Positioning guide for robot palletizing

Abstract

The utility model discloses a positioning guide device is carried with robot and is piled up, including base and the mobile wheel of rotation connection at its bottom, the base top fixedly connected with device frame, the device frame top fixedly connected with the grabbing mechanical arm, the base right side is equipped with the sliding slot, the sliding slot right side places the batten, still include : positioning mechanism : the positioning mechanism includes rotation connection in device frame top right side's two -way screw rod, two -way screw rod front end fixedly connected with first motor, two -way screw rod surface screw thread thread connection has the screw seat, the screw seat bottom fixedly connected with the locating plate, the locating plate top fixedly connected with the gyro wheel, the locating plate surface is equipped with the strip hole. The utility model discloses a positioning guide device is carried with robot and is piled up and has rigid centering and accurate clamping, real -time regular and the effect of reinforcing to goods.

Description

Technical Field

[0001] This utility model relates to the field of robot handling and stacking technology, and in particular to a positioning and guiding device for robot handling and stacking. Background Technology

[0002] Robotic handling and stacking is one of the core technologies in modern industrial automation and logistics. It refers to the use of industrial robot systems that integrate end effectors, sensing and vision systems, and control units to automatically complete tasks such as grasping, handling, precise positioning, and stacking or disassembling materials according to predetermined patterns.

[0003] However, in existing robotic handling and stacking operations, the positioning and guidance devices mainly rely on two-dimensional or three-dimensional vision positioning systems. These systems still have certain positioning deviations during actual operation, which can easily lead to inaccurate positioning and misalignment of goods during stacking. Long-term accumulated errors not only affect the aesthetics of the stack and space utilization efficiency, but may also cause instability of the stack due to uneven stress, or even lead to the collapse of goods, resulting in safety risks and a decrease in operational efficiency. For example, taking robotic stacking in modern warehousing and logistics as an example, traditional visual positioning systems can produce initial positioning errors at the millimeter level due to interference from ambient light, reflections, or mechanical repetition accuracy. This error is propagated and amplified layer by layer during the stacking process, causing the center of gravity of the entire stack of goods to shift and become misaligned, ultimately leading to the risk of tipping over during handling or storage, directly affecting operational safety and warehousing efficiency. Utility Model Content

[0004] This utility model discloses a positioning and guiding device for robot handling and stacking, which aims to solve the technical problem that existing robot handling and stacking operations mainly rely on two-dimensional or three-dimensional vision positioning systems, which have certain positioning deviations, easily leading to inaccurate positions and uneven arrangement of goods during stacking, and potentially causing goods to collapse.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A positioning and guiding device for robot handling and stacking includes a base and rotatably connected to the bottom of the base. A device frame is fixedly connected to the top of the base, and a gripping robotic arm is fixedly connected to the top of the device frame. A slide groove is formed on the right side of the base, and a pad is placed on the right side of the slide groove. The device also includes: a positioning mechanism: the positioning mechanism includes a bidirectional lead screw rotatably connected to the right side of the top of the device frame. A first motor is fixedly connected to the front end of the bidirectional lead screw. A threaded seat is threadedly connected to the surface of the bidirectional lead screw. A positioning plate is fixedly connected to the bottom of the threaded seat. A roller is fixedly connected to the top of the positioning plate. A strip-shaped hole is formed on the surface of the positioning plate; and a sorting mechanism: the sorting mechanism is fixedly connected to the right side of the top of the base.

[0006] By adopting the above technical solution, two sections of threads with opposite directions on the surface of the bidirectional lead screw drive two meshing threaded seats to move in opposite or opposite directions in a straight line along the top of the device frame during rotation. This motion is directly transmitted to the positioning plate fixed to the bottom of the threaded seat. The roller on the top of the positioning plate rolls close to the bottom surface of the device frame to reduce friction, while its left edge slides into the groove on the side of the base. Thus, with the cooperation of the drive and guide system, it is ensured that the bottom of the positioning plate always fits against the top of the pad and moves smoothly horizontally. By using the two positioning plates to rigidly center and clamp or release the two sides of the goods, not only is a stable and accurate reference position provided for stacking operations, but the position of the goods can also be dynamically pushed and regulated during stacking, thereby effectively ensuring the neatness and stability of the stack.

[0007] As a further embodiment of this utility model: the sorting mechanism includes a sliding plate slidably connected to the top of the base, a lifting frame fixedly connected to the top of the sliding plate, a sorting roller slidably connected between the lifting frames, traction lines fixedly connected to the front and rear ends of the sorting roller, a take-up roller fixedly connected to the other end of the traction line, a second motor fixedly connected to the front end of the take-up roller, and a hydraulic rod fixedly connected to the left side of the sliding plate.

