A tray positioning device

Abstract

The application relates to the technical field of tobacco production equipment, and discloses a tray positioning device, which comprises a base, a plurality of guide blocks, a telescopic cylinder, a position sensor and a processor. The base is provided with a groove for allowing an AGV (Automatic Guided Vehicle) carrying a tray to enter, and the opening edge of the groove is provided with a bearing position for placing the tray. The guide blocks are fixedly connected to the top of the base. The guide blocks are arranged at intervals along the opening edge of the groove. The telescopic cylinder is fixedly connected to the top of the base. The telescopic cylinder can push the tray to a predetermined position. The position sensor is fixedly connected to the top of the base. The telescopic cylinder and the position sensor are electrically connected to the processor. The positioning error of the AGV itself is effectively eliminated, thereby providing reliable guarantee for the grabbing of a mechanical hand and greatly reducing the failure rate of grabbing.

Description

Technical Field

[0001] This application relates to the field of tobacco production equipment technology, and specifically to a pallet positioning device. Background Technology

[0002] Automated feeding in cigarette production is a crucial link in improving production efficiency and ensuring product quality in the modern tobacco industry. Its development is closely related to industry technological upgrades, production management needs, and market competition pressures. In cigarette production, trademarks and cartons are often transported to designated locations by AGVs (Automated Guided Vehicles) via pallets, where robotic arms automatically grasp them. The robotic arms require high accuracy in pallet positioning, but traditional AGVs have limited accuracy. When the robotic arms attempt to grasp according to preset ideal coordinates, inaccurate pallet positioning often leads to grasping failures, pallet collisions, or even damage to the goods. This problem severely impacts the continuity, stability, and efficiency of the entire automated process, potentially slowing down production and requiring manual intervention and adjustments, increasing operating costs and human operational risks. Utility Model Content

[0003] This application provides a pallet positioning device designed to solve the above-mentioned problems.

[0004] In one embodiment, a pallet positioning device is provided, comprising: The base has a groove for an AGV trolley carrying a pallet to drive into, and the opening edge of the groove has a bearing position for placing the pallet. Multiple guide blocks are fixedly connected to the top of the base; the multiple guide blocks are spaced apart along the opening edge of the groove; A telescopic cylinder is fixedly connected to the top of the base; the telescopic cylinder can push the tray to a predetermined position. A position sensor, which is fixedly connected to the top of the base; The processor, the telescopic cylinder, and the position sensor are all electrically connected to the processor.

[0005] Multiple guide blocks are distributed and positioned circumferentially on the pallet. The telescopic cylinder extends in the opposite direction to the AGV entering the groove; a position sensor is used to detect the position of the pallet.

[0006] In one embodiment, the guide block has a guide surface and a positioning surface; the guide surface intersects the positioning surface at a predetermined angle; and the positioning surface is parallel to the direction in which the AGV trolley enters the groove.

[0007] Specifically, the predetermined angle is 120° to 150°.

[0008] In one embodiment, the number of guide blocks is four; the four guide blocks are arranged at intervals between each other.

[0009] In one embodiment, two corresponding guide surfaces located on either side of the groove intersect at a predetermined angle, and the distance between the two guide surfaces gradually decreases along the direction in which the AGV trolley enters the groove.

[0010] Specifically, the two guide surfaces intersect at an angle of 60° to 120°.

[0011] In one embodiment, the number of position sensors is two; the two position sensors are spaced apart along the direction in which the AGV trolley enters the groove.

[0012] In one embodiment, the number of telescopic cylinders is two, and the two telescopic cylinders are arranged on opposite sides of the groove.

[0013] In one embodiment, the telescopic cylinder is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

[0014] In one embodiment, the base is U-shaped; a groove is formed in the middle of the U-shaped base; the AGV trolley drives into the U-shaped base through the opening.

[0015] In one embodiment, the top surface of the base is a horizontal plane.

