be noted that a device suitable for autonomous positioning of material carts in this embodiment is for automatically fixing the material carts with small differences in size.

[0037] Meanwhile, it should also be noted that each of the cylinders 24 is electrically connected to the controller and is controlled by the controller to drive the position of the corresponding positioning wheel 26 .

[0038] A second position sensor 29 is provided at one end of each guide side plate 18 away from the cross plate 5. The two second position sensors 29 cooperate with the two first position sensors 9 to obtain the position information of the material cart 4 and transmit it to the controller. Then the controller controls the movement of each cylinder 24, thereby controlling the position of each positioning wheel 26.

[0039] Each of the guide side plates 18 includes a first plate body 21 and a second plate body 22, wherein one end of the first plate body 21 is close to the inner side surface of the transverse plate 5 and is perpendicular to the transverse plate 5, and one end of the second plate body 22 is connected to the other end of the first plate body 21 and the other end faces outward, so that the two guide side plates 18 can be formed into a trumpet shape at one end away from the transverse plate 5, which is convenient for the entry of the material cart 4.

[0040] The working mode of a device suitable for autonomous positioning of a material cart in the present embodiment is: when the material cart 4 enters, each of the first position sensors 9 and each of the second position sensors 29 identifies the position of the material cart 4, and then the controller controls the operation of each of the motors 14 and each of the cylinders 24, thereby driving the position of each of the positioning wheels 26 and each of the clamping frames to achieve the clamping of the material cart 4; it should be noted here that the position of each of the positioning wheels 26 is not determined all at once, but is gradually adjusted when the material cart 4 enters, so that it can better play a role in guiding and positioning, and at the same time, the position of each of the clamping frames is after each of the positioning wheels 26 is against the material cart 4, and then the material cart 4 is clamped.

[0041] In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, and are only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in this application.

[0042] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A device suitable for autonomous positioning of a material vehicle, characterized in that: include: Base plate; A transverse resisting mechanism is arranged on the bottom plate, which comprises a transverse plate, two clamping and positioning assemblies and a first position sensor, wherein the transverse plate is arranged on the upper end surface of the bottom plate, and the two clamping and positioning assemblies are symmetrically arranged at the two ends of the inner side surface of the transverse plate, and each of the clamping and positioning assemblies comprises a motor, a clamping frame and a screw, wherein the screw is rotatably mounted on the inner side surface of the transverse plate, one end of the clamping frame is sleeved on the screw and the other end is away from the transverse plate, and the motor is used to drive the screw to rotate to drive the clamping frame to move, thereby clamping the material cart; And symmetrically arranged two lateral guide mechanisms, each of the lateral guide mechanisms includes a guide side plate and a plurality of rotation positioning assemblies, wherein one end of the guide side plate is perpendicular to the inner side surface of the horizontal plate, and the other end is away from the horizontal plate, and each of the rotation positioning assemblies is arranged in sequence along the outer side surface of the length direction of the guide side plate, and each of the rotation positioning assemblies includes a Y-shaped frame, a cylinder and a positioning wheel, wherein the first end of the Y-shaped frame is provided with a rotatable positioning wheel, the second end is rotatably connected to the bottom plate, and the third end is drivingly connected to the cylinder, and the cylinder drives the Y-shaped frame to rotate so that the positioning wheel passes through the guide side plate and abuts against the material cart; Each of the guide side plates is provided with a plurality of avoidance openings, and each of the avoidance openings on the guide side plates corresponds one by one to each of the positioning wheels on the outer side surface of the guide side plate. The third end of each of the Y-shaped frames is located outside its second end, and the second end of each of the Y-shaped frames is rotatably fixedly connected to the bottom plate through a rotating rod. Each of the cylinders is fixedly connected to the corresponding guide side plate through a supporting frame, and its telescopic end is rotatably connected to the third end of the corresponding Y-shaped frame.

2. A device suitable for autonomous positioning of a material vehicle as claimed in claim 1, characterized in that: Symmetrical grooves are respectively provided at both ends of the inner side surface of the transverse plate along the length direction, and the two screw rods are respectively accommodated in the two grooves. Mounting seats are respectively provided at both ends of each screw rod, and the screw rods can be rotatably fixed in the corresponding grooves through the two mounting seats.

3. An autonomous positioning device suitable for robot material picking as claimed in claim 2, characterized in that: The two ends of the two screw rods are separated from each other and extend with corresponding grooves respectively. A driven wheel is provided at one end of each screw rod extending from the corresponding groove. A driving wheel is provided on the output end of each motor. The driving wheel on each motor is connected to the driven wheel on the corresponding screw rod through a transmission belt.

4. A device suitable for autonomous positioning of a material vehicle as claimed in claim 2, characterized in that: Each of the clamping frames includes a moving block and three clamping rods, wherein one end of the moving block is accommodated in the corresponding groove and is sleeved on the corresponding screw rod by a threaded connection. The other end and both side surfaces of the moving block are fixed with insert sleeves to form a cross-like structure. Each of the clamping rods corresponds to each of the insert sleeves one by one. One end of each of the clamping rods is inserted into the corresponding insert sleeve and the other end is provided with an inwardly bent hook. A locking groove is formed on the outer surface of each insert sleeve, and the corresponding clamping rod is locked by a locking member.

5. A device suitable for autonomous positioning of a material vehicle as claimed in claim 1, characterized in that: Each of the guide side plates includes a first plate body and a second plate body, wherein one end of the first plate body is close to the inner side surface of the transverse plate and is perpendicular to the transverse plate, and one end of the second plate body is connected to the other end of the first plate body and faces outward.

6. A device suitable for autonomous positioning of a material vehicle as claimed in claim 1, characterized in that: The transverse plate and each of the guide side plates are detachably fixedly connected to the upper surface of the bottom plate through a plurality of mounting feet, and a slope is provided at one end of the bottom plate away from the transverse plate.

7. A device suitable for autonomous positioning of a material vehicle as claimed in claim 5, characterized in that: At least two buffers are arranged on the inner side of the transverse plate, and a second position sensor is arranged on each of the first plates.

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