[0008] By adopting the above technical solution, the hydraulic rod pushes the sliding plate and the entire lifting frame structure on it to move laterally, bringing it closer to the stack. Then, the second motor drives the winding roller to rotate, pulling the sorting roller up or down along the vertical slide of the lifting frame through the traction line, so that it is precisely aligned with the target cargo layer. At this time, the hydraulic rod moves again, pushing the positioned sorting roller to press horizontally against the side of the cargo. Through its own freely rotating circular roller design, it maintains continuous lateral pressure on the cargo while completing a smooth movement along the surface of the cargo layer, thereby pushing the slightly protruding cargo back to the neat position, realizing the real-time straightening and reinforcement of the stack.

[0009] In summary, this application includes at least one of the following beneficial technical effects: 1. Achieve rigid centering and precise clamping of goods, overcoming the measurement deviation problem caused by environmental interference in traditional vision positioning systems, improving the positioning accuracy of single stacking, and eliminating error accumulation through dynamic fine-tuning, thereby ensuring the overall neatness and long-term stability of the stack and avoiding the risk of collapse caused by skewing.

[0010] 2. Real-time straightening and reinforcement during the stacking process; flexible correction of cargo misalignment during or after stacking; resolution of local unevenness caused by initial placement deviations or external disturbances; enhancement of the overall structural stability and load-bearing balance of the stack; and further improvement of the safety and space utilization of stacking operations.

[0011] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the positioning and guiding device for robot handling and stacking proposed in this utility model.

[0013] Figure 2 This is a schematic diagram of the positioning mechanism of the positioning and guiding device for robot handling and stacking proposed in this utility model.

[0014] Figure 3 This is a diagram showing the positioning plate of the positioning and guiding device for robot handling and stacking proposed in this utility model.

[0015] Figure 4 This is a schematic diagram of the sorting mechanism of the positioning and guiding device for robot handling and stacking proposed in this utility model.

[0016] Figure 5 This is a diagram illustrating the sorting mechanism of the positioning and guiding device for robot handling and stacking proposed in this utility model.

[0017] In the attached diagram: 1. Base; 2. Casters; 3. Frame; 4. Gripping robotic arm; 5. Slide groove; 6. Pad; 7. Two-way lead screw; 8. First motor; 9. Threaded seat; 10. Positioning plate; 11. Roller; 12. Slotted hole; 13. Sliding plate; 14. Lifting frame; 15. Finishing roller; 16. Traction line; 17. Rewinding roller; 18. Second motor; 19. Hydraulic rod. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Reference Figures 1 to 3 A positioning and guiding device for robot handling and stacking includes a base 1 and a moving wheel 2 rotatably connected to its bottom. A device frame 3 is fixedly connected to the top of the base 1, and a gripping robotic arm 4 is fixedly connected to the top of the device frame 3. A slide 5 is opened on the right side of the base 1, and a pad 6 is placed on the right side of the slide 5. The device also includes: a positioning mechanism: the positioning mechanism includes a bidirectional lead screw 7 rotatably connected to the top right side of the device frame 3. A first motor 8 is fixedly connected to the front end of the bidirectional lead screw 7. A threaded seat 9 is threadedly connected to the surface of the bidirectional lead screw 7. A positioning plate 10 is fixedly connected to the bottom of the threaded seat 9. A roller 11 is fixedly connected to the top of the positioning plate 10. A strip hole 12 is opened on the surface of the positioning plate 10; and a sorting mechanism: the sorting mechanism is fixedly connected to the top right side of the base 1.

[0020] Specifically, the first motor 8 is started, driving the bidirectional lead screw 7 to rotate around its axis. Since the surface of the bidirectional lead screw 7 is machined with two symmetrical threads with opposite directions, when rotating, it drives the two threaded seats 9 that mesh with it to move synchronously in opposite directions or in a straight line along the top track of the device frame 3. The translational movement of the threaded seats 9 is directly transmitted to the positioning plate 10 fixed to its bottom. The roller 11 installed on the top of the positioning plate 10 rolls close to the bottom surface of the device frame 3 to provide support and reduce movement resistance. At the same time, the left edge of the positioning plate 10 is embedded in the sliding groove 5 on the side of the base 1 to form a double guiding constraint. Under the synergistic effect of this drive and guiding system, the bottom of the positioning plate 10 always maintains a stable horizontal movement in contact with the top of the pad 6. By using the two positioning plates 10 to simultaneously perform rigid centering clamping or releasing actions on both sides of the goods, a precise physical benchmark is established for the stacking operation. The position of the goods can be dynamically pushed and regulated by moving the positioning plates 10 as needed during the stacking process.

