Auxiliary device for tray positioning

Abstract

The utility model discloses an auxiliary device for tray positioning, and relates to the technical field of trays. The device comprises a left side plate, a right side plate and connecting profiles. And a ball screw is rotationally arranged between the ball screws and is driven by a servo motor through a belt wheel and a belt. A tightening plate is arranged at the bottom of the lead screw nut seat and forms an adjustable grabbing space with the bottom of the right side plate, and photographing and lighting equipment is arranged at the top of the space. The grabbing structure comprises a telescopic air cylinder and an L-shaped clamping jaw. The positions of the camera and the lighting equipment can be adjusted according to the heights of trays and goods, top view images of the trays are accurately shot to determine the moving coordinates of the mechanical arm, multi-layer tray and goods positioning stacking is achieved, and horizontal clamping and grabbing can be achieved by adjusting the grabbing space.

Description

Technical Field

[0001] This utility model relates to the field of pallet technology, and specifically to an auxiliary device for pallet positioning. Background Technology

[0002] During palletized cargo stacking, a common problem is vertical offset between adjacent pallet layers, leading to vertical displacement of the stacked goods. Current technologies lack adequate camera adjustment and pallet / cargo gripping structure design before determining the robot's movement coordinates, impacting the accuracy and efficiency of subsequent stacking. Utility Model Content

[0003] To address the aforementioned technical problems, this application resolves the issues of inadequate camera adjustment and insufficient design of the pallet and cargo gripping structure in the prior art before determining the robot's movement coordinates.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: an auxiliary device for pallet positioning, comprising a left side plate and a right side plate, wherein connecting profiles are provided on the front and rear sides between the left side plate and the right side plate, and a ball screw is rotatably provided between the left side plate and the right side plate, the ball screw being located between the two connecting profiles, the ball screw extending out of the right side surface of the right side plate and having a driven pulley thereon, a servo motor being provided on the left side surface of the right side plate located at the rear of the two connecting profiles, the output end of the servo motor extending out of the right side surface of the right side plate and having a driving pulley thereon, and a belt being sleeved between the driven pulley and the driving pulley;

[0005] A screw nut seat is fitted onto the ball screw, and a clamping plate is provided at the bottom of the screw nut seat. An adjustable gripping space is formed between the bottom of the right side plate and the bottom of the clamping plate. A gripping structure that flips toward the gripping space is provided at the bottom of the screw nut seat.

[0006] The top of the grasping space is equipped with a camera and a lighting device.

[0007] To better realize this utility model, a robotic arm connecting plate is further provided at the middle position of the upper surface of the two connecting profiles, and a robotic arm connecting seat is provided on the robotic arm connecting plate.

[0008] To better realize this utility model, further, a linear guide rail is provided at the bottom of the connecting profile along the length direction of the ball screw, the left end of the linear guide rail is fixedly connected to the right side of the left side plate, and the right end of the linear guide rail is fixedly connected to the guide rail limiting block provided at the bottom of the connecting profile.

[0009] The bottom of the lead screw nut seat is fixedly connected to the top of the clamping plate via a connecting plate. A slider is provided on the upper surface of the connecting plate, and the linear guide rail and the slider are slidably connected to each other.

[0010] To better realize this utility model, the two ends of the ball screw are respectively rotatably connected to the corresponding robot arm connecting seat and the right side plate through a bearing assembly.

[0011] To better realize this utility model, the right side of the top of the right side plate is further provided with two pairs of side plate reinforcing members, the right end of each connecting profile is located between a pair of side plate reinforcing members, and the right end of each connecting profile is connected to the pair of side plate reinforcing members by bolts.

[0012] To better realize this utility model, two side plate clamping feet are further formed at the bottom of the right side plate, a foam box pad is provided on the left side of the side plate clamping feet, and a gripper pad is provided on the bottom right side of the clamping plate. The foam box pad and the gripper pad are used in conjunction with each other.

