Automatic aligning device for paper clips and mobile robot

Abstract

The present application relates to the technical field of automatic alignment of parts, and in particular to a line clip automatic alignment device and a mobile robot. The line clip automatic alignment device includes a conveying mechanism for conveying received line clips to a designated position, an adjustment mechanism, and a storage mechanism. The adjustment mechanism includes, in sequence, a rotating mechanism for preliminary posture adjustment of the line clips, a gravity adjustment mechanism for the line clips to fall in the same posture, a rejection mechanism for rejecting line clips that do not meet the posture requirements, and a posture adjustment mechanism. The posture adjustment mechanism is arranged in the conveying mechanism and moves therewith, and can move in the height direction of the conveying mechanism to adjust the posture of the line clips to be vertical and the steel nails to be on the same side. The storage mechanism is arranged at one end of the conveying mechanism and is used to accommodate the adjusted line clips. The device realizes automatic alignment of line clips in disordered postures and ensures that the line clips entering the storage mechanism maintain consistent postures.

Description

Technical Field

[0001] This invention relates to the field of automatic component alignment and feeding technology, and in particular to an automatic wire clamp alignment device and a mobile robot. Background Technology

[0002] Cable clips have the advantages of simple structure, flexible use, safety and reliability, and long service life. They are widely used to connect and fix various cables such as optical fibers, electrical wires, and network cables.

[0003] Currently, the laying of cables such as fiber optic cables, power lines, and network cables is mostly done manually. When picking up cable clips manually, there are no requirements on the orientation of the clips. However, for dangerous and complex environments that are not suitable for or cannot be entered by humans, it is necessary to use cable laying robots to automatically lay the cables. In this case, in order to reduce the difficulty of picking up the robotic arm, it is necessary to align the orientation of the cable clips. Summary of the Invention

[0004] This invention discloses an automatic cable clamp alignment device and a mobile robot designed to address the technical problems existing in the alignment of cable clamps used to fix optical fibers and other cables.

[0005] To address the aforementioned technical problems, this invention provides an automatic wire clip alignment device and a mobile robot capable of adjusting the posture of wire clips and storing them.

[0006] The first aspect of the present invention provides an automatic wire clip alignment device, characterized in that it comprises: A transport mechanism, used to transport wire clips passed to the transport mechanism to a designated location; The adjustment mechanism includes a rotating mechanism, a gravity adjustment mechanism, a rejection mechanism, and an attitude adjustment mechanism connected in sequence. The wire clip is placed in the rotating mechanism and its attitude is adjusted there. After attitude adjustment, the wire clip enters the gravity adjustment mechanism, which ensures that the wire clip falls with the same attitude. The rejection mechanism is used to reject wire clips that do not meet the attitude requirements. Wire clips that meet the attitude requirements are transported to the transport mechanism. The attitude adjustment mechanism is located in the transport mechanism and moves with the transport mechanism. It can also move along the height direction of the transport mechanism to adjust the attitude of the wire clip to be vertical and with the steel nails of the wire clip on the same side. A storage mechanism is provided for accommodating vertical wire clips with steel nails on the same side. The storage mechanism is located at one end of the conveying mechanism. The conveying mechanism drives the posture adjustment mechanism to move towards the storage mechanism, so as to transport the wire clips placed in the posture adjustment mechanism to the storage mechanism.

[0007] Optionally, the rotating mechanism includes a roller, a vibratory feeder, a turntable, a channel, a height limiting component, a wire clip slot, an arc-shaped outward push plate, a third baffle, and a column. The roller is disposed at the top of the column, the height limiting component is disposed on the outer periphery of the roller, the vibratory feeder and the turntable are both disposed on the outer periphery of the column, and the vibratory feeder and the roller rotate at a differential speed, so that the height limiting component adjusts the wire clip to a lying position. The wire clip slot and the arc-shaped outward push plate for adjusting the wire clip's posture are both disposed on the vibratory feeder. The channel is disposed between the vibratory feeder and the turntable, and its top end corresponds to... The wire clip slot is provided and connected to the vibratory feeder. The third baffle is provided at the connection between the channel and the wire clip slot. A first sensor is also provided at the connection between the channel and the wire clip slot. The first sensor is used to transmit the load signal in the channel to control the opening and closing of the third baffle. The turntable includes a rotating layer and a fixed layer. The vibratory feeder and the rotating layer rotate at the same speed, and the vibratory feeder and the fixed layer rotate at different speeds. The arc-shaped outward push plate is provided on the vibratory feeder. The arc-shaped outward push plate is used to contact the wire clip so that the wire clip falls into the wire clip slot.

[0008] Optionally, the gravity adjustment mechanism includes a second slide rail, a slot, a first baffle, and a second conveyor belt. The slot is arranged along the tangential direction of the fixed layer and is suitable for holding the nail head of the wire clip. The second slide rail is inclined and one end is connected to the outlet of the fixed layer. The wire clip falls into the second slide rail with the same posture as in the channel under the action of gravity. One end of the second conveyor belt is connected to the other end of the second slide rail, and the first baffle is provided at the connection to control the wire clip in the second slide rail to enter the second conveyor belt. The other end of the second conveyor belt is connected to the conveying mechanism. The second slide rail includes a smooth section and a friction section. The smooth section is a section with a higher height and is located close to the turntable, while the friction section is a section with a lower height and is located close to the second conveyor belt.