[0021] The bidirectional lead screw 7 is rotatably connected to the top of the device frame 3 via rotating seats on both the front and rear sides. The surface of the bidirectional lead screw 7 has two symmetrical threads facing opposite directions. The first motor 8 is fixedly connected to the front side of the device frame 3 via a motor seat. The two symmetrical threads facing opposite directions enable the rotation of the first motor 8 to synchronously drive the two threaded seats 9 to produce precise, opposite linear motion. This strict synchronous symmetry is the core mechanism for realizing the centering, clamping and releasing functions, avoiding jamming or positioning deviation caused by asynchronous motion.

[0022] There are two threaded seats 9, which are symmetrically threaded to the surface of the double-acting screw 7. The rollers 11 are slidably connected to the top and bottom of the device frame 3, which converts the traditional sliding friction into rolling friction. This not only reduces driving resistance, improves smoothness of movement and reduces wear on parts, but also provides continuous vertical support for the positioning plate 10, ensuring its stability during movement. The left side of the positioning plate 10 is slidably connected inside the slide groove 5, forming a robust double guide system together with the rollers 11 above. This system can effectively resist the lateral overturning moment that the positioning plate 10 may generate when clamping goods, preventing it from warping or shifting. The bottom of the positioning plate 10 is attached to the top of the pad 6.

[0023] Reference Figure 1 , Figure 4 and Figure 5 In a preferred embodiment, the sorting mechanism includes a sliding plate 13 slidably connected to the top of the base 1, a lifting frame 14 fixedly connected to the top of the sliding plate 13, a sorting roller 15 slidably connected between the lifting frames 14, a traction line 16 fixedly connected to the front and rear ends of the sorting roller 15, a take-up roller 17 fixedly connected to the other end of the traction line 16, a second motor 18 fixedly connected to the front end of the take-up roller 17, and a hydraulic rod 19 fixedly connected to the left side of the sliding plate 13.

[0024] Specifically, the hydraulic rod 19 pushes the sliding plate 13 and the entire lifting frame 14 above it to move laterally towards the stack to the working position; then the second motor 18 starts, driving the winding roller 17 to rotate, and pulling the sorting roller 15 along the vertical sliding hole on the inner side of the lifting frame 14 precisely up or down through the traction line 16 wound on it, so that it is aligned with the height of the target cargo layer; at this time, the hydraulic rod 19 moves again, pushing the positioned sorting roller 15 to press horizontally against the side of the cargo. Utilizing the design of the freely rotatable circular roller in the middle of the sorting roller 15, while maintaining continuous lateral pressure on the cargo, it completes a smooth lateral movement along the surface of the cargo layer, thereby pushing the slightly protruding cargo back to the neat position, realizing the real-time straightening and reinforcement of the stack.

[0025] The lifting frame 14 has sliding holes on its surface that correspond to the sliders at the front and rear ends of the sorting roller 15. These holes provide high-precision rigid guidance for the vertical movement of the sorting roller 15, ensuring that it maintains a stable horizontal posture during the lifting process. The central roller of the sorting roller 15 can rotate. By rotating the roller, the sliding friction with the surface of the goods being sorted is converted into rolling friction. This allows for efficient straightening of the goods while minimizing scratches or wear on the packaging surface. The top of the lifting frame 14 is slidably connected to the top of the device frame 3.

[0026] The hydraulic rod 19 is fixedly connected to the left end in the cavity inside the base 1. The second motor 18 is fixedly connected to the front side of the sliding plate 13 through the motor seat. The top of the lifting frame 14 is provided with a fixed pulley. The middle of the traction line 16 passes around the fixed pulley at the top of the lifting frame 14. The vertical pulling force provided by the second motor 18 is converted into an effective force that can vertically lift the sorting roller 15 through the take-up roller 17. Furthermore, through the lever action of the fixed pulley, the small take-up stroke on the take-up roller 17 can be converted into a large lifting stroke of the sorting roller 15 in the vertical direction.

[0027] Reference Figure 1 and Figure 2 In a preferred embodiment, the base 1 has a cavity in the middle, the gripping robotic arm 4 is a programmable robotic arm that can grip goods, and the pad 6 is a base plate for placing goods.

[0028] Specifically, the gripping robotic arm 4 is a programmable robotic arm capable of gripping goods. Through a pre-set program, it coordinates precisely with the positioning and sorting mechanisms to achieve fully automated operation from gripping, handling, precise alignment to stacking. The pad 6 serves as the base for placing goods, which establishes a unified and flat reference plane for the entire positioning and stacking process, and also facilitates subsequent overall handling.

