CN219602270U - Automatic positioning device for goods shelf - Google Patents

Abstract

The utility model relates to the field of mechanical positioning, in particular to an automatic positioning device of a goods shelf, which comprises an X-direction moving mechanism, an X-direction positioning mechanism, a Y-direction moving mechanism and a Y-direction positioning mechanism, wherein the X-direction moving mechanism comprises an X-direction moving seat and a first driving piece for driving the X-direction moving seat to move; the Y-direction moving mechanism comprises a Y-direction moving seat and a driving piece II for driving the Y-direction moving seat to move, and the driving piece II is fixed on the X-direction moving seat; the X-direction positioning mechanism comprises an X-direction positioning frame and a driving piece III for driving the X-direction positioning frame to move, and the driving piece III is fixed on the Y-direction moving seat; the Y-direction positioning mechanism comprises a Y-direction positioning plate, a Y-direction fixing plate fixed on the X-direction positioning frame, and a driving piece IV for driving the Y-direction positioning plate to move close to or far from the Y-direction fixing plate, wherein the driving piece IV is fixed on the X-direction positioning frame; the X direction and the Y direction of the goods shelf are positioned firstly, and then the positions of the X direction and the Y direction of the goods shelf are adjusted according to the positions of the detection lines, so that the goods taking device can take down products conveniently and rapidly.

Description

Automatic positioning device for goods shelf

Technical Field

The utility model relates to the field of mechanical positioning, in particular to an automatic positioning device for a goods shelf.

Background

In the automatic production and detection process of products, workpieces on the production line are required to be transported to a detection line due to the limitation of factors such as fields, a plurality of products are generally placed on a multi-layer goods shelf for improving the transportation efficiency, and the whole goods shelf is transported by an AGV trolley. When shifting the goods shelves to the detection line side, the products need to be taken down through the automatic goods taking device, so that the AGV trolley needs to accurately position the positions, at which the goods shelves are shifted to the detection line side, so that the goods taking device takes down the products. At present, a device capable of accurately positioning a goods shelf is urgently needed.

Disclosure of Invention

In order to solve the problem that a goods shelf cannot be accurately positioned, the utility model provides an automatic positioning device for the goods shelf.

The utility model provides an automatic positioning device for a goods shelf, which adopts the following technical scheme:

the automatic positioning device for the goods shelf comprises an X-direction moving mechanism, an X-direction positioning mechanism, a Y-direction moving mechanism and a Y-direction positioning mechanism, wherein the X-direction moving mechanism comprises an X-direction moving seat and a first driving piece capable of driving the X-direction moving seat to move along the X direction; the Y-direction moving mechanism comprises a Y-direction moving seat and a second driving piece capable of driving the Y-direction moving seat to move along the Y direction, and the second driving piece is fixed on the X-direction moving seat; the X-direction positioning mechanism comprises an X-direction positioning frame and a driving piece III which can drive the X-direction positioning frame to move along the X direction, and the driving piece III is fixed on the Y-direction moving seat; the Y-direction positioning mechanism comprises a Y-direction positioning plate, a Y-direction fixing plate fixed on the X-direction positioning frame and a driving piece IV capable of driving the Y-direction positioning plate to move close to or far from the Y-direction fixing plate along the Y direction, wherein the driving piece IV is fixed on the X-direction positioning frame; the X direction is at an angle to the Y direction.

Through the adoption of the technical scheme, after the AGV transfers the goods shelf to the side of the automatic positioning device, the X-direction positioning frame is driven by the third driving piece to move along the X direction, the X-direction positioning frame is abutted with the goods shelf and pushes the goods shelf to move along the X direction, and the X-direction position of the goods shelf is positioned; driving the Y-direction positioning plate to move along the Y direction by the driving piece IV and pushing the goods shelf to move along the Y direction until the goods shelf is abutted to the Y-direction fixing plate, and positioning the Y-direction position of the goods shelf, so that the position positioning of the goods shelf is realized, and the Y-direction positioning plate is matched with the Y-direction fixing plate to clamp the goods shelf at the moment; finally, the X-direction moving seat and the Y-direction moving seat are driven by the first driving piece and the second driving piece to move, so that the positions of the goods shelves in the X direction and the Y direction are adjusted, and the goods taking device is convenient to take down products.

It is further preferred that the X-direction is 90 ° to the Y-direction.

By adopting the technical scheme, the position of the shelf positioning is conveniently calculated under the driving positioning of the X-direction positioning mechanism and the Y-direction positioning mechanism.