[0009] Optionally, the rejection mechanism includes a base, a channel, a telescopic rod, a pusher, and a conveyor track. One end of the conveyor track is connected to the second conveyor belt, and the other end is mounted above the vibratory feeder. The base is located at the connection between the second slide rail and the second conveyor belt. The channel is located inside the base. The telescopic rod extends and retracts along the channel. The pusher is placed at the end of the telescopic rod near the conveyor track and can extend to the connection between the second conveyor belt and the conveyor track. The telescopic rod is driven to reject the non-compliant wire clips from the second conveyor belt and convey them to the vibratory feeder via the conveyor track. A second sensor and a third sensor are provided at the location of the rejection mechanism. The second sensor is used to transmit the load signal of the second conveyor belt to control the opening and closing of the first baffle. The third sensor is used to transmit the attitude signal of the wire clip entering the second conveyor belt to control the start and stop of the rejection mechanism.

[0010] Optionally, the conveying mechanism includes a conveying groove for receiving wire clips, a first conveyor belt, and a second baffle. The second baffle is disposed at the connection between the second conveyor belt and the conveying groove to control the wire clips in the second conveyor belt to enter the conveying groove. The bottom of the conveying trough includes an upper bottom plate and a lower bottom plate, and the first conveyor belt is used to rotate along the surfaces of the upper bottom plate and the lower bottom plate; The width of the transport groove is smaller than the width of the wire clip.

[0011] Optionally, the attitude adjustment mechanism includes two movable plates and rollers disposed in the conveying groove. The distance between the two movable plates is slightly greater than the width of the wire clip. One of the movable plates is disposed on the side of the second conveyor belt (204) near the slot (202). The wire clip that enters the conveying groove is placed between the two movable plates. The movable plate that contacts the nail head of the wire clip is driven to move along the height direction of the conveying groove to adjust the attitude of the wire clip to a vertical state with the steel nails on the same side. The distance between the upper base plate and the lower base plate is greater than or equal to the height of the movable plate; A first slot is provided on the first conveyor belt at the position corresponding to the vertical movement of the moving plate, and a second slot is provided on the upper bottom plate at the position corresponding to the first slot. The width of the first slot and the second slot is slightly larger than the width of the moving plate. The rollers are disposed in the first slot and symmetrically disposed on both sides of the moving plate. When the two rollers move in opposite directions, they drive the moving plate to move along the height direction of the conveying groove. A fourth sensor is provided in the conveying trough and is located between the two moving plates. The fourth sensor is used to transmit the attitude signal of the wire clip placed between the two moving plates to control the first conveyor belt to move toward the storage mechanism. The fourth sensor is also used to transmit a carrying signal between the two moving plates to control the movement of the moving plate in contact with the nail head of the wire clip along the height direction of the transport groove and the opening and closing of the second baffle.

[0012] Optionally, the storage mechanism includes a storage box and a first slide rail suitable for sliding the storage box. The storage box is provided with five receiving slots for accommodating wire clips, and the receiving slots are provided at the ends of the transport channel. A fifth sensor is provided at one end of the transport channel near the storage mechanism. The fifth sensor is used to transmit the position signal of the moving plate. When the moving plate near the storage mechanism moves to the edge of the transport channel, the fifth sensor controls the moving plate near the storage mechanism to move downward along the height direction of the transport channel, and the other moving plate keeps the wire clip in position and enters the storage box. The fifth sensor is also used to transmit the carrying signal of the storage box. When the receiving slot corresponding to the transport slot is full, the fifth sensor controls the storage box to move along the first slide rail.

[0013] A second aspect of the present invention provides a mobile robot, including the automatic wire clip alignment device described in any of the above embodiments, and further including a frame, a series robotic arm and an end effector. A mobile platform is provided on the frame, the automatic wire clip alignment device is disposed on the mobile platform, one end of the series robotic arm is connected to the mobile platform, and the other end of the series robotic arm is connected to the end effector.

[0014] Optionally, the end effector is a receiving box corresponding to the storage mechanism.

[0015] The technical solution provided by the embodiments of the present invention has the following advantages compared with the prior art: This embodiment provides an automatic wire clip alignment device and a mobile robot. This automatic wire clip alignment device incorporates a posture adjustment mechanism within a transport mechanism. This mechanism, which drives the posture adjustment mechanism to contact the nail head end of the wire clip, moves vertically, thereby adjusting the wire clip's posture to the required vertical position and ensuring the steel nails of the wire clips are on the same side. The posture adjustment mechanism moves with the transport mechanism towards the storage mechanism, and when it reaches the edge of the transport mechanism, it can move downwards, allowing the transport mechanism to continue moving and conveying the wire clips into the storage mechanism. This achieves uniform adjustment of wire clips with disordered postures, ensuring that the wire clips entering the storage mechanism maintain the same posture, facilitating storage and retrieval. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the automatic wire clip alignment device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the vibratory feeder according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the gravity adjustment mechanism described in an embodiment of the present invention; Figure 4 This is a schematic diagram of the rejection mechanism described in an embodiment of the present invention; Figure 5 This is a schematic diagram of the attitude adjustment mechanism described in an embodiment of the present invention; Figure 6 This is a schematic diagram of the gripping robotic arm described in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the roller-driven moving plate according to an embodiment of the present invention.

