Pre-positioning guide mechanism

Abstract

The utility model relates to the technical field of sorting robots, in particular to a pre-positioning guide mechanism, the guide mechanism is arranged on a grabbing mechanism, the guide mechanism comprises a driving mechanism and a guide plate, the driving mechanism is arranged on the grabbing mechanism, the driving mechanism is used for driving the guide plate to extend or contract downwards, and the guide plate is arranged on the grabbing mechanism. A plurality of guide plates are arranged on the grabbing mechanism, the plurality of guide plates are enclosed along the periphery of goods to form a guide area matched with the goods, a guide mechanism is arranged between the guide plates and the grabbing mechanism, and during use, the guide mechanism is arranged between the guide plates and the grabbing mechanism and plays a role in guiding when the guide plates stretch out or retract. And the phenomenon of mutual collision caused by shaking of the guide plates is prevented, stable and reliable cargo carrying is guaranteed, meanwhile, the working environment of workers is guaranteed, and the problem of mutual collision caused by shaking between the guide plates on an existing grabbing assembly and a robot is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of guide mechanisms, in particular to a pre-positioning guide mechanism. Background Art

[0002] Sorting robots have been widely used in warehousing equipment to realize the storage and stacking of goods. In order to facilitate the sorting robot to grab the goods when grabbing the goods, a guide mechanism for guiding the goods is usually set on the grabbing component. When the sorting robot descends, the guide plate on the guide mechanism drives the guide plate downward and faces the goods through the cylinder to adjust the position of the goods and prevent the robot from colliding with the goods. Since the robot will drive the goods to continuously move in the storage space, the goods and the guide plate will shake, and the shaking guide plate will collide with the robot. On the one hand, it will cause the goods to shake continuously on the robot, affecting the stability of the goods. On the other hand, it will also affect the collision between the guide plate and the robot, causing long-term damage to each other, and generating noise, affecting the working environment. Utility Model Content

[0003] The technical problem to be solved by the utility model is: in order to solve the problem of mutual collision caused by shaking between the guide plate on the existing grabbing assembly and the robot, a pre-positioning guide mechanism is provided.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a pre-positioning guide mechanism, the guide mechanism is arranged on the grasping mechanism, the guide mechanism includes a driving mechanism and a guide plate, the driving mechanism is arranged on the grasping mechanism, the driving mechanism is used to drive the guide plate to extend or retract downward, there are a plurality of guide plates, and the plurality of guide plates are combined along the outer circumference of the goods to form a guide area for matching the goods, a guiding mechanism is arranged between the guide plate and the grasping mechanism, and the guiding mechanism is used to prevent the guide plate from shaking and colliding with the grasping mechanism. Compared with the prior art, the present solution arranges a guiding mechanism between the guide plate and the grasping mechanism, and the guiding mechanism plays a guiding role when the guide plate extends or retracts, preventing the guide plate from shaking and causing mutual collision, thereby ensuring stable and reliable cargo handling, and being able to align the goods when placing them, while also ensuring the working environment of the staff.

[0005] In order to realize the guide mechanism, some preferred embodiments include a guide wheel, which is rotatably mounted on the gripping mechanism, and the outer peripheral surface of the guide wheel is abutted against the guide plate, and the displacement direction of the guide plate is arranged along the tangential direction of the guide wheel. By installing the guide wheel on the gripping mechanism, the guide wheel contacts the guide plate and guides the displacement of the guide plate, thereby effectively preventing the guide plate from shaking.

[0006] In order to ensure that the guide wheel and the guide plate are in stable and reliable contact, in some preferred embodiments, a pre-tightening mechanism is provided between the gripping mechanism and the guide wheel to keep the guide wheel and the guide plate in contact with each other. The pre-tightening mechanism always presses the guide wheel against the guide plate to ensure that the displacement of the guide plate is stable and reliable and avoids shaking.

[0007] In order to realize the pre-tightening mechanism, some embodiments are preferred, wherein the pre-tightening mechanism includes a mounting seat, the guide wheel is rotatably mounted on the mounting seat, a mounting hole is provided on the mounting seat, and the mounting seat is screwed through the mounting hole and is threadedly connected to the gripping mechanism. By arranging the mounting seat on the gripping mechanism, the guide wheel is always pressed against the guide plate through the mounting seat.

[0008] In order to better pre-tighten the guide plate, in some preferred embodiments, the pre-tightening mechanism further includes a pre-tightening screw, the mounting hole is a waist-shaped hole, the long axis direction of the waist-shaped hole is arranged along the mounting seat toward the guide plate, one end of the pre-tightening screw is threadedly connected to the gripping mechanism, the other end of the pre-tightening screw is set against the mounting plate, the axial direction of the pre-tightening screw is set along the long axis direction of the waist-shaped hole, and the mounting seat is located between the pre-tightening screw and the guide plate. The mounting hole of the mounting seat is waist-shaped, which is convenient for adjusting the position between the guide wheel on the mounting seat and the guide plate, and the pre-tightening screw is set against the mounting plate to ensure the pre-tightening of the guide plate.

[0009] In some preferred embodiments, the guide plates and the driving mechanisms are arranged in a one-to-one correspondence.

[0010] In order to realize the driving mechanism, some embodiments are preferred, wherein the driving mechanism is a cylinder, the cylinder is fixedly mounted on the gripping mechanism, and the extended end of the cylinder is mounted on the guide plate. The cylinder can be purchased directly, is easy to install and maintain, and is widely used.

[0011] In order to prevent the driving mechanism corresponding to the guide plate from failing, some preferred embodiments are that two adjacent guide plates among the plurality of guide plates are hinged with a linkage rod for mutual linkage. By installing the linkage rod on two adjacent guide plates, when one of the linkage rods in the two cylinders fails, the guide plate is driven by the other guide plate through the linkage rod and can still be extended and retracted, thereby ensuring stable and reliable material guidance.

[0012] In order to better guide the goods into the guide area, in some preferred embodiments, the guide plate is provided with an introduction end at one end away from the grabbing mechanism, and a plurality of the introduction ends are combined along the outer circumference of the goods to form an introduction area for guiding the goods into the guide area. The guide plate is provided with an introduction end, and the introduction end is combined along the outer circumference of the goods to form an introduction area for guiding the goods into the guide area, and the position of the goods is slightly corrected.

[0013] In order to realize the introduction end, some embodiments are preferred, wherein the introduction end is gradually inclined upward from the outside of the guide area to the inside, and the upper end of the introduction end is connected to the bottom of the guide plate. The introduction end on the guide plate is gradually inclined upward from the outside of the guide area to the inside, so that the introduction end is a bell mouth and has the function of straightening and aligning the goods.

[0014] The beneficial effects of the utility model are as follows: when the pre-positioning guide mechanism of the utility model is in use, the guide mechanism is arranged between the guide plate and the grasping mechanism, and the guide mechanism plays a guiding role when the guide plate is extended or retracted, preventing the guide plate from shaking and causing collisions with each other, thereby ensuring stable and reliable cargo transportation, and being able to align the cargo when placing the cargo, while also ensuring the working environment of the staff, and avoiding the problem of mutual collisions caused by shaking between the guide plate and the robot on the existing grasping assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is the front view of the utility model;

[0017] Figure 2 yes Figure 1 Sectional view of AA in the middle;

[0018] Figure 3 yes Figure 2 A partial enlarged view of B in the middle;

[0019] Figure 4 It is a schematic diagram of the internal structure of the utility model;

[0020] Figure 5 yes Figure 4 A partial enlarged view of C in the middle.

[0021] In the figure: 1. grabbing mechanism, 2. guiding mechanism, 3. driving mechanism, 4. guide plate, 5. guide wheel, 6. mounting seat, 7. mounting hole, 8. pre-tightening screw, 9. linkage rod, 10. introduction end. DETAILED DESCRIPTION

[0022] The utility model is further described in detail below in conjunction with the embodiments:

[0023] The present invention is not limited to the following specific implementations. A person skilled in the art can implement the present invention in a variety of other specific implementations according to the content disclosed in the present invention, or any design structure and idea of ​​the present invention with simple changes or modifications shall fall within the protection scope of the present invention. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0024] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0026] like Figure 1-5 As shown, a pre-positioning guide mechanism, the sorting robot includes a grasping mechanism 1 and a guide mechanism 2 arranged on the grasping mechanism 1, the guide mechanism 2 includes a driving mechanism 3 and a guide plate 4, the driving mechanism 3 is arranged on the grasping mechanism 1, the driving mechanism 3 is used to drive the guide plate 4 to extend or retract downward, in this embodiment, there are four guide plates 4, the four guide plates 4 are combined along the outer periphery of the goods to form a guide area for matching the goods, that is, the four guide plates 4 are arranged at the four corners of the goods, and a guiding mechanism is arranged between the guide plate 4 and the grasping mechanism 1, and the guiding mechanism is used to prevent the guide plate 4 from shaking and colliding with the grasping mechanism 1.

[0027] The guiding mechanism comprises a guiding wheel 5 rotatably mounted on the grasping mechanism 1 , the outer peripheral surface of the guiding wheel 5 abuts against the guiding plate 4 , and the displacement direction of the guiding plate 4 is arranged along the tangential direction of the guiding wheel 5 .

[0028] In this embodiment, the guide plate 4 is an angle steel, and a notch matching the protruding end of the angle steel is provided on the guide wheel 5, and one end of the angle steel is abutted in the notch.

[0029] A pre-tightening mechanism is arranged between the grabbing mechanism 1 and the guide wheel 5, and the pre-tightening mechanism includes a mounting seat 6 and a pre-tightening screw 8. The guide wheel 5 is rotatably mounted on the mounting seat 6, and a mounting hole 7 is opened on the mounting seat 6. The mounting hole 7 is a waist-shaped hole. The mounting seat 6 passes through the mounting hole 7 through a screw and is threadedly connected to the grabbing mechanism 1. The long axis direction of the waist-shaped hole is arranged along the mounting seat 6 toward the guide plate 4. One end of the pre-tightening screw 8 is threadedly connected to the grabbing mechanism 1, and the other end of the pre-tightening screw 8 is abutted against the mounting plate. The axial direction of the pre-tightening screw 8 is arranged along the long axis direction of the waist-shaped hole. The mounting seat 6 is located between the pre-tightening screw 8 and the guide plate 4, so that the guide wheel 5 is always in contact with the guide plate 4.

[0030] The driving mechanism 3 is a cylinder, and the guide plate 4 is arranged in a one-to-one correspondence with the driving mechanism 3 . The cylinder is fixedly mounted on the grasping mechanism 1 , and the protruding end of the cylinder is mounted on the guide plate 4 .

[0031] Two adjacent guide plates 4 among the plurality of guide plates 4 are hinged with a linkage rod 9 , and the linkage rod 9 is used for linkage with each other.

[0032] An introduction end 10 is provided at one end of the guide plate 4 away from the grabbing mechanism 1. Several introduction ends 10 are combined along the outer periphery of the goods to form an introduction area for guiding the goods into the guide area. The introduction end 10 is gradually inclined upward from the outside of the guide area to the inside, and the upper end of the introduction end 10 is connected to the bottom of the guide plate 4.

[0033] When the above-mentioned pre-positioning guide mechanism is in use, the robot will first move to the top of the cargo, then the robot will retract and drive the grasping mechanism 1 to approach the cargo, and when it moves to the cargo guiding area, the cylinder at the driving mechanism 3 drives the four guide plates 4 to descend and gradually approach the cargo, and the guide plate 4 rolls on the guide wheel 5, and the introduction end 10 at one end of the guide plate 4 approaches the cargo and guides the cargo, and the cargo enters the introduction area and is slightly corrected, and then as the guide plate 4 descends, the cargo enters the guide area from the introduction area to complete the guiding work of the cargo, and then the grasping mechanism 1 grasps the cargo, and the robot transfers the cargo to the required workstation. During the displacement process, the guide wheel 5 is always against the guide plate 4 to prevent the guide plate 4 and the cargo from shaking, and finally the grasping mechanism 1 puts the cargo down.