Further preferably, the automatic positioning device for the goods shelf further comprises a base, wherein the base is fixedly connected with a first guide rail, the X-direction moving seat is slidably connected to the first guide rail, and the first guide rail is arranged along the X direction.

Through adopting above-mentioned technical scheme, set up the removal of a pair of X of guide rail to remove the seat and lead and spacing to can improve the stability when X removes the seat and remove.

It is further preferable that the X-direction moving seat is fixedly connected with a second guide rail, the Y-direction moving seat is slidably connected to the second guide rail, and the second guide rail is arranged along the Y direction.

Through adopting above-mentioned technical scheme, set up two pairs of Y of guide rails and to removing the removal of seat and lead and spacing to can improve Y and remove the stability when the seat removes.

Further preferably, the Y-direction moving seat is fixedly connected with a guide rail III, the X-direction positioning frame is connected to the guide rail III in a sliding manner, and the guide rail III is arranged along the X direction.

Through adopting above-mentioned technical scheme, set up the removal of three pairs of X of guide rails to the locating rack and lead and spacing to can improve the stability when X moves to the locating rack.

It is further preferable that the probe is fixedly arranged on the X-direction moving seat or the Y-direction moving seat.

By adopting the technical scheme, the probe is arranged to detect whether the goods shelf is in place or not, so that the automatic positioning device of the goods shelf can be controlled to start and stop conveniently.

It is further preferred that the automatic pallet positioning device further comprises several sets of buffers.

Through adopting above-mentioned technical scheme, set up the buffer and be used for the removal to X to remove seat, Y to remove seat, X to locating rack and Y to the locating plate and cushion, improve stability.

It is further preferable that the first driving member and the X-direction moving seat, the second driving member and the Y-direction moving seat, and the third driving member and the X-direction positioning frame are detachably connected.

Through adopting above-mentioned technical scheme, can dismantle between driving piece and the corresponding moving piece and be connected, the installation of being convenient for is dismantled.

Further preferably, the X-directional positioning mechanisms are provided with two groups, the two groups of X-directional positioning mechanisms are arranged on the same side of the Y-directional moving seat, and the X-directional positioning frames in each group of X-directional positioning mechanisms are provided with Y-directional positioning mechanisms.

By adopting the technical scheme, two groups of X-direction positioning mechanisms and Y-direction positioning mechanisms are arranged, so that the stability of the shelf during positioning and moving is improved.

It is further preferable that the two sets of Y-direction positioning mechanisms are disposed on a side of the X-direction positioning frame away from each other.

Through adopting above-mentioned technical scheme, the interval between two X orientation locating racks is minimum in the initial, makes two X orientation locating racks keep away from each other and removes under the drive of driving piece three, until two X orientation locating racks support to the goods shelves on, and rethread two sets of Y are to the positioning mechanism clamp to the goods shelves, when X orientation moving mechanism and Y move the mechanism drive goods shelves and remove, two sets of Y are to the positioning mechanism and install the design in X orientation locating racks keep away from one side each other, can avoid goods shelves and Y to the positioning mechanism break away from, stability when improving goods shelves and remove.

In summary, the present utility model includes at least one of the following beneficial technical effects:

1. according to the automatic positioning device, the X direction and the Y direction of the goods shelf are positioned firstly, and then the positions of the X direction and the Y direction of the goods shelf are adjusted according to the positions of the detection lines, so that the goods taking device can take down products conveniently and quickly;

2. in the utility model, the guide rail is arranged to guide and support the X-direction moving seat, the Y-direction moving seat and the X-direction positioning frame, so that the stability during moving is improved, the limiting effect of the moving distance can be achieved, and the collision between the moving seat, the positioning frame and the like and the goods taking device in the moving process is avoided;

3. in the utility model, two groups of X-direction positioning mechanisms and two groups of Y-direction positioning mechanisms are arranged, so that the stability of the shelf is ensured when the shelf is positioned.

Drawings

FIG. 1 is a schematic perspective view of a shelf after positioning;

FIG. 2 is a schematic perspective view of an automatic shelf location apparatus;

FIG. 3 is a schematic top view of FIG. 2;

FIG. 4 is an enlarged schematic view of FIG. 2A;

FIG. 5 is a schematic top view of a Y-direction positioning mechanism and an X-direction positioning frame according to the first embodiment;

fig. 6 is a schematic top view of a Y-direction positioning mechanism and an X-direction positioning frame in the second embodiment.