[0019] Among them, 1. Rotating mechanism; 101. Roller; 102. Vibratory plate; 103. Turntable; 104. Channel; 105. Height limiting component; 106. Cable clip slot; 107. Arc-shaped outward push plate; 108. Column; 2. Gravity adjustment mechanism; 201. Second slide rail; 2011. Smooth section; 2012. Friction section; 202. Slot; 203. First baffle; 204. Second conveyor belt; 3. Rejection mechanism; 301. Base; 302. Channel; 303. Telescopic rod; 304. Push block; 305. Conveyor track; 4. Conveying mechanism; 401. Conveying trough; 4011. Upper bottom plate; 4012. Lower bottom plate; 402. First conveyor belt; 403. Second baffle; 5. Attitude adjustment mechanism; 501. Moving plate; 502. Roller; 6. Storage mechanism; 601. Storage box; 602. First slide rail; 7. Grasping robotic arm; 701. Serial robotic arm; 702. End effector. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0022] Reference Figures 1 to 7 As shown, the first aspect of this embodiment provides an automatic cable clip alignment device, including a transport mechanism 4, an adjustment mechanism, and a storage mechanism 6.

[0023] The conveying mechanism 4 is used to transport the wire clips transferred to the conveying mechanism 4 to the designated position. The adjustment mechanism includes a rotating mechanism 1, a gravity adjustment mechanism 2, a rejection mechanism 3, and an attitude adjustment mechanism 5 connected in sequence. The wire clips are placed in the rotating mechanism 1 and their attitude is adjusted in the rotating mechanism 1. After the attitude adjustment, the wire clips enter the gravity adjustment mechanism 2, which ensures that the wire clips fall with the same attitude. The rejection mechanism 3 is used to reject wire clips that do not conform to the falling attitude. The wire clips that conform to the attitude are transported to the conveying mechanism 4. The attitude adjustment mechanism 5 is set in the conveying mechanism 4 and moves with the conveying mechanism 4. It can move along the height direction of the conveying mechanism 4 to adjust the attitude of the wire clips to be vertical and the steel nails of the wire clips are located on the same side. The storage mechanism 6 is used to accommodate the vertical wire clips with the steel nails located on the same side. The storage mechanism 6 is set at one end of the conveying mechanism 4. The conveying mechanism 4 drives the attitude adjustment mechanism 5 to move in the direction of the storage mechanism 6 to transport the wire clips placed in the attitude adjustment mechanism 5 to the storage mechanism 6. Specifically, the wire clips are placed in the rotating mechanism 1, where initial posture adjustment is achieved. After posture adjustment, the wire clips enter the gravity adjustment mechanism 2, which ensures that the wire clips fall with the same posture. The rejection mechanism 3 is used to reject wire clips whose posture does not meet the requirements, allowing the wire clips that meet the requirements to enter the conveying mechanism 4. The posture adjustment mechanism 5 is set in the conveying mechanism 4. By driving the posture adjustment mechanism 5, which is in contact with the nail head end of the wire clip, to move vertically, the posture of the wire clip is adjusted to a vertical state, and the steel nails of the wire clip are located on the same side. The posture adjustment mechanism 5 moves with the conveying mechanism 4 toward the storage mechanism 6 until it reaches the edge of the conveying mechanism 4. Then, the posture adjustment mechanism 5 is driven to move downward, causing the conveying mechanism 4 to continue moving until the wire clip is conveyed to the storage mechanism 6. This achieves uniform adjustment of the messy postures of the wire clips, ensuring that the wire clips entering the storage mechanism 6 maintain the same posture, making them easy to store and retrieve. This device has a simple structure and reduces costs.