[0013] To better realize this utility model, the gripping structure further includes an upper foot seat, which is fixedly disposed on the left side of the top of the clamping plate. A telescopic cylinder is hinged to the upper foot seat, and a lower foot seat is hinged to the telescopic end of the telescopic cylinder.

[0014] The bottom of the clamping plate is hinged with an "L"-shaped gripper, and the base of the lower foot is fixedly connected to the left side of the "L"-shaped gripper. A gripper bottom pad is provided on the upper surface of the "L"-shaped gripper facing the gripping space.

[0015] To better realize this utility model, the photographing device further includes a lens bracket mounting plate, the front and rear ends of the upper surface of the lens bracket mounting plate are respectively disposed at the bottom of the two connecting profiles, a lens bracket is disposed in the middle of the lower surface of the lens bracket mounting plate, and a camera is disposed on the left side of the lens bracket.

[0016] The lighting equipment includes a lighting fixture. A camera through-hole is located at the center of the upper surface of the lighting fixture. The camera's imaging portion extends from top to bottom through the camera through-hole. Lighting fixture mounting plates are located at the front and rear ends of the upper surface of the lighting fixture. Vertical strip-shaped holes are located at the top of the two mounting plates. Connecting holes are located on the outer surface of the connecting profile. The vertical strip-shaped holes and the connecting holes are detachably connected to each other by fasteners. The length of the connecting profile is greater than the length of the lighting fixture, allowing the clamping plate sufficient horizontal movement distance.

[0017] The technical solution provided by this utility model has the following advantages compared with the prior art:

[0018] This invention, through flexible adjustment of the camera and lighting equipment positions, can accurately capture top-down images of the pallet, providing precise movement coordinates for the robotic arm and thus laying the groundwork for effectively preventing vertical offset during palletizing. Simultaneously, the gripping structure and adjustable gripping space design achieve reliable clamping and grasping of the pallet and goods, significantly improving palletizing efficiency and quality. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 In this utility model Figure 1 The front view;

[0022] Figure 3 In this utility model Figure 2 Sectional view at point AA;

[0023] Figure 4 This is a schematic diagram showing the fit between the lead screw nut seat and the connecting plate in this utility model;

[0024] Figure 5 In this utility model Figure 4 The front view;

[0025] Figure 6 This is a schematic diagram showing the fit between the lens bracket mounting plate, lens bracket, camera, lighting fixture, camera through hole, and lighting fixture mounting plate in this utility model.

[0026] Figure 7 In this utility model Figure 6 The front view.

[0027] In the diagram: 101-Left side plate; 102-Right side plate; 1021-Side plate reinforcement; 1022-Side plate clamping foot; 1023-Foam box pad; 103-Ball screw; 104-Bearing assembly; 105-Driven pulley; 106-Driven pulley; 107-Belt; 108-Servo motor; 109-Robot arm connecting plate; 110-Robot arm connecting seat; 111-Screw nut seat; 112-Connecting plate; 113-Additional... 114-Grip pad; 115-Linear guide rail; 1151-Guide rail limit block; 116-Slider; 117-Upper foot; 118-Telescopic cylinder; 119-Lower foot; 120-Hinge; 121-"L" shaped gripper; 122-Grip bottom pad; 201-Lens bracket mounting plate; 202-Lens bracket; 203-Camera; 204-Lighting fixture; 205-Camera through hole; 206-Lighting fixture mounting plate. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These terms are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0033] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] Example 1:

[0035] like Figures 1 to 7 As shown, an auxiliary device for pallet positioning includes a left side plate 101 and a right side plate 102. Connecting profiles are provided on the front and rear sides between the left side plate 101 and the right side plate 102. A ball screw 103 is rotatably arranged between the left side plate 101 and the right side plate 102. The ball screw 103 is located between the two connecting profiles. The ball screw 103 extends out of the right side of the right side plate 102 and a driven pulley 105 is provided thereon. A servo motor 108 is provided on the left side of the right side plate 102 located at the rear of the two connecting profiles. The output end of the servo motor 108 extends out of the right side of the right side plate 102 and a driving pulley 106 is provided thereon. A belt 107 is sleeved between the driven pulley 105 and the driving pulley 106.