Reference numerals illustrate: 1. a base; 2. an X-direction moving mechanism; 21. a first driving member; 22. a first guide rail; 23. an X-direction moving seat; 3. an X-direction positioning mechanism; 31. a third driving member; 32. a guide rail III; 33. an X-direction positioning frame; 4. a Y-direction moving mechanism; 41. a second driving piece; 42. a second guide rail; 43. y-direction moving seat; 5. y-direction positioning mechanism; 51. a driving member IV; 52. y-direction positioning plate; 53. a Y-direction fixing plate; 6. a probe; 7. a buffer; 8. AGV trolley; 9. a multi-layer shelf; 91. a roller; 92. and (5) supporting legs.

Detailed Description

The present utility model will be described in further detail with reference to fig. 1 to 6.

The embodiment of the utility model discloses an automatic positioning device for a goods shelf, which can move the goods shelf to the side of a detection line after positioning the position of the goods shelf, so that the goods shelf is convenient to be in butt joint with a goods taking device, and the goods taking device is convenient to take down products on the goods shelf. As shown in figure 1, the shelf is provided with four support legs 92, rollers 91 are arranged at the bottoms of the support legs 92, the whole movement of the shelf is facilitated, and the shelf is transferred to the side of the automatic positioning device from the production line and is carried and transferred through the AGV trolley 8. The following examples are specifically disclosed:

example 1

As shown in fig. 2, 3 and 4, the automatic positioning device comprises a base 1, and an X-direction moving mechanism 2, an X-direction positioning mechanism 3, a Y-direction moving mechanism 4 and a Y-direction positioning mechanism 5 which are mounted on the base 1, wherein the X-direction and the Y-direction form a certain angle. The X-direction moving mechanism 2 comprises an X-direction moving seat 23 and a first driving piece 21 for driving the X-direction moving seat 23 to move along the X direction; the Y-direction moving mechanism 4 comprises a Y-direction moving seat 43 and a second driving member 41 for driving the Y-direction moving seat 43 to move along the Y direction, and the second driving member 41 is fixed on the X-direction moving seat 23; the X-direction positioning mechanism 3 comprises an X-direction positioning frame 33 and a driving piece III 31 for driving the X-direction positioning frame 33 to move along the X direction, and the driving piece III 31 is fixed on a Y-direction moving seat 43; the Y-direction positioning mechanism 5 includes a Y-direction positioning plate 52, a Y-direction fixing plate 53 fixed to the X-direction positioning frame 33, and a fourth driving member 51 for driving the Y-box positioning plate to move in the Y-direction toward or away from the Y-direction fixing plate 53, the fourth driving member 51 being fixed to the X-direction positioning frame 33.

In this embodiment, the vertical direction and the horizontal direction of fig. 3 will be specifically described, wherein the X direction and the Y direction are 90 °, the X direction is the vertical direction, and the Y direction is the horizontal direction.

Specifically, the two bases 1 are arranged in a distributed manner along the X direction, two parallel first guide rails 22 are fixedly connected between the two bases 1, the first guide rails 22 are arranged along the X direction, the X-direction moving seat 23 is slidably connected with the first guide rails 22, the first driving part 21 is fixed on the base 1 above, the first guide rails 22 are used for guiding and supporting the movement of the X-direction moving seat 23, the stability is improved, and the movement range of the X-direction moving seat 23 is limited.

Two parallel guide rails II 42 are fixedly connected to the X-direction moving seat 23, the guide rails II 42 are arranged along the Y direction, the Y-direction moving seat 43 is slidably connected with the guide rails II 42, the guide rails II 42 are used for guiding and supporting the movement of the Y-direction moving seat 43, stability is improved, the movement range of the Y-direction moving seat 43 is limited, and the driving piece II 41 is arranged on the left side of the Y-direction moving seat 43.

Two groups of X-direction positioning mechanisms 3 are arranged on the Y-direction moving seat 43, the two groups of X-direction positioning mechanisms 3 are distributed up and down along the X direction, and the two groups of X-direction positioning mechanisms 3 are arranged on the right side of the Y-direction moving seat 43. The right end of the Y-direction moving seat 43 is fixedly connected with four guide rails III 32, the four guide rails III 32 are divided into two groups up and down along the X direction, an X-direction positioning frame 33 in the upper X-direction positioning mechanism 3 is in sliding connection with two guide rails III 32 above, an X-direction positioning frame 33 in the lower X-direction positioning mechanism 3 is in sliding connection with two guide rails III 32 below, and a driving piece III 31 in the two groups of X-direction positioning mechanisms 3 is positioned between the two X-direction positioning frames 33. The guide rail III 32 guides and supports the movement of the X-direction positioning frame 33, improves the stability, and limits the movement range of the X-direction positioning frame 33.