[0024] Furthermore, refer to Figure 1 and Figure 2 As shown, the rotating mechanism 1 includes a roller 101, a vibratory feeder 102, a turntable 103, a channel 104, a height limiting component 105, a wire clip slot 106, an arc-shaped outward push plate 107, a third baffle, and a column 108. The roller 101 is located at the top of the column 108, and the height limiting component 105 is located on the outer periphery of the roller 101. The vibratory feeder 102 and the turntable 103 are both located on the outer periphery of the column 108, and the vibratory feeder 102 and the roller 101 rotate at a differential speed, so that the height limiting component 105 rotates to adjust the wire clip to a lying position. The wire clip slot 106 and the arc-shaped outward push plate 107 for adjusting the wire clip's posture are both located on the vibratory feeder 102, and the channel 104 is located on the vibratory feeder. Between the channel 102 and the turntable 103, and with its top end corresponding to the wire clip slot 106, and connected to the vibrating plate 102, a third baffle is set at the connection between the channel 104 and the wire clip slot 106. A first sensor is also set at the connection between the channel 104 and the wire clip slot 106. The first sensor is used to transmit the load signal in the channel 104 to control the opening and closing of the third baffle. The turntable 103 includes a rotating layer and a fixed layer. The vibrating plate 102 and the rotating layer rotate at the same speed, and the vibrating plate 102 and the fixed layer rotate at different speeds. An arc-shaped outward push plate 107 is set on the vibrating plate 102. The arc-shaped outward push plate 107 is used to contact the wire clip so that the wire clip falls into the wire clip slot 106. Specifically, the vibratory feeder 102 can accommodate multiple wire clips in a disordered manner. Wire clip slots 106 are located at the edge of the vibratory feeder 102. The roller 101 and the column 108 move at a differential speed. Both the vibratory feeder 102 and the turntable 103 are annular structures, located on the outer periphery of the column 108, thus maintaining a differential speed with the roller 101. This allows the height-limiting component 105 on the roller 101 to turn the vertically positioned wire clips in the vibratory feeder 102 into a horizontal position. Simultaneously, the vibration prevents the wire clips from getting stuck in the slots 106 due to improper posture. Under centrifugal force, the horizontally positioned wire clips move towards the edge of the vibratory feeder 102 away from the column 108. The arc-shaped outward-extending pusher 107 on the vibratory feeder 102 further facilitates the movement of the wire clips. The clip continuously changes its posture until it conforms to the posture of the clip slot 106. The clip falls into the clip slot 106 and enters the turntable 103 through the channel 104. There is a certain distance between the channel 104 and the turntable 103 to facilitate the clip falling into the turntable 103 and moving with the rotating layer of the turntable 103. The rotating layer of the turntable 103 and the vibrating plate 102 move at the same speed, while the fixed layer and the rotating layer of the turntable 103 move at different speeds. The first sensor is used to monitor whether there is a clip in the channel 104, and transmits the monitored load signal to the control system to control the opening and closing of the third baffle. It also ensures that only one clip is allowed to fall into the channel 104, thereby ensuring that the posture of the clip can be accurately adjusted.

[0025] Reference Figure 3 As shown, the gravity adjustment mechanism 2 includes a second slide rail 201, a slot 202, a first baffle 203, and a second conveyor belt 204. The slot 202 is arranged along the tangent direction of the fixed layer and is suitable for holding the nail head of the wire clip. The second slide rail 201 is inclined and one end is connected to the outlet of the fixed layer. The wire clip falls into the second slide rail 201 with the same posture as in the channel 104 under the action of gravity. One end of the second conveyor belt 204 is connected to the other end of the second slide rail 201, and the first baffle 203 is provided at the connection to control the wire clip in the second slide rail 201 to enter the second conveyor belt 204. The other end of the second conveyor belt 204 is connected to the conveying mechanism 4. The second slide rail 201 includes a smooth section 2011 and a friction section 2012. The smooth section 2011 is a section with a higher height and is located close to the turntable 103, and the friction section 2012 is a section with a lower height and is located close to the second conveyor belt 204. Specifically, the second slide rail 201 is connected to the outlet of the fixed layer of the turntable 103. Wire clips falling into the turntable 103 through the channel 104 enter the second conveyor belt 204 via the second slide rail 201. The second slide rail 201 is inclined, ensuring the wire clips maintain a consistent posture during descent due to gravity. A first baffle 203 is installed at the connection between the second slide rail 201 and the second conveyor belt 204. By controlling the opening and closing of the first baffle 203, only one wire clip is transferred to the second conveyor belt 204. The wire clips transferred to the second conveyor belt 204 are then transported to the conveying mechanism 4. The section of the second slide rail 201 near the turntable 103 is a smooth section 2011, and the section near the second conveyor belt 204 is a friction section 2012. When a wire clip enters the friction section... After 2012, the conveying speed of the wire clips is slowed down due to friction, which prevents the wire clips from colliding with the first baffle 203 and changing their posture. At the same time, it also ensures the stable operation of the second conveyor belt 204. Before entering the second slide rail 201, the wire clips rotate with the turntable 103. During the rotation of the wire clips, tangential velocity is generated. The wire clips move along the tangential direction, setting the slot 202 in the tangential direction, so that the slot 202 can hold the nail head of the wire clips entering the second slide rail 201. That is, the wire clips always move on one side of the slot 202 in the second slide rail 201. After entering the second conveyor belt 204, they are close to the rejection mechanism 3, the second sensor and the third sensor, so that the second sensor and the third sensor can monitor them and ensure that wire clips that do not conform to the posture can be rejected by the rejection mechanism 3, so as to avoid affecting the operation of the entire device.

[0026] Furthermore, refer to Figure 4As shown, it also includes a rejection mechanism 3, which includes a base 301, a channel 302, a telescopic rod 303, a pusher block 304, and a conveyor track 305. One end of the conveyor track 305 is connected to the second conveyor belt 204, and the other end is mounted above the vibratory feeder 102. The base 301 is located at the connection between the second slide rail 201 and the second conveyor belt 204. The channel 302 is located inside the base 301. The telescopic rod 303 extends and retracts along the channel 302. The pusher block 304 is placed at the end of the telescopic rod 303 near the conveyor track 305, and pushes... Block 304 can extend to the connection between the second conveyor belt 204 and the conveyor track 305, driving the telescopic rod 303 to remove the wire clips that do not conform to the posture from the second conveyor belt 204 and convey them to the vibratory feeder 102 via the conveyor track 305. A second sensor and a third sensor are provided at the position of the removal mechanism 3. The second sensor is used to transmit the load signal of the second conveyor belt 204 to control the opening and closing of the first baffle 203. The third sensor is used to transmit the posture signal of the wire clips entering the second conveyor belt 204 to control the start and stop of the removal mechanism 3. Specifically, the rejection mechanism 3 is used to reject wire clips whose posture does not meet the requirements, so that wire clips with the required posture are transported to the transport mechanism 4 via the second conveyor belt 204. Specifically, when the wire clip slides onto the second conveyor belt 204 by gravity on the second slide rail 201, the wire clips with the required posture are transported to the transport mechanism 4 via the second conveyor belt 204 for further adjustment, while the wire clips with the required posture are pushed to the conveyor track 305 by the push block 304 and transported back to the vibrating plate 102 via the conveyor track 305 to continue adjusting the posture of the wire clips until they meet the requirements. The second sensor monitors whether there are wire clips on the second conveyor belt 204, thereby controlling the opening and closing of the first baffle 203. When there are wire clips on the second conveyor belt 204, the first baffle 203 is closed. When there are no wire clips on the second conveyor belt 204, the second sensor transmits a monitoring signal to the control system, controlling the first baffle 203 to open, allowing the wire clips in the second slide rail 201 to enter the second conveyor belt 204. The third sensor monitors whether the wire clips entering the second conveyor belt 204 meet the required posture, in order to control rejection. When mechanism 3 is started and stopped, if there is a wire clip on the second conveyor belt 204, the third sensor monitors the posture of the wire clip. If the posture meets the requirements, the wire clip is transported to the conveying mechanism 4 along the second conveyor belt 204. If the wire clip does not meet the requirements, the rejection mechanism 3 is activated, the telescopic rod 303 moves along the channel 302, and drives the push block 304 connected to the end to contact the wire clip, removing the wire clip from the second conveyor belt 204. The wire clip is then transported back to the vibrating plate 102 through the conveyor track 305, and the posture of the wire clip is adjusted until it meets the requirements.

[0027] Reference Figure 4 and Figure 5As shown, the conveying mechanism 4 includes a conveying groove 401 for accommodating wire clips, a first conveyor belt 402, and a second baffle 403. The second baffle 403 is disposed at the connection between the second conveyor belt 204 and the conveying groove 401 to control the wire clips in the second conveyor belt 204 to enter the conveying groove 401. The bottom of the conveying groove 401 includes an upper bottom plate 4011 and a lower bottom plate 4012. The first conveyor belt 402 is used to rotate along the surfaces of the upper bottom plate 4011 and the lower bottom plate 4012. The width of the conveying groove 401 is smaller than the width of the wire clips. Specifically, the conveying groove 401 is used to accommodate the wire clip, and the width of the conveying groove 401 is smaller than the width of the wire clip, so that one end of the nail head of the wire clip is placed in the conveying groove 401. The door-shaped structure of the wire clip is placed on the top of the conveying groove 401, which facilitates the attitude adjustment mechanism 5 to adjust the attitude of the wire clip. The adjusted wire clip is held by the attitude adjustment mechanism 5 and moves with the first conveyor belt 402 until it enters the storage mechanism 6.

[0028] Furthermore, refer to Figure 5 and Figure 7 As shown, the attitude adjustment mechanism 5 includes two movable plates 501 and rollers 502 disposed in the conveying trough 401. The distance between the two movable plates 501 is slightly greater than the width of the wire clip. One movable plate is disposed on the side of the second conveyor belt 204 near the slot 202. The wire clip entering the conveying trough 401 is placed between the two movable plates 501. The movable plate that contacts the nail head of the wire clip is driven to move along the height direction of the conveying trough 401 to adjust the attitude of the wire clip to a vertical state with the steel nails on the same side. Specifically, the wire clip falls into the conveying trough 501. The wire clip is placed in the groove 401 and between two movable plates 501. Since the width of the conveying groove 401 is smaller than the width of the wire clip, the nail head end of the wire clip is always located on the left side of the conveying groove 401. One movable plate is set on the side of the second conveyor belt 204 near the slot 202. The distance between the two movable plates 501 is slightly larger than the width of the wire clip. By adjusting the movable plate that is in contact with the nail head of the wire clip, it moves along the height direction of the conveying groove 401, thereby driving the wire clip to adjust its posture, so that the wire clip is adjusted to the required vertical state.

[0029] Furthermore, refer to Figure 7 As shown, the distance between the upper base plate 4011 and the lower base plate 4012 is greater than or equal to the height of the moving plate 501. A first slot is formed on the first conveyor belt 402 at the position corresponding to the vertical movement of the moving plate 501. A second slot is formed on the upper base plate 4011 at the position corresponding to the first slot. The width of the first and second slots is slightly greater than the width of the moving plate 501. Rollers 502 are disposed in the first slot and symmetrically arranged on both sides of the moving plate 501. When the two rollers 502 move in opposite directions, they drive the moving plate 501 to move along the height direction of the conveying trough 401. (Refer to...) Figure 7 As shown, by symmetrically arranging rollers 502 on both sides of the moving plate 501, when the two rollers 502 move in opposite directions, they can drive the clamped moving plate 501 to move vertically. By setting the distance between the upper base plate 4011 and the lower base plate 4012 to be greater than or equal to the height of the moving plate 501, a first slot is opened on the first conveyor belt 402, and a second slot is opened on the upper base plate 4011, with the width of the opening slightly greater than the width of the moving plate 501, so that the moving plate 501 can move completely into the receiving space formed by the upper base plate 4011 and the lower base plate 4012. When the moving plate close to the storage mechanism 6 moves to the edge of the upper base plate 4011, by driving the rollers 502 on both sides of this moving plate to move in opposite directions, this moving plate is completely retracted into the receiving space 6, and the wire clip is smoothly transported to the storage mechanism 6 along with the first conveyor belt 402.

[0030] A fourth sensor is installed in the conveying trough 401, positioned between two moving plates 501. This fourth sensor transmits attitude signals of the wire clip placed between the two moving plates 501 to control the movement of the first conveyor belt 402 towards the receiving mechanism 6. The fourth sensor also transmits a bearing signal between the two moving plates 501 to control the movement of the moving plate in contact with the wire clip's nail head along the height direction of the conveying trough 401 and the opening and closing of the second baffle 403. Specifically, the fourth sensor, positioned between the two moving plates 501, monitors whether there is a wire clip in the conveying trough 401. If no wire clip is present, the second baffle 403 is opened, allowing the wire clip on the second conveyor belt 204 to be transported into the conveying trough 401. If a wire clip is already in the conveying trough 401, the second baffle 403 is closed. Simultaneously, the fourth sensor monitors the attitude of the wire clip. When the wire clip enters the conveying trough 401, the fourth sensor transmits a monitoring signal to the control system, controlling the moving plate in contact with the wire clip's nail head to move along the height direction of the conveying trough 401. The wire clips are adjusted to ensure they are vertical and the steel nails are on the same side. When the wire clips are found to be in the correct position, the two moving plates 501 are controlled to move with the first conveyor belt 402 until the wire clips are transferred to the storage mechanism 6. The fourth sensor also monitors the position of the two moving plates 501 so that after the previous wire clip is transferred to the storage mechanism 6, the two moving plates 501 move with the first conveyor belt 402 to the position corresponding to the second baffle 403, which facilitates the adjustment and storage of the next wire clip.

[0031] Reference Figure 1As shown, the storage mechanism 6 includes a storage box 601 and a first slide rail 602 suitable for sliding the storage box 601. The storage box 601 is provided with five receiving slots for accommodating wire clips, and the receiving slots are positioned at the ends of the transport channel 401. Specifically, the bottom of the storage box 601 is provided with the first slide rail 602, and the storage box 601 can move along the first slide rail 602 so that the receiving slots in the storage box 601 are positioned at the ends of the transport channel 401. When a receiving slot is full of wire clips, it can be moved along the first slide rail 602 to position the receiving slots that do not contain wire clips at the ends of the transport channel 401, so as to continuously store wire clips in the same position.

[0032] Furthermore, a fifth sensor is provided at one end of the transport trough 401 near the storage mechanism 6. The fifth sensor is used to transmit the position signal of the moving plate 501. When the moving plate near the storage mechanism 6 moves to the edge of the transport trough 401, the fifth sensor controls the moving plate near the storage mechanism 6 to move downward along the height direction of the transport trough 401, and the other moving plate keeps the wire clip in its posture and enters the storage box 601. The fifth sensor is also used to transmit the load signal of the storage box 601. When the corresponding receiving slot of the transport trough 401 is full, the fifth sensor controls the storage box 601 to move along the first slide rail 602. Specifically, the fifth sensor is located at the end of the transport groove 401 and close to the storage mechanism 6. The fifth sensor is used to monitor the position of the moving plate 501. When the moving plate 501 moves to the edge of the transport groove 401, the moving plate located at one end of the storage mechanism 6 is controlled to move downward along the height direction of the transport groove 401 until it moves completely between the upper bottom plate 4011 and the lower bottom plate 4012 of the transport groove 401. The other moving plate keeps the wire clip in its previous posture so that the wire clip can enter the storage box 601 in the required posture. The fifth sensor is also used to monitor whether the receiving slot in the storage box 601 is full of wire clips. If a receiving slot is full of wire clips, the storage box 601 is controlled to move along the first slide rail 602 so that the empty receiving slot in the storage box 601 is set to correspond to the transport groove 401, thereby realizing the continuous storage of wire clips in the same posture.