[0034] The above-mentioned ideal embodiments of the utility model are inspirations. Through the above-mentioned description, relevant staff can make various changes and modifications without deviating from the technical concept of the utility model. The technical scope of the utility model is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A pre-positioning guide mechanism, wherein the guide mechanism (2) is arranged on a gripping mechanism (1), characterized in that: The guide mechanism (2) comprises a driving mechanism (3) and a guide plate (4); the driving mechanism (3) is arranged on the grasping mechanism (1); the driving mechanism (3) is used to drive the guide plate (4) to extend downward or retract; there are a plurality of guide plates (4); the plurality of guide plates (4) are arranged along the outer periphery of the goods to form a guide area for matching the goods; a guiding mechanism is arranged between the guide plate (4) and the grasping mechanism (1); the guiding mechanism is used to prevent the guide plate (4) from shaking and colliding with the grasping mechanism (1).

2. A pre-positioning guide mechanism according to claim 1, characterized in that: The guide mechanism comprises a guide wheel (5), the guide wheel (5) is rotatably mounted on the gripping mechanism (1), the outer peripheral surface of the guide wheel (5) is abutted against a guide plate (4), and the displacement direction of the guide plate (4) is arranged along the tangent direction of the guide wheel (5).

3. A pre-positioning guide mechanism according to claim 2, characterized in that: A pre-tightening mechanism is provided between the gripping mechanism (1) and the guide wheel (5) for keeping the guide wheel (5) and the guide plate (4) in contact with each other at all times.

4. A pre-positioning guide mechanism according to claim 3, characterized in that: The pre-tightening mechanism comprises a mounting seat (6), the guide wheel (5) is rotatably mounted on the mounting seat (6), a mounting hole (7) is provided on the mounting seat (6), and the mounting seat (6) is threadedly connected to the gripping mechanism (1) by means of screws passing through the mounting hole (7).

5. A pre-positioning guide mechanism according to claim 4, characterized in that: The pre-tightening mechanism also includes a pre-tightening screw (8), the mounting hole (7) is a waist-shaped hole, the long axis direction of the waist-shaped hole is arranged along the mounting seat (6) in the direction of the guide plate (4), one end of the pre-tightening screw (8) is threadedly connected to the grasping mechanism (1), the other end of the pre-tightening screw (8) is abutted against the mounting plate, the axial direction of the pre-tightening screw (8) is arranged along the long axis direction of the waist-shaped hole, and the mounting seat (6) is located between the pre-tightening screw (8) and the guide plate (4).

6. A pre-positioning guide mechanism according to claim 1, characterized in that: The guide plates (4) are arranged in one-to-one correspondence with the driving mechanisms (3).

7. A pre-positioning guide mechanism according to claim 6, characterized in that: The driving mechanism (3) is a cylinder, which is fixedly mounted on the grasping mechanism (1), and the protruding end of the cylinder is mounted on the guide plate (4).

8. A pre-positioning guide mechanism according to claim 7, characterized in that: Two adjacent guide plates (4) among the plurality of guide plates (4) are hingedly connected to each other with linkage rods (9) for linkage with each other.

9. A pre-positioning guide mechanism according to claim 1, characterized in that: An introduction end (10) is provided at one end of the guide plate (4) away from the grabbing mechanism (1), and a plurality of the introduction ends (10) are arranged along the outer periphery of the goods to form an introduction area for guiding the goods into the guide area.

10. A pre-positioning guide mechanism according to claim 9, characterized in that: The introduction end (10) is arranged to be gradually inclined upward from the outside of the guide area to the inside, and the upper end of the introduction end (10) is connected to the bottom of the guide plate (4).

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