In this embodiment, when the two sets of X-directional positioning mechanisms 3 drive the two X-directional positioning frames 33 to move away from each other until the distance between the two X-directional positioning frames 33 is the largest, the distance between the two X-directional positioning frames 33 is matched with the distance between the two adjacent legs 92 in the shelf. Specifically, as shown in fig. 5, when the distance between the two X-direction positioning frames 33 is the largest, the two X-direction positioning frames 33 can abut against the ends of the adjacent two legs 92 that are close to each other.

The X-directional positioning frames 33 of the two sets of X-directional positioning mechanisms 3 are each provided with a Y-directional positioning mechanism 5, and in this embodiment, the two sets of Y-directional positioning mechanisms 5 are disposed on the sides of the X-directional positioning frames 33 that are far from each other. Specifically, for the Y-directional positioning mechanism 5 located below in the X-direction, the Y-directional fixing plate 53 is fixed at the right end of the X-directional positioning frame 33, the fourth driving member 51 is fixed on the lower end surface of the X-directional positioning frame 33 in the X-direction, the output end of the fourth driving member 51 is rightward and fixedly connected with the Y-directional positioning plate 52, the fourth driving member 51 drives the Y-directional positioning plate 52 to move rightward near the Y-directional fixing plate 53, the shelf can be pushed to move rightward by the Y-directional positioning plate 52 until the right end of the leg 92 of the shelf abuts against the Y-directional fixing plate 53, the shelf is positioned in the Y-direction, and the leg 92 of the shelf can be clamped by the Y-directional positioning plate 52 and the Y-directional fixing plate 53.

In this embodiment, the first driving member 21 is detachably connected to the X-direction moving seat 23, the second driving member 41 is detachably connected to the Y-direction moving seat 43, and the third driving member 31 is detachably connected to the X-direction positioning frame 33. Specifically, the first driving member 21, the second driving member 41, the third driving member 31 and the fourth driving member 51 are all driven by air cylinders, and floating joints capable of being connected with air cylinder piston rods are arranged at corresponding positions of the X-direction moving seat 23, the Y-direction moving seat 43 and the X-direction positioning frame 33.

The stroke of the driving member IV 51 for driving the Y-direction positioning plate 52 to move is short, and a certain clamping force is needed to be provided for the support leg 92 of the goods shelf, and the Y-direction positioning plate 52 and the piston rod of the driving member IV 51 can be directly and fixedly connected.

In addition, a probe 6 for monitoring whether the shelf is transferred to the side of the positioning device is fixedly arranged on the X-direction moving seat 23 or the Y-direction moving seat 43. In this embodiment, the probe 6 is fixedly mounted on the Y-direction moving seat 43.

The automatic positioning device for the goods shelf also comprises a plurality of groups of buffers 7. In this embodiment, three sets of buffers 7 are provided, and the three sets of buffers are respectively provided on the base 1, the X-direction moving seat 23 and the Y-direction moving seat 43, the buffer 7 on the base 1 is used for buffering the movement of the X-direction moving seat 23, the buffer 7 on the X-direction moving seat 23 is used for buffering the movement of the Y-direction moving seat 43, and the buffer 7 on the Y-direction moving seat 43 is used for buffering the movement of the X-direction positioning frame 33.

The implementation principle of the embodiment is as follows:

in the initial state, the distance between the two X-direction positioning frames 33 is the smallest, the X-direction moving seat 23 is at the upper limit position in the X-direction, the Y-direction moving seat 43 is at the left limit position, the distance between the Y-direction positioning plate 52 and the Y-direction fixing plate 53 is the largest, and the pick-up device is located below the positioning device in the X-direction and right of the Y-direction, i.e., in fig. 3, the pick-up device is located below the positioning device in the right direction.

Firstly, the goods shelf is transferred to the right side of the positioning device through the AGV trolley 8, the probe 6 detects that the goods shelf is in place, and at the moment, two X-direction positioning frames 33 are positioned between two support legs 92 on the left side of the goods shelf in the X direction;

secondly, the second driving piece 41 is started to drive the Y-direction moving seat 43 to move rightwards, and the X-direction positioning frame 33 is moved rightwards to extend between the two support legs 92;

then, the second driving part 41 is closed, the third driving part 31 is started, at the moment, the two groups of X-direction positioning mechanisms 3 simultaneously operate and enable the two X-direction positioning frames 33 to move away from each other until the distance between the two X-direction positioning frames 33 is maximum, at the moment, the two X-direction positioning frames 33 just abut against one side ends of the two supporting legs 92, which are close to each other, so that the X-direction positioning of the goods shelf is realized;

then, the third driving member 31 is closed, the fourth driving member 51 is started, the Y-direction positioning plate 52 is driven to move rightwards, and the supporting legs 92 are pushed to move rightwards until the supporting legs 92 are abutted to the Y-direction fixing plate 53, so that the Y-direction positioning of the goods shelf is realized;

finally, the first driving part 21 and the second driving part 41 are started to drive the X-direction moving seat 23 and the Y-direction moving seat 43 to move, so that the goods shelf is close to the goods taking device, and the goods taking device is convenient to take off the products on the goods shelf.