[0016] The beneficial effects of this application are: Multiple guide blocks positioned along the edge of the groove in the base provide initial lateral positioning and guidance for the pallet when the AGV enters. Position sensors detect the pallet's real-time position, and a processor controls a telescopic cylinder to actively push the pallet to the predetermined precise location. This dual mechanism of "guidance + active correction" effectively eliminates the AGV's own docking and positioning errors, ensuring the pallet is always fixed in the same precise position. This provides reliable assurance for the robotic arm's grasping capabilities and significantly reduces the grasping failure rate.

[0017] The entire positioning process, from detection to execution, is automatically completed by sensors, processors, and telescopic cylinders, requiring no human intervention. This achieves seamless integration with AGVs and robotic arms, forming a complete automated work loop and significantly improving the continuity and overall efficiency of material handling processes.

[0018] The recessed design facilitates the entry of the AGV, while the bearing position provides support for the pallet. Multiple guide blocks are distributed along the circumference of the pallet, effectively limiting its movement from multiple directions and preventing it from shifting. By setting the extension direction of the telescopic cylinder to be opposite to the AGV's entry direction, the pallet position can be corrected using thrust rather than pull. This "pushing" method provides more direct force transmission, smoother operation, higher positioning accuracy, and is less likely to disturb the pallet. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, 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 a pallet positioning device and pallet assembly structure according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a pallet positioning device according to an embodiment of this application; Figure 3 This is a schematic diagram of the control flow of a pallet positioning device according to an embodiment of this application; Labels for each item in the figure: 1. Base; 11. Groove; 12. Bearing position; 2. Tray; 3. Guide block; 31. Guide surface; 32. Positioning surface; 4. Telescopic cylinder; 5. Position sensor; 6. Processor; 7. AGV trolley. Detailed Implementation

[0021] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following examples are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0025] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0027] This application proposes improvements and innovations, and presents the following embodiments.

[0028] In some implementations, please refer to Figures 1 to 3 A pallet positioning device is provided, comprising: The base 1 has a groove 11 for the AGV trolley 7 carrying the pallet 2 to enter, and the opening edge of the groove 11 has a bearing position 12 for the pallet 2 to be placed. Multiple guide blocks 3 are fixedly connected to the top of the base 1; the multiple guide blocks 3 are arranged at intervals along the opening edge of the groove 11. Telescopic cylinder 4 is fixedly connected to the top of base 1; telescopic cylinder 4 can push tray 2 to a predetermined position; Position sensor 5 is fixedly connected to the top of base 1; The processor 6, telescopic cylinder 4, and position sensor 5 are all electrically connected to the processor 6.

[0029] Multiple guide blocks 3 are distributed and positioned circumferentially on the pallet 2. The telescopic cylinder 4 extends in the opposite direction to the AGV trolley 7 entering the groove 11; the position sensor 5 is used to detect the position of the pallet 2.

[0030] Multiple guide blocks 3, positioned along the edge of the groove 11 in the base 1, provide initial lateral positioning and guidance for the pallet 2 when the AGV trolley 7 enters. The position sensor 5 detects the real-time position of the pallet 2, and the processor 6 controls the telescopic cylinder 4 to actively push the pallet 2 to the predetermined precise position. This dual mechanism of "guidance + active correction" effectively eliminates the AGV trolley 7's own docking and positioning errors, ensuring that the pallet 2 is always fixed in the same precise position, thus providing reliable assurance for the robotic arm's grasping and greatly reducing the grasping failure rate.

[0031] The entire positioning process, from detection to execution, is automatically completed by sensors, processor 6, and telescopic cylinder 4, without human intervention. This achieves seamless integration with AGVs and robotic arms, forming a complete automated work loop and significantly improving the continuity and overall efficiency of the material handling process.

[0032] The groove 11 is designed to facilitate the entry of the AGV trolley 7, while the bearing position 12 provides support for the pallet 2. Multiple guide blocks 3 are distributed around the circumference of the pallet 2, effectively limiting its movement from multiple directions and preventing it from shifting. By setting the extension direction of the telescopic cylinder 4 to be opposite to the AGV's entry direction, the position of the pallet 2 can be corrected using pushing force instead of pulling force. This "pushing" method provides more direct force transmission, smoother operation, higher positioning accuracy, and is less likely to disturb the pallet 2.