[0036] The ball screw 103 is fitted with a screw nut seat 111, and a clamping plate 113 is provided at the bottom of the screw nut seat 111. An adjustable gripping space is formed between the bottom of the right side plate 102 and the bottom of the clamping plate 113. The bottom of the screw nut seat 111 is provided with a gripping structure that flips toward the gripping space.

[0037] The top of the grasping space is equipped with a camera and a lighting device.

[0038] like Figures 1 to 7 As shown, in this embodiment, a robotic arm connecting plate 109 is provided at the middle position of the upper surface of the two connecting profiles, and a robotic arm connecting seat 110 is provided on the robotic arm connecting plate 109.

[0039] like Figures 1 to 7As shown, in this embodiment, a linear guide rail 115 is provided at the bottom of the connecting profile along the length direction of the ball screw 103. The left end of the linear guide rail 115 is fixedly connected to the right side of the left side plate 101, and the right end of the linear guide rail 115 is fixedly connected to the guide rail limiting block 1151 provided at the bottom of the connecting profile.

[0040] The bottom of the lead screw nut seat 111 is fixedly connected to the top of the clamping plate 113 via a connecting plate 112. A slider 116 is provided on the upper surface of the connecting plate 112, and the linear guide rail 115 and the slider 116 are slidably connected to each other.

[0041] like Figures 1 to 7 As shown, in this embodiment, the two ends of the ball screw 103 are respectively rotatably connected to the corresponding robot arm connecting seat 110 and the right side plate 102 via a bearing assembly 104.

[0042] like Figures 1 to 7 As shown, in this embodiment, two pairs of side plate reinforcing members 1021 are provided on the right side surface of the top of the right side plate 102. The right end of each connecting profile is located between a pair of side plate reinforcing members 1021, and the right end of each connecting profile is connected to the pair of side plate reinforcing members 1021 by bolts.

[0043] like Figures 1 to 7 As shown, in this embodiment, two side plate clamping feet 1022 are formed at the bottom of the right side plate 102. A foam box pad 1023 is provided on the left side of the side plate clamping feet 1022, and a gripper pad 114 is provided on the bottom right side of the clamping plate 113. The foam box pad 1023 and the gripper pad 114 are used in cooperation with each other.

[0044] like Figures 1 to 7 As shown, in this embodiment, the gripping structure includes an upper foot 117, which is fixedly disposed on the left side of the top of the clamping plate 113. A telescopic cylinder 118 is hinged to the upper foot 117, and a lower foot 119 is hinged to the telescopic end of the telescopic cylinder 118.

[0045] The bottom of the clamping plate 113 is hinged to an "L"-shaped gripper 121 via a hinge 120. The base of the lower foot seat 119 is fixedly connected to the left side of the "L"-shaped gripper 121. A gripper bottom pad 122 is provided on the upper surface of the "L"-shaped gripper 121 facing the gripping space.

[0046] like Figures 1 to 7As shown, in this embodiment, the photographing device includes a lens bracket mounting plate 201. The front and rear ends of the upper surface of the lens bracket mounting plate 201 are respectively disposed at the bottom of the two connecting profiles. A lens bracket 202 is disposed in the middle of the lower surface of the lens bracket mounting plate 201. A camera 203 is disposed on the left side of the lens bracket 202.

[0047] The lighting equipment includes a lighting fixture 204. A camera through hole 205 is provided at the center of the upper surface of the lighting fixture 204. The shooting part of the camera 203 extends from the top to the bottom through the camera through hole 205. Lighting fixture mounting plates 206 are provided at the front and rear ends of the upper surface of the lighting fixture 204. Vertical strip holes are provided at the top of the two lighting fixture mounting plates 206. Connecting holes are provided on the outer side of the connecting profile. The vertical strip holes and the connecting holes are detachably connected to each other by fasteners (bolts and nuts).