Example two

As shown in fig. 6, the difference from the first embodiment is that the two sets of Y-direction positioning mechanisms 5 are located on the sides of the X-direction positioning frames 33 close to each other, and the minimum distance between the two X-direction positioning frames 33 is adapted to the distance between the legs 92 of the shelf.

The implementation principle of the second embodiment is different from that of the first embodiment in that the distance between the two X-direction positioning frames 33 is the largest in the initial state. When the AGV 8 transfers the pallet to the right of the positioning device and the probe 6 detects that the pallet is in place, the left two legs 92 of the pallet are positioned between the two X-directional positioning frames 33 in the X-direction.

In addition, when the third driving member 31 drives the X-direction positioning frames 33 to move closer to each other until the distance between the two X-direction positioning frames 33 is minimized, the two X-direction positioning frames 33 abut against the ends of the legs 92 that are away from each other.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims (10)

1. The automatic shelf positioning device is characterized by comprising an X-direction moving mechanism (2), an X-direction positioning mechanism (3), a Y-direction moving mechanism (4) and a Y-direction positioning mechanism (5), wherein the X-direction moving mechanism (2) comprises an X-direction moving seat (23) and a first driving piece (21) capable of driving the X-direction moving seat (23) to move along the X direction; the Y-direction moving mechanism (4) comprises a Y-direction moving seat (43) and a second driving piece (41) capable of driving the Y-direction moving seat (43) to move along the Y direction, and the second driving piece (41) is fixed on the X-direction moving seat (23); the X-direction positioning mechanism (3) comprises an X-direction positioning frame (33) and a driving piece III (31) capable of driving the X-direction positioning frame (33) to move along the X direction, and the driving piece III (31) is fixed on the Y-direction moving seat (43); the Y-direction positioning mechanism (5) comprises a Y-direction positioning plate (52), a Y-direction fixing plate (53) fixed on the X-direction positioning frame (33), and a driving piece IV (51) capable of driving the Y-direction positioning plate (52) to move close to or away from the Y-direction fixing plate (53) along the Y direction, wherein the driving piece IV (51) is fixed on the X-direction positioning frame (33); the X direction is at an angle to the Y direction.

2. The automated pallet positioning apparatus of claim 1, wherein the X-direction is 90 ° from the Y-direction.

3. The automatic positioning device for the goods shelf according to claim 1, further comprising a base (1), wherein a first guide rail (22) is fixedly connected to the base (1), the X-direction moving seat (23) is slidably connected to the first guide rail (22), and the first guide rail (22) is arranged along the X-direction.

4. The automatic positioning device for the shelf according to claim 1, wherein a second guide rail (42) is fixedly connected to the X-direction moving seat (23), the Y-direction moving seat (43) is slidably connected to the second guide rail (42), and the second guide rail (42) is disposed along the Y-direction.

5. The automatic positioning device for the shelf according to claim 1, wherein a guide rail three (32) is fixedly connected to the Y-direction moving seat (43), the X-direction positioning frame (33) is slidably connected to the guide rail three (32), and the guide rail three (32) is disposed along the X-direction.

6. Automatic positioning device for shelves according to claim 1, characterized in that a probe (6) is fixedly arranged on the X-direction moving seat (23) or the Y-direction moving seat (43).

7. Automatic pallet positioning device according to claim 1, characterized in that it further comprises several sets of buffers (7).

8. The automatic positioning device for a shelf according to claim 1, wherein the first driving member (21) is detachably connected with the X-direction moving seat (23), the second driving member (41) is detachably connected with the Y-direction moving seat (43), and the third driving member (31) is detachably connected with the X-direction positioning frame (33).

9. The automatic positioning device for the shelf according to claim 1, wherein two groups of the X-direction positioning mechanisms (3) are arranged, the two groups of the X-direction positioning mechanisms (3) are arranged on the same side of the Y-direction moving seat (43), and the Y-direction positioning mechanisms (5) are arranged on the X-direction positioning frames (33) in each group of the X-direction positioning mechanisms (3).

10. Automatic positioning device for shelves according to claim 9, characterized in that two sets of said Y-positioning means (5) are arranged on the side of said X-positioning frames (33) remote from each other.