[0033] Reference Figure 1 and Figure 6As shown, the second aspect of this embodiment provides a mobile robot, including the automatic wire clip alignment device described in any of the above embodiments, and further including a frame and a gripping robotic arm 7. The gripping robotic arm 7 includes a series robotic arm 701 and an end effector 702. A mobile platform is provided on the frame, and the automatic wire clip alignment device is disposed on the mobile platform. One end of the series robotic arm 701 is connected to the mobile platform, and the other end of the series robotic arm 701 is connected to the end effector 702. Specifically, the series robotic arm 701 is used to control the end effector 702 to move to below the storage box 601, so that the wire clips in the storage box 601 fall into the end effector 702 without changing their posture. This configuration allows the series robotic arm 701 to grip multiple wire clips with the same posture at one time, saving the time and distance of the series robotic arm 701 moving back and forth, improving work efficiency. At the same time, the automatic wire clip alignment mechanism has a small overall size and light weight, and can be installed on the mobile platform of the mobile robot to achieve dual-machine collaboration with the fiber optic deployment robot.

[0034] Furthermore, the end effector 702 is a receiving box corresponding to the storage mechanism 6. Specifically, the storage box 601 has five receiving slots for accommodating wire clips, and the end effector 702 also has five slots identical to the receiving slots. The serial robotic arm 701 controls the end effector 702 to be positioned below the storage box 601, so that the slots in the end effector 702 are aligned with the receiving slots in the storage box 601. The first slide rail 602 moves away from the transport chute 401, so that the wire clips in the storage box 601 fall into the end effector 702 without changing their posture. This facilitates the fiber optic laying robot to automatically pick up wire clips in the same location and place them on the wall, realizing the automatic laying of cables in underground air-raid shelters.

[0035] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this invention may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the present invention.

Claims

1. An automatic wire clip alignment device, characterized in that, include: A transport mechanism (4) is used to transport the wire clips passed to the transport mechanism (4) to a designated location; The adjustment mechanism includes a rotating mechanism (1), a gravity adjustment mechanism (2), a rejection mechanism (3), and a posture adjustment mechanism (5) connected in sequence. The wire clip is placed in the rotating mechanism (1) and its posture is adjusted in the rotating mechanism (1). After the posture adjustment, the wire clip enters the gravity adjustment mechanism (2). The gravity adjustment mechanism (2) enables the wire clip to fall with the same posture. The rejection mechanism (3) is used to reject the falling wire clips whose posture does not conform to the requirements. The wire clips with the correct posture are transported to the transport mechanism (4). The posture adjustment mechanism (5) is set in the transport mechanism (4) and moves with the transport mechanism (4). It can also move along the height direction of the transport mechanism (4) to adjust the posture of the wire clip to be vertical and the steel nails of the wire clip are located on the same side. Storage mechanism (6), the storage mechanism (6) is used to accommodate vertical wire clips with steel nails on the same side, the storage mechanism (6) is set at one end of the transport mechanism (4), the transport mechanism (4) drives the posture adjustment mechanism (5) to move towards the storage mechanism (6) to transport the wire clips placed in the posture adjustment mechanism (5) to the storage mechanism (6); The gravity adjustment mechanism (2) includes a second slide rail (201), a slot (202), a first baffle (203), and a second conveyor belt (204). The conveying mechanism (4) includes a conveying groove (401) for accommodating the wire clip, a first conveyor belt (402), and a second baffle (403). The width of the conveying groove (401) is smaller than the width of the wire clip. The attitude adjustment mechanism (5) includes two moving plates (501) and rollers (502) disposed in the conveying groove (401). The distance between the two moving plates (501) is slightly greater than that between the wire clips. The width of the wire clip is such that one of the moving plates (501) is disposed on the side of the second conveyor belt (204) near the slot (202). The wire clip that enters the conveying groove (401) is placed between the two moving plates (501). The moving plate that contacts the nail head of the wire clip is driven to move along the height direction of the conveying groove (401) to adjust the posture of the wire clip to a vertical state with the steel nail on the same side. When the two rollers (502) move in opposite directions, they drive the moving plate (501) to move along the height direction of the conveying groove (401).

2. The automatic alignment device for wire clips according to claim 1, characterized in that, The rotating mechanism (1) includes a roller (101), a vibratory plate (102), a turntable (103), a channel (104), a height limiting component (105), a wire clip slot (106), an arc-shaped outward push plate (107), a third baffle, and a column (108). The roller (101) is located at the top of the column (108), the height limiting component (105) is located on the outer periphery of the roller (101), the vibratory plate (102) and the turntable (103) are both located on the outer periphery of the column (108), and the vibratory plate (102) and the roller (101) rotate at a differential speed so that the height limiting component (105) adjusts the wire clip to a lying position. The wire clip slot (106) and the arc-shaped outward push plate (107) for adjusting the wire clip's posture are both located on the vibratory plate (102). The channel (104) is located on the vibratory plate. Between the disc (102) and the turntable (103), and with its top end corresponding to the wire clip slot (106), and connected to the vibrating plate (102), the third baffle is disposed at the connection between the channel (104) and the wire clip slot (106). A first sensor is also disposed at the connection between the channel (104) and the wire clip slot (106). The first sensor is used to transmit the bearing signal in the channel (104) to control the opening and closing of the third baffle. The turntable (103) includes a rotating layer and a fixed layer. The vibrating plate (102) and the rotating layer rotate at the same speed. The vibrating plate (102) and the fixed layer rotate at different speeds. The arc-shaped outward push plate (107) is disposed on the vibrating plate (102). The arc-shaped outward push plate (107) is used to contact the wire clip so that the wire clip falls into the wire clip slot (106).