[0033] In one embodiment, the guide block 3 has a guide surface 31 and a positioning surface 32; the guide surface 31 intersects the positioning surface 32 at a predetermined angle; the positioning surface 32 is parallel to the direction in which the AGV trolley 7 drives into the groove 11.

[0034] The inclined design of the guide surface 31 allows it to smoothly contact the edge of the pallet 2 when the AGV trolley 7 carries the pallet 2 in, naturally guiding it to the correct area and reducing jamming and impact. After the pallet 2 passes the guide surface 31, the positioning surface 32, parallel to the direction of entry, provides precise lateral restraint, preventing the pallet 2 from continuing to move laterally on the horizontal plane, achieving a seamless transition from "coarse guidance" to "precise positioning".

[0035] Specifically, the predetermined angle is 120° to 150°. This angle range has been optimized. If the angle is too large (close to 180°), the guide surface 31 will be too gentle, weakening the guiding effect; if the angle is too small (close to 90°), it will be too steep, almost a right angle, easily causing jamming and concentrated stress. An angle of 120° to 150° provides a sufficiently gentle slope for smooth guidance while ensuring sufficient structural strength at the included angle of the guide block 3 to avoid damage due to frequent collisions.

[0036] In one embodiment, the number of guide blocks 3 is four; the four guide blocks 3 are arranged at intervals.

[0037] Four guide blocks 3 can be symmetrically arranged on both sides and the front (or rear) of the pallet 2 in the direction of travel, which can limit the circumferential degree of freedom of the pallet 2 from at least three directions. This layout can effectively prevent the pallet 2 from shifting or rotating in any direction, ensuring that the position and orientation of the pallet 2 in the bearing plane are precisely fixed, providing the highest positioning stability for the robotic arm to grasp.

[0038] In one embodiment, two corresponding guide surfaces 31 located on both sides of the groove 11 intersect at a predetermined angle, and the distance between the two guide surfaces 31 gradually decreases along the direction in which the AGV trolley 7 drives into the groove 11.

[0039] Specifically, the two guide surfaces 31 intersect at an angle of 60° to 120°. These two opposing guide surfaces 31 form a tapering funnel-shaped structure. In the AGV's entry direction, this entrance narrows, allowing the AGV to enter with a relatively large initial lateral deviation and automatically centering and correcting it during travel. This significantly reduces the requirements for the AGV's initial docking accuracy and improves the overall system's fault tolerance.

[0040] In one embodiment, there are two position sensors 5; the two position sensors 5 are arranged at intervals along the direction in which the AGV trolley 7 enters the groove 11.

[0041] Two sensors can detect the positions of the front and rear of the tray 2 respectively. This not only determines whether the tray 2 has been driven into place, but also determines whether the tray 2 is tilted (i.e., deflection angle) by the position difference between the two points. After obtaining this information, the processor 6 can more intelligently control the action sequence and stroke of the telescopic cylinder 4, such as correcting the posture before pushing it into place, or applying greater thrust to one side of the telescopic cylinder 4 to correct the tilt, thereby achieving a higher level of precise positioning.

[0042] In one embodiment, there are two telescopic cylinders 4, which are arranged on both sides of the groove 11.

[0043] Unilateral pushing can easily cause excessive friction between the pallet 2 and the guide block 3 on the opposite side during movement, and may even cause jamming or wear. The telescopic cylinders 4 arranged symmetrically on both sides can act synchronously, applying a balanced thrust to the pallet 2 from both sides, ensuring that the pallet 2 moves smoothly and straight to the predetermined position, avoiding additional resistance and potential damage caused by uneven force.

[0044] By combining two position sensors 5, the two telescopic cylinders 4 can be controlled independently, thus enabling them to actively correct the deflection angle of the tray 2 and achieve higher precision positioning.

[0045] Specifically, position sensor 5 is a commercially available photoelectric sensor used to detect the position of tray 2.

[0046] After the AGV trolley 7 enters the groove 11, it stops when the tray 2 comes into contact with the telescopic part of the telescopic cylinder 4. Under the control of the processor 6, the telescopic part extends a predetermined length and pushes the tray 2 back a certain distance so that the tray 2 reaches the predetermined position.