[0048] Additionally, the bearing assembly 104 includes a bearing mounting base and a bearing. One bearing mounting base is installed in a mounting hole on the left side plate 101, and the other bearing mounting base is installed in a mounting hole on the right side plate 102. The bearing is sleeved in the bearing mounting base, and the inner ring of the bearing is rotatably connected to one end of the ball screw 103.

[0049] Working principle:

[0050] This invention focuses on the adjustment of the camera before determining the moving coordinates and the design of the grasping structure; it is only an auxiliary device.

[0051] Before use, the goods are fixed on top of the pallet (the height of the pallet and the goods is known). According to the overall height of the pallet and the goods, the relative locking position of the vertical strip hole at the top of the lamp mounting plate 206 and the connecting hole is adjusted. This can adjust the height between the lighting fixture 204 and the connecting profile. In addition, the depth of the camera 203 passing through the camera through hole 205 is adjusted to achieve the relative position between the camera 203 and the lighting fixture 204. Finally, the camera 203 is positioned at an appropriate height to take an image of the pallet from above. This avoids the goods interfering with the camera taking pictures of the pallet below the goods due to the camera 203 being too low, thus accurately capturing the pallets of each stack and preparing for the positioning of the vertical stacking of two adjacent pallets.

[0052] The robotic arm connects to the robotic arm connector 110. The camera 203 captures an image of the pallet's top-down position, which is then transmitted to the host computer for processing. The host computer then determines the robotic arm's movement coordinates (the method for determining the robotic arm's movement coordinates is based on existing mature technologies. For example, the robotic arm connects to the robotic arm connector 110, and the camera 203 captures an image of the pallet's top-down position, which is then transmitted to the host computer for processing. The host computer pre-stores standard position information for the pallet and goods, as well as related algorithm programs. After the camera 203 captures the top-down image of the current pallet layer, the host computer first processes the image, using image recognition technology to extract key feature points of the pallet, such as the four corners and edge contours. Then, it compares and analyzes the extracted feature points with the pre-stored standard position information. By calculating the deviation between the current pallet feature points and the standard position feature points, including horizontal (X-axis and Y-axis) positional deviations and angular deviations, the host computer determines the coordinates at which the robotic arm needs to move based on these deviations, combined with the robotic arm's kinematic model and control algorithm.) Then, when a new layer of pallets is vertically stacked, the robotic arm moves and stacks that layer of pallets and goods according to the determined movement coordinates, avoiding vertical offset between adjacent pallet stacking positions, thereby preventing vertical offset of the stacked goods. This process is repeated to achieve the positioning and stacking of multiple layers of pallets and their goods.

[0053] Through the coordinated design of the ball screw 103, bearing assembly 104, driven pulley 105, driving pulley 106, belt 107, servo motor 108, screw nut seat 111, connecting plate 112, and clamping plate 113, the clamping plate 113 can move horizontally relative to the ball screw 103, thereby expanding or shrinking the gripping space and achieving horizontal clamping of the pallet and goods. The design of the upper foot 117, telescopic cylinder 118, lower foot 119, hinge 120, and "L"-shaped gripper 121 enables the gripping of the pallet and goods. Ultimately, the bottom of the pallet is supported by the gripper bottom pad 122, and the opposite sides of the goods are clamped by the foam box pad 1023 and the gripper pad 114.

[0054] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An auxiliary device for pallet positioning, characterized in that: The system includes a left side plate (101) and a right side plate (102). Connecting profiles are provided on the front and rear sides between the left side plate (101) and the right side plate (102). A ball screw (103) is rotatably provided between the left side plate (101) and the right side plate (102). The ball screw (103) is located between the two connecting profiles. The ball screw (103) extends out of the right side of the right side plate (102) and a driven pulley (105) is provided thereon. A servo motor (108) is provided on the left side of the right side plate (102) at the rear of the two connecting profiles. The output end of the servo motor (108) extends out of the right side of the right side plate (102) and a driving pulley (106) is provided thereon. A belt (107) is sleeved between the driven pulley (105) and the driving pulley (106). A screw nut seat (111) is sleeved on the ball screw (103), and a clamping plate (113) is provided at the bottom of the screw nut seat (111). An adjustable gripping space is formed between the bottom of the right side plate (102) and the bottom of the clamping plate (113). A gripping structure that flips toward the gripping space is provided at the bottom of the screw nut seat (111). The top of the grasping space is equipped with a camera and a lighting device.

2. The pallet positioning auxiliary device according to claim 1, characterized in that: A robotic arm connecting plate (109) is provided at the middle position of the upper surface of the two connecting profiles, and a robotic arm connecting seat (110) is provided on the robotic arm connecting plate (109).

3. The pallet positioning auxiliary device according to claim 1 or 2, characterized in that: A linear guide rail (115) is provided at the bottom of the connecting profile along the length direction of the ball screw (103). The left end of the linear guide rail (115) is fixedly connected to the right side of the left side plate (101), and the right end of the linear guide rail (115) is fixedly connected to the guide rail limiting block (1151) provided at the bottom of the connecting profile. The bottom of the lead screw nut seat (111) is fixedly connected to the top of the clamping plate (113) through the connecting plate (112). The upper surface of the connecting plate (112) is provided with a slider (116), and the linear guide rail (115) and the slider (116) are slidably connected to each other.

4. The pallet positioning auxiliary device according to claim 1, characterized in that: The two ends of the ball screw (103) are respectively rotatably connected to the corresponding robot arm connecting seat (110) and right side plate (102) via a bearing assembly (104).

5. The pallet positioning auxiliary device according to claim 1, characterized in that: Two pairs of side plate reinforcing members (1021) are provided on the right side surface of the top of the right side plate (102). The right end of each of the connecting profiles is located between a pair of side plate reinforcing members (1021), and the right end of each of the connecting profiles is connected to the pair of side plate reinforcing members (1021) by bolts.

6. The pallet positioning auxiliary device according to claim 1, characterized in that: Two side plate clamping feet (1022) are formed at the bottom of the right side plate (102). A foam box pad (1023) is provided on the left side of the side plate clamping feet (1022). A gripper pad (114) is provided on the bottom right side of the clamping plate (113). The foam box pad (1023) and the gripper pad (114) are used in conjunction with each other.

7. The pallet positioning auxiliary device according to claim 1, characterized in that: The gripping structure includes an upper foot (117), which is fixedly mounted on the left side of the top of the clamping plate (113). A telescopic cylinder (118) is hinged to the upper foot (117), and a lower foot (119) is hinged to the telescopic end of the telescopic cylinder (118). The bottom of the clamping plate (113) is hinged to an "L"-shaped gripper (121) via a hinge (120). The base of the lower foot (119) is fixedly connected to the left side of the "L"-shaped gripper (121). A gripper bottom pad (122) is provided on the upper surface of the "L"-shaped gripper (121) facing the gripping space.

8. The pallet positioning auxiliary device according to claim 1, characterized in that: The photographing device includes a lens bracket mounting plate (201), the front and rear ends of the upper surface of the lens bracket mounting plate (201) are respectively disposed at the bottom of the two connecting profiles, a lens bracket (202) is disposed in the middle of the lower surface of the lens bracket mounting plate (201), and a camera (203) is disposed on the left side of the lens bracket (202). The lighting equipment includes a lighting fixture (204). A camera through hole (205) is provided at the center of the upper surface of the lighting fixture (204). The shooting part of the camera (203) extends from the top to the bottom through the camera through hole (205). Lighting fixture mounting plates (206) are provided at the front and rear ends of the upper surface of the lighting fixture (204). Vertical strip holes are provided at the top of the two lighting fixture mounting plates (206). Connecting holes are provided on the outer side of the connecting profile. The vertical strip holes and the connecting holes are detachably connected to each other by fasteners. The length of the connecting profile is greater than the length of the lighting fixture (204) to facilitate sufficient horizontal movement distance of the clamping plate (113).

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