3. The automatic alignment device for wire clips according to claim 2, characterized in that, The slot (202) is arranged along the tangential direction of the fixed layer and is suitable for holding the nail head of the wire clip. The second slide rail (201) is inclined and one end of it is connected to the outlet of the fixed layer. The wire clip is held in the same posture as in the channel (104) by gravity and falls into the second slide rail (201). One end of the second conveyor belt (204) is connected to the other end of the second slide rail (201), and the first baffle (203) is provided at the connection to control the wire clip in the second slide rail (201) to enter the second conveyor belt (204). The other end of the second conveyor belt (204) is connected to the conveying mechanism (4). The second slide rail (201) includes a smooth section (2011) and a friction section (2012). The smooth section (2011) is a section with a higher height and is located close to the turntable (103). The friction section (2012) is a section with a lower height and is located close to the second conveyor belt (204).

4. The automatic wire clip alignment device according to claim 3, characterized in that, The rejection mechanism (3) includes a base (301), a channel (302), a telescopic rod (303), a pusher (304), and a conveyor track (305). One end of the conveyor track (305) is connected to the second conveyor belt (204), and the other end is mounted above the vibratory feeder (102). The base (301) is located at the connection between the second slide rail (201) and the second conveyor belt (204). The channel (302) is located inside the base (301). The telescopic rod (303) moves along the channel (302) and the push block (304) is placed at one end of the telescopic rod (303) near the conveyor track (305). The push block (304) can extend to the connection between the second conveyor belt (204) and the conveyor track (305) to drive the telescopic rod (303) to remove the wire clips that do not conform to the posture from the second conveyor belt (204) and convey them to the vibratory plate (102) through the conveyor track (305). A second sensor and a third sensor are provided at the position of the rejection mechanism (3). The second sensor is used to transmit the carrying signal of the second conveyor belt (204) to control the opening and closing of the first baffle (203). The third sensor is used to transmit the attitude signal of the wire clip entering the second conveyor belt (204) to control the start and stop of the rejection mechanism (3).

5. The automatic alignment device for wire clips according to claim 4, characterized in that, The second baffle (403) is disposed at the connection between the second conveyor belt (204) and the conveying trough (401) to control the wire clips in the second conveyor belt (204) to enter the conveying trough (401); The bottom of the conveying trough (401) includes an upper bottom plate (4011) and a lower bottom plate (4012), and the first conveyor belt (402) is used to rotate along the surfaces of the upper bottom plate (4011) and the lower bottom plate (4012).

6. The automatic wire clip alignment device according to claim 5, characterized in that, The distance between the upper base plate (4011) and the lower base plate (4012) is greater than or equal to the height of the moving plate (501); A first slot is provided on the first conveyor belt (402) at the position where the moving plate (501) moves vertically, and a second slot is provided on the upper bottom plate (4011) at the position corresponding to the first slot. The width of the first slot and the second slot is slightly larger than the width of the moving plate (501). The roller (502) is disposed in the first slot and symmetrically disposed on both sides of the moving plate (501). A fourth sensor is provided in the conveying trough (401), and the fourth sensor is located between the two moving plates (501). The fourth sensor is used to transmit the attitude signal of the wire clip placed between the two moving plates (501) to control the first conveyor belt (402) to move toward the storage mechanism (6). The fourth sensor is also used to transmit a carrying signal between the two moving plates (501) to control the movement of the moving plate (501) in contact with the nail head of the wire clip along the height direction of the transport groove (401) and the opening and closing of the second baffle (403).

7. The automatic wire clamp alignment device according to claim 6, characterized in that, The storage mechanism (6) includes a storage box (601) and a first slide rail (602) suitable for sliding the storage box (601). The storage box (601) is provided with five receiving slots for accommodating wire clips, and the receiving slots are provided at the ends of the transport groove (401). A fifth sensor is provided at one end of the transport groove (401) near the storage mechanism (6). The fifth sensor is used to transmit the position signal of the moving plate (501). When the moving plate near the storage mechanism (6) moves to the edge of the transport groove (401), the fifth sensor controls the moving plate near the storage mechanism (6) to move downward along the height direction of the transport groove (401), and the other moving plate keeps the wire clip in position and enters the storage box (601). The fifth sensor is also used to transmit the carrying signal of the storage box (601). When the receiving slot corresponding to the transport slot (401) is full, the fifth sensor controls the storage box (601) to move along the first slide rail (602).

8. A mobile robot, comprising the automatic wire clip alignment device as described in any one of claims 1 to 7, characterized in that, It also includes a frame and a gripping robotic arm (7), the gripping robotic arm (7) includes a serial robotic arm (701) and an end effector (702), a mobile platform is provided on the frame, the automatic wire clip alignment device is provided on the mobile platform, one end of the serial robotic arm (701) is connected to the mobile platform, and the other end of the serial robotic arm (701) is connected to the end effector (702).

9. The mobile robot according to claim 8, characterized in that, The end effector (702) is a receiving box that is provided in accordance with the storage mechanism (6).

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