[0029] Working principle: In use, the first motor 8 drives the bidirectional lead screw 7 to rotate. The two threads on its surface with opposite directions drive the two threaded seats 9 to move towards each other. This causes the positioning plate 10, which is fixed to the bottom of the threaded seat 9, to close smoothly under the dual guidance and constraint of the roller 11 rolling along the bottom of the device frame 3 and the left side of the positioning plate 1 being embedded in the slide groove 5 of the base 1. Finally, the bottom of the positioning plate 10 is tightly attached to the top of the pad 6, and the goods placed on the pad 6 are rigidly aligned and clamped from both sides, establishing a precise physical reference position for it. The gripping robotic arm 4 then releases the goods precisely to the designated stacking point of the pad 6 based on this reference. After the goods are stacked, the positioning plate 10 is slightly loosened by the bidirectional lead screw 7 to remove interference. The first motor 8 then drives the positioning plate 10 to apply a slight clamping force to the stacked goods, straightening them, reducing gaps between goods and making them neat. During and after stacking, the hydraulic rod 19 can push the sliding plate 13 and the entire lifting frame 14 fixed to it to move laterally, bringing the mechanism closer to the stack. The second motor 18 starts, driving the winding roller 17 to rotate. The traction line 16, which passes around the fixed pulley at the top of the lifting frame 14, pulls the sorting roller 15, making it accurately rise and fall to the current cargo layer height along the vertical sliding hole of the lifting frame 14. The hydraulic rod 19 moves again, pushing the positioned sorting roller 15 to horizontally press the side of the goods. With the design of the freely rotating round roller in the middle, it moves smoothly along the surface of the cargo layer while maintaining lateral pressure, pushing any slightly protruding goods back to the neat position, realizing real-time straightening and reinforcement of the cargo layer.

[0030] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made based on the technical solution and inventive concept of this utility model should all be covered within the protection scope of this utility model.

Claims

1. A positioning and guiding device for robot handling and stacking, comprising a base (1) and rotatable wheels (2) rotatably connected to its bottom, a device frame (3) fixedly connected to the top of the base (1), a gripping robotic arm (4) fixedly connected to the top of the device frame (3), a slide groove (5) provided on the right side of the base (1), and a pad (6) placed on the right side of the slide groove (5), characterized in that, Also includes: Positioning mechanism: The positioning mechanism includes a bidirectional lead screw (7) rotatably connected to the right side of the top of the device frame (3), a first motor (8) is fixedly connected to the front end of the bidirectional lead screw (7), a threaded seat (9) is threadedly connected to the surface of the bidirectional lead screw (7), a positioning plate (10) is fixedly connected to the bottom of the threaded seat (9), a roller (11) is fixedly connected to the top of the positioning plate (10), and a strip hole (12) is opened on the surface of the positioning plate (10); Organizing mechanism: The organizing mechanism is fixedly connected to the top right side of the base (1).

2. The positioning guide for robotic palletizing according to claim 1, characterized in that The bidirectional lead screw (7) is rotatably connected to the top of the device frame (3) through rotating seats on the front and rear sides. The surface of the bidirectional lead screw (7) has two symmetrical thread lines facing opposite directions. The first motor (8) is fixedly connected to the front side of the device frame (3) through a motor seat.

3. The positioning guide for robotic palletizing according to claim 2, characterized in that There are two threaded seats (9), and the two threaded seats (9) are symmetrically threaded to the surface of the bidirectional lead screw (7). The roller (11) is slidably connected to the top and bottom of the device frame (3). The left side of the positioning plate (10) is slidably connected to the inside of the slide groove (5). The bottom of the positioning plate (10) is attached to the top of the pad (6).

4. The positioning and guiding device for robot handling and stacking according to claim 1, characterized in that, The sorting mechanism includes a sliding plate (13) slidably connected to the top of the base (1), a lifting frame (14) fixedly connected to the top of the sliding plate (13), a sorting roller (15) slidably connected between the lifting frames (14), a traction line (16) fixedly connected to the front and rear ends of the sorting roller (15), a take-up roller (17) fixedly connected to the other end of the traction line (16), a second motor (18) fixedly connected to the front end of the take-up roller (17), and a hydraulic rod (19) fixedly connected to the left side of the sliding plate (13).

5. The robot palletizing position guide according to claim 4, characterized in that, The surface of the lifting frame (14) is provided with a groove corresponding to the sliders at the front and rear ends of the sorting roller (15). The central roller of the sorting roller (15) can rotate. The top of the lifting frame (14) is slidably connected to the top of the device frame (3).

6. The robot palletizing position guide according to claim 5, wherein The left end of the hydraulic rod (19) is fixedly connected to the cavity inside the base (1). The second motor (18) is fixedly connected to the front side of the sliding plate (13) through the motor seat. The top of the lifting frame (14) is provided with a fixed pulley. The middle part of the traction line (16) passes around the fixed pulley at the top of the lifting frame (14).

7. The positioning and guiding device for robot handling and stacking according to claim 1, characterized in that, The base (1) has a cavity in the middle, the gripping robotic arm (4) is a programmable robotic arm that can grip goods, and the pad (6) is the base plate for placing goods.

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