[0047] When the position sensor 5 detects the position of the pallet 2, it means that the pallet 2 is in contact with the telescopic part or is within the telescopic range of the telescopic cylinder 4. At this time, the processor 6 outputs a corresponding signal to the AGV trolley 7 to stop its movement. At the same time, the lifting mechanism of the AGV trolley 7 retracts, so that the pallet 2 abuts against the bearing position 12. The AGV trolley 7 moves out of the groove 11, and the AGV trolley 7 completes the unloading of the pallet 2.

[0048] In one embodiment, the telescopic cylinder 4 is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

[0049] Cylinders: Advantages include low cost, fast action, and simple structure. They are suitable for clean, dry environments with light or medium loads where thrust requirements are not extremely high.

[0050] Hydraulic cylinders: Advantages include high output force and smooth operation, making them suitable for heavy-load and high-impact working conditions.

[0051] Electric cylinders offer the advantages of highest control precision, low noise, and cleanliness without pollution. They facilitate complex servo control and are suitable for applications requiring extremely high positioning accuracy and process control. This versatility makes this device widely applicable.

[0052] In one embodiment, the base 1 is U-shaped; a groove 11 is formed in the middle of the U-shaped base 1; the AGV trolley 7 drives into the U-shaped base 1 through the opening.

[0053] The U-shaped structure naturally forms a three-sided surrounding groove 11, providing a clear and open entry channel for the AGV trolley 7, while also providing a stable mounting base for the guide block 3 and telescopic cylinder 4 through the side walls. This design ensures both positioning functionality and the convenience and efficiency of AGV operation.

[0054] Compared to a complete rectangular frame, the U-shaped base 1 reduces material usage, weight, and cost, and is easier to machine or cast.

[0055] In one embodiment, the top surface of the base 1 is horizontal. This horizontal top surface ensures that the pallet 2 placed on the support position 12 remains horizontal. This is a crucial prerequisite for successful and stable gripping by the robotic arm, preventing uneven force on the robotic arm gripper, unstable gripping, or damage to goods due to the pallet 2 tilting. Simultaneously, the horizontal base 1 facilitates on-site installation and leveling.

[0056] The above are merely optional embodiments of this application and are not intended to limit this application. 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. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.

Claims

1. A pallet positioning device, characterized in that, include: The base has a groove for an AGV trolley carrying a pallet to drive into, and the opening edge of the groove has a bearing position for placing the pallet. Multiple guide blocks are fixedly connected to the top of the base; the multiple guide blocks are spaced apart along the opening edge of the groove; A telescopic cylinder is fixedly connected to the top of the base; the telescopic cylinder can push the tray to a predetermined position. A position sensor, which is fixedly connected to the top of the base; The processor, the telescopic cylinder, and the position sensor are all electrically connected to the processor.

2. The pallet positioning device according to claim 1, characterized in that, The guide block has a guide surface and a positioning surface; the guide surface intersects the positioning surface at a predetermined angle; the positioning surface is parallel to the direction in which the AGV trolley enters the groove.

3. The pallet positioning device according to claim 2, characterized in that, The number of guide blocks is four; the four guide blocks are arranged at intervals between each other.

4. The pallet positioning device according to claim 3, characterized in that, The two corresponding guide surfaces located on both sides of the groove intersect at a predetermined angle, and the distance between the two guide surfaces gradually decreases along the direction in which the AGV trolley drives into the groove.

5. The pallet positioning device according to claim 1, characterized in that, The number of position sensors is two; the two position sensors are arranged at intervals along the direction in which the AGV trolley enters the groove.

6. The pallet positioning device according to claim 1, characterized in that, The number of telescopic cylinders is two, and the two telescopic cylinders are arranged on both sides of the groove respectively.

7. The pallet positioning device according to claim 1, characterized in that, The telescopic cylinder is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.

8. The pallet positioning device according to claim 1, characterized in that, The base is U-shaped; the groove is formed in the middle of the U-shaped base; the AGV trolley drives into the U-shaped base through the opening.

9. The pallet positioning device according to any one of claims 1-8, characterized in that, The top surface of the base is a horizontal plane.

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