Rotary supporting structure of three-dimensional skip car

Abstract

The invention relates to the field of in-furnace workpiece taking and placing devices, in particular to a three-dimensional skip car rotary supporting structure which comprises rotary supporting legs installed on fork claws of a three-dimensional skip car pallet fork, the rotary supporting legs are rotationally connected to the fork claws, and the rotary supporting legs can be perpendicular to or parallel to the ground by rotating the rotary supporting legs. When the rotary supporting legs are perpendicular to the ground, the end faces, close to the ground, of the rotary supporting legs are located below the side faces, close to the ground, of the fork claws, the multiple rotary supporting legs are evenly arranged at intervals in the length direction of the fork claws, linkage rods used for driving the multiple rotary supporting legs to rotate are further arranged on the fork claws, and the linkage rods are arranged in the direction parallel to the length direction of the fork claws. The multiple rotary supporting legs are all rotationally connected with the linkage rod, and the linkage rod is parallel to the rotary axes of the rotary supporting legs at intervals relative to the rotary axes of the rotary supporting legs. The fork claw has the effect of reducing the situation of deformation of the fork claw.

Description

Technical Field

[0001] The present application relates to the technical field of a device for picking up and placing workpieces in a furnace, and in particular to a three-dimensional trolley rotating support structure. Background Art

[0002] A three-dimensional material truck is an industrial handling vehicle, usually used to transport workpieces. Because it can drive the workpiece to move in the vertical and horizontal directions, it is also called a three-dimensional material truck.

[0003] The three-dimensional material vehicle mainly includes a vehicle chassis, a lifting device and a fork. The vehicle chassis is used to walk on the ground, the lifting device is installed on the chassis, and the fork is installed on the lifting device. The lifting device is used to drive the fork to rise and fall, and the fork is used to lift and support the workpiece. The chassis, lifting device and fork cooperate with each other to realize the picking and placing of the workpiece.

[0004] In the quenching process of some large workpieces, a three-dimensional material cart is needed to remove the workpiece and then immerse the workpiece in the quenching liquid. During this process, the fork has to withstand the pressure of the workpiece on the fork, and on the other hand, it needs to experience the extreme hot or cold environment outside, which makes the fork prone to deformation. Summary of the invention

[0005] In order to reduce the deformation of the forks of the three-dimensional material cart, the present application provides a three-dimensional material cart rotating support structure.

[0006] The three-dimensional material trolley rotating support structure provided in this application adopts the following technical solution: A three-dimensional material cart rotating support structure, a rotating leg installed on the fork claw of the three-dimensional material cart fork, the rotating leg is rotatably connected to the fork claw, and rotating the rotating leg can make the rotating leg vertical or parallel to the ground. When the rotating leg is vertical to the ground, its end face close to the ground is below the side face of the fork claw close to the ground. The rotating legs are evenly spaced along the length direction of the fork claw, and the fork claw is also provided with a linkage rod for driving the multiple rotating legs to rotate. The linkage rod is parallel to the length direction of the fork claw, and the multiple rotating legs are rotatably connected to the linkage rod. The linkage rod is spaced parallel to the rotation axis of the rotating leg and is arranged at intervals.

[0007] By adopting the above technical solution, in the actual production process, the three-dimensional material cart drives the fork claw to move to the bottom of the workpiece, and then controls the fork claw to move up to lift the workpiece. At this time, the linkage rod drives the rotating leg to make it perpendicular to the ground, and the end of the rotating leg close to the ground is abutted against the bottom wall of the equipment or the ground. The rotating leg supports the fork claw, thereby reducing the bending of the fork claw during the load-bearing process. At the same time, the linkage rod is connected to multiple rotating legs at the same time, and its rotation axis is parallel to the rotation axis of the rotating leg and is arranged at intervals, so that multiple rotating legs can rotate synchronously, which is convenient for the staff to adjust the position of the rotating leg.

[0008] Optionally, an adjustment assembly is provided on the fork claw, and the adjustment assembly includes a connecting rod and a pushing piece. One end of the connecting rod is rotatably connected to the linkage rod, and the other end is rotatably connected to the fork claw and can slide in a direction parallel to the fork claw. The pushing piece is used to apply a force in a direction parallel to the direction of the fork claw to one end of the connecting rod away from the linkage rod.

[0009] By adopting the above technical solution, the pusher can drive the connecting rod to move away from one end of the linkage rod, and during the movement of the connecting rod, a force parallel to the length of the fork claw can be applied to the linkage rod. Since the rotation axis of the linkage rod is parallel to the rotation axis of the rotating leg and is arranged at intervals, the linkage rod can drive the multiple rotating legs to move under the action of force, thereby realizing the adjustment of the multiple rotating legs.

[0010] Optionally, a limit pin is provided on one side of the trajectory line in the length direction of the connecting rod, and when the connecting rod abuts against the limit pin, the rotating leg is perpendicular to the ground, and the connecting rod is set at an angle to the length direction of the fork claw.

[0011] By adopting the above technical solution, the position of the connecting rod is limited by a limit pin, so that the rotation axis between the connecting rod and the linkage rod and the rotation axis of the multiple rotating legs are prevented from being located in the same plane, thereby facilitating the connecting rod to drive the linkage rod to rotