Intelligent perception and grab structure of an automated grab ship unloader

Abstract

The application relates to the technical field of grab ship unloaders, and discloses an intelligent perception and grab structure of an automatic grab ship unloader, which comprises a fixing base, left connecting shafts and right connecting shafts are symmetrically arranged on the front and back sides of the fixing base, left bucket bodies and right bucket bodies are rotationally connected to the outer parts of the left connecting shafts and the right connecting shafts respectively, horizontal shafts are connected to the inner upper sides of the left bucket bodies and the right bucket bodies, the application is provided with an anti-escaping dust component, the stretching is realized through the transmission of a first double-shaft motor driving screw rod and an internal thread cylinder, the meshing between a second double-shaft motor driving worm and a worm wheel and the meshing between a driving bevel gear and a driven bevel gear are realized, the rotating rods on the front and back sides and the movable rods are synchronously rotated, the transmission rods on the left and right sides are rotated, the dustproof baffle curtains on the periphery are gradually unwound and unfolded, dust can be limited, the dust can be absorbed through the action of a dust collector, and the surrounding environment is not affected.

Description

Technical Field

[0001] This invention belongs to the technical field of grab unloaders, specifically an intelligent sensing and grab structure for an automated grab unloader. Background Technology

[0002] Grab bucket unloaders are specialized tools for grabbing dry bulk cargo. They consist of two or more openable and closable bucket-shaped structures that come together to form a cargo space. During loading, the openable and closable bucket-shaped structures close in the material pile, and the material is grabbed into the cargo space. During unloading, the bucket-shaped structures open while suspended above the material pile, and the material scatters onto the pile.

[0003] During operation, grab unloaders generate a large amount of dust during the unloading process, which has a significant impact on the surrounding environment and does not meet increasingly stringent environmental protection requirements. Therefore, an intelligent sensing and grab structure for an automated grab unloader is designed. Summary of the Invention

[0004] In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides an intelligent sensing and grab structure for an automated grab unloader, which effectively solves the problem that the current grab unloader generates a large amount of dust during the unloading process, which has a significant impact on the surrounding environment.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent sensing and grab structure for an automated grab unloader, comprising a fixed base, wherein a left connecting shaft and a right connecting shaft are symmetrically provided on both the front and rear sides of the fixed base, a left bucket body and a right bucket body are rotatably connected to the outside of the left connecting shaft and the right connecting shaft respectively, and a horizontal shaft is connected to the upper side of the inside of the left bucket body and the right bucket body respectively, a T-shaped seat is connected to the upper end of the fixed base, and a hydraulic cylinder is rotatably connected to both sides of the upper part of the T-shaped seat through a pin shaft, the lower ends of the hydraulic cylinders on both sides are respectively rotatably sleeved with the corresponding horizontal shafts on both sides, a dust collector is installed on both sides of the left bucket body and the right bucket body, and a dust prevention component is provided on the upper end of the fixed base.

[0006] Preferably, the dust-preventing assembly includes L-shaped plates installed on the front and rear sides of the T-shaped base. A first dual-axis motor is installed at the lower end of the L-shaped plates near the edge on both the front and rear sides. A lead screw is connected to each of the two output ends of the first dual-axis motor. An internal threaded cylinder is threaded onto the external thread of the lead screw. A transmission box is fixedly connected to one end of the internal threaded cylinder. A transmission rod is rotatably connected between two adjacent transmission boxes.

[0007] Preferably, both ends of the transmission rod extend into the corresponding transmission box and are connected to driven bevel gears.

[0008] Preferably, the second dual-axis motor at the upper end of the fixed base is located inside the T-shaped base. Both output ends of the second dual-axis motor are connected to worm gears. A housing is sleeved on the outside of the worm gears. The housing is connected to the upper end of the L-shaped plate. A rotating rod is inserted through both the front and rear housings. The rotating rod is rotatably connected to the housing through bearings. A worm wheel is fixedly sleeved in the middle of the rotating rod. The worm wheel meshes with the worm gear. Inner holes are opened on both sides of the rotating rod. Guide grooves are symmetrically opened on the inner wall of the inner hole.

[0009] Preferably, a movable rod is movably connected inside the inner hole, and guide strips are symmetrically connected to the outer wall of the movable rod. The guide strips are slidably connected to the guide groove. One end of the movable rod is rotatably connected to the transmission box through a bearing, and one end of the movable rod extends into the transmission box and is connected to a driving bevel gear. The driving bevel gear meshes with the driven bevel gear.

[0010] Preferably, both the transmission rod and the rotating rod are fitted with dustproof curtains.

[0011] Preferably, a reinforcing plate is sleeved between the outer sides of the left and right connecting shafts on both the front and rear sides.

[0012] Preferably, a sensing module is installed on one side inside the T-shaped base. The sensing module includes a PCBA board, a control module is provided on the upper end of the PCBA board, a communication module is provided on one side of the control module, a data acquisition module is provided on one side of the communication module, and the sensing module also includes two angle sensors, which are respectively installed on the horizontal axes on both sides.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] (1) The present invention achieves the extension of the dust prevention component by setting up the first dual-axis motor to drive the lead screw and the internal threaded cylinder, and the second dual-axis motor to drive the worm and the worm wheel to mesh, and the meshing between the active bevel gear and the driven bevel gear, so as to realize the synchronous rotation of the rotating rod and the movable rod on the front and rear sides, and the rotation of the transmission rod on the left and right sides, thereby making the dustproof curtains around the perimeter gradually roll up and unfold, which can restrict the dust. In conjunction with the function of the vacuum cleaner, the dust is absorbed and the surrounding environment is avoided.

[0015] (2) After the device is used, the invention can drive the rotating rods and movable rods on the front and rear sides to rotate synchronously, as well as the transmission rods on the left and right sides to rotate, thereby rolling up the dustproof curtain. Then, the unfolding parts on the left and right sides are retracted by the first dual-axis motor, reducing the space occupied. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0017] In the attached diagram:

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a top view of the present invention;

[0020] Figure 3 This is a front view of the present invention;

[0021] Figure 4 This is a schematic diagram of the connection structure of the horizontal axis of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the dust prevention component of the present invention;

[0023] Figure 6 This is a schematic diagram of the transmission structure of the worm and worm wheel of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure for the guide groove of the present invention;

[0025] Figure 8 This is a schematic diagram of the sensing module of the present invention;

[0026] In the diagram: 1. Fixed base; 2. Left connecting shaft; 3. Right connecting shaft; 4. Left bucket; 5. Right bucket; 6. Horizontal shaft; 7. T-shaped seat; 8. Hydraulic cylinder; 9. Vacuum cleaner; 10. Dust prevention assembly; 1001. L-shaped plate; 1002. First dual-axis motor; 1003. Lead screw; 1004. Internal threaded cylinder; 1005. Transmission box; 1006. Transmission rod; 1007. Driven bevel gear; 1008. Second... Dual-axis motor; 1009, worm gear; 1010, housing; 1011, rotating rod; 1012, inner hole; 1013, guide groove; 1014, moving rod; 1015, guide bar; 1016, driving bevel gear; 1017, dustproof curtain; 1018, worm wheel; 11, reinforcing plate; 12, PCBA board; 13, control module; 14, communication module; 15, data acquisition module; 16, angle sensor. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0028] Example 1, by Figures 1-8The present invention includes a fixed base 1, with a left connecting shaft 2 and a right connecting shaft 3 symmetrically arranged on both the front and rear sides of the fixed base 1. A reinforcing plate 11 is sleeved between the left connecting shaft 2 and the right connecting shaft 3 on both the front and rear sides. A left bucket 4 and a right bucket 5 are rotatably connected to the outside of the left connecting shaft 2 and the right connecting shaft 3, respectively. A horizontal shaft 6 is connected to the upper side of the left bucket 4 and the right bucket 5. A T-shaped seat 7 is connected to the upper end of the fixed base 1. A hydraulic cylinder 8 is rotatably connected to both sides of the upper part of the T-shaped seat 7 through a pin. The lower ends of the hydraulic cylinders 8 on both sides are rotatably sleeved with the corresponding horizontal shafts 6 on both sides. A vacuum cleaner 9 is installed on both sides of the left bucket 4 and the right bucket 5. A dust prevention assembly 10 is provided on the upper end of the fixed base 1.

[0029] Specifically, the dust escape prevention component 10 includes L-shaped plates 1001 installed on the front and rear sides of the T-shaped base 7. A first dual-axis motor 1002 is installed at the lower end of the L-shaped plates 1001 near the edge on both sides. A lead screw 1003 is connected to both output ends of the first dual-axis motor 1002. An internal threaded cylinder 1004 is threaded onto the external thread of the lead screw 1003. A transmission box 1005 is fixedly connected to one end of the internal threaded cylinder 1004. A transmission rod 1006 is rotatably connected between two adjacent transmission boxes 1005.

[0030] Both ends of the transmission rod 1006 extend into the corresponding transmission box 1005 and are connected to the driven bevel gear 1007.

[0031] The second dual-axis motor 1008 is located at the upper end of the fixed base 1. The second dual-axis motor 1008 is located inside the T-shaped base 7. Both output ends of the second dual-axis motor 1008 are connected to worm gears 1009. A housing 1010 is sleeved on the outside of the worm gears 1009. The housing 1010 is connected to the upper end of the L-shaped plate 1001. A rotating rod 1011 is passed through the interior of both the front and rear housings 1010. The rotating rod 1011 is rotatably connected to the housing 1010 through a bearing. A worm wheel 1018 is fixedly sleeved in the middle of the rotating rod 1011. The worm wheel 1018 meshes with the worm gear 1009. An inner hole 1012 is opened on both sides of the rotating rod 1011. Guide grooves 1013 are symmetrically opened on the inner wall of the inner hole 1012.

[0032] A movable rod 1014 is movably connected inside the inner hole 1012. Guide bars 1015 are symmetrically connected to the outer wall of the movable rod 1014. The guide bars 1015 are slidably connected to the guide groove 1013. One end of the movable rod 1014 is rotatably connected to the transmission box 1005 through a bearing. One end of the movable rod 1014 extends into the transmission box 1005 and is connected to a driving bevel gear 1016. The driving bevel gear 1016 is meshed with the driven bevel gear 1007.

[0033] Both the transmission rod 1006 and the rotating rod 1011 are fitted with dustproof curtains 1017 to restrict dust and reduce the possibility of it being blown away by the wind, thus reducing the impact of dust on the surrounding environment. In this invention, when installing the dustproof curtains 1017, only its two ends need to be fixed to the corresponding connection positions, so that it will not affect the extension and retraction of the front and rear side components.

[0034] Specifically, a sensing module is installed on one side inside the T-shaped base 7. The sensing module includes a PCBA board 12, a control module 13 is provided on the upper end of the PCBA board 12, a communication module 14 is provided on one side of the control module 13, a data acquisition module 15 is provided on one side of the communication module 14, and the sensing module also includes two angle sensors 16, which are respectively installed on the horizontal axes 6 on both sides.

[0035] By setting the angle sensor 16, the unfolding angle of the left bucket 4 and the right bucket 5 can be sensed, so as to control the opening and closing size of the left bucket 4 and the right bucket 5. The data acquisition module 15 is used to collect the angle data transmitted by the angle sensor 16, and the communication module 14 is used to transmit the collected data to the host computer so that the background can control it.

[0036] Working principle: During use, the extension and retraction of the hydraulic cylinders 8 on both sides drives the horizontal shaft 6 connected to them to move, thereby causing the left bucket 4 and right bucket 5 on both sides to rotate around the left connecting shaft 2 and the right connecting shaft 3, so as to realize the opening and closing movement of the left bucket 4 and right bucket 5, so as to grab, transfer and release the material to the corresponding stacking position.

[0037] Before the device releases the material after it has been picked up and moved above the stack, the first dual-axis motor 1002 on the dust prevention assembly 10 drives the lead screws 1003 on both sides to rotate. This causes the internal threaded cylinder 1004 to extend a certain distance to both sides along the outside of the lead screws 1003. At the same time, the movable rod 1014 extends synchronously along the inner hole 1012 inside the rotating rod 1011. Then, the second dual-axis motor 1008 drives the worm gears 1009 on both the front and rear sides to rotate. This causes the worm gears 1009 on both the front and rear sides to mesh with the corresponding worm wheels 1018 on the front and rear sides. The worm wheels 1018 drive the rotating rod 1011 to rotate. With the mutual limiting cooperation between the guide bar 1015 and the guide groove 1013, the movable rod 1014 rotates synchronously with the rotating rod 1011. In addition, the movable rod 1014 drives the active bevel gear 1016 to rotate. The active bevel gear 1016 meshes with the driven bevel gear 1007. The driven bevel gear 1007 drives the transmission rod 1006 to rotate. Through the above structure, the rotating rods 1011 and the movable rod 1014 on the front and rear sides rotate synchronously, and the transmission rods 1006 on the left and right sides rotate, thereby causing the dustproof curtain 1017 to gradually unroll and unfold until the unrolling and release are completed.

[0038] Then the material is released. The dust generated during the release is confined within the dustproof curtain 1017, which reduces the phenomenon of wind blowing. At the same time, the vacuum cleaner 9 is turned on to vacuum the dust, thereby preventing the dust from spreading to the surrounding environment and causing an impact.

[0039] When the device is in use, the rotating rods 1011 and movable rods 1014 on the front and rear sides are driven to rotate synchronously by the second dual-axis motor 1008, and the transmission rods 1006 on the left and right sides are also driven to rotate, thereby rolling up the dustproof curtain 1017. Then, the unfolding parts on the left and right sides are driven to retract by the first dual-axis motor 1002 to reduce the space occupied.

Claims

1. An intelligent sensing and grab structure for an automated grab unloader, comprising a fixed base (1), characterized in that: The fixed base (1) is symmetrically provided with a left connecting shaft (2) and a right connecting shaft (3) on both the front and rear sides. The left connecting shaft (2) and the right connecting shaft (3) are rotatably connected to the left bucket (4) and the right bucket (5) respectively. The upper side of the left bucket (4) and the right bucket (5) are connected to a horizontal shaft (6). The upper end of the fixed base (1) is connected to a T-shaped seat (7). The upper two sides of the T-shaped seat (7) are rotatably connected to hydraulic cylinders (8) through pins. The lower ends of the hydraulic cylinders (8) on both sides are rotatably sleeved with the corresponding horizontal shafts (6) on both sides. Vacuum cleaners (9) are installed on both sides of the left bucket (4) and the right bucket (5). The upper end of the fixed base (1) is provided with a dust prevention assembly (10). The dust escape prevention assembly (10) includes L-shaped plates (1001) installed on the front and rear sides of the T-shaped base (7). A first dual-axis motor (1002) is installed at the lower end of the L-shaped plates (1001) near the edge. A lead screw (1003) is connected to both output ends of the first dual-axis motor (1002). An internal threaded cylinder (1004) is threaded onto the external thread of the lead screw (1003). A transmission box (1005) is fixedly connected to one end of the internal threaded cylinder (1004). A transmission rod (1006) is rotatably connected between two adjacent transmission boxes (1005). The upper end of the fixed base (1) is provided with a second dual-axis motor (1008). The second dual-axis motor (1008) is located inside the T-shaped base (7). Both output ends of the second dual-axis motor (1008) are connected to worm gears (1009). The worm gears (1009) are fitted with housings (1010). The housings (1010) are connected to the upper end of the L-shaped plate (1001). Rotary rods (1011) are provided through the interior of both the front and rear housings (1010). The rotating rods (1011) are rotatably connected to the housings (1010) through bearings. A worm wheel (1018) is fixedly fitted in the middle of the rotating rods (1011). The worm wheel (1018) meshes with the worm gears (1009). Inner holes (1012) are opened on both sides of the rotating rods (1011). Guide grooves (1013) are symmetrically opened on the inner wall of the inner holes (1012). The inner hole (1012) is movably connected to a movable rod (1014). The outer wall of the movable rod (1014) is symmetrically connected to guide bars (1015). The guide bars (1015) are slidably connected to the guide groove (1013). One end of the movable rod (1014) is rotatably connected to the transmission box (1005) through a bearing. One end of the movable rod (1014) extends into the transmission box (1005) and is connected to a driving bevel gear (1016). The driving bevel gear (1016) meshes with the driven bevel gear (1007).

2. The intelligent sensing and grab structure of the automated grab unloader according to claim 1, characterized in that: Both ends of the transmission rod (1006) extend into the corresponding transmission box (1005) and are connected to the driven bevel gear (1007).

3. The intelligent sensing and grab structure of the automated grab unloader according to claim 1, characterized in that: Both the transmission rod (1006) and the rotating rod (1011) are fitted with dustproof curtains (1017).

4. The intelligent sensing and grab structure of the automated grab unloader according to claim 1, characterized in that: A reinforcing plate (11) is sleeved between the left connecting shaft (2) and the right connecting shaft (3) on both the front and rear sides.

5. The intelligent sensing and grab structure of the automated grab unloader according to claim 1, characterized in that: The T-shaped base (7) has a sensing module installed on one side. The sensing module includes a PCBA board (12), a control module (13) on the upper end of the PCBA board (12), a communication module (14) on one side of the control module (13), a data acquisition module (15) on one side of the communication module (14), and the sensing module also includes two angle sensors (16), which are respectively installed on the horizontal axes (6) on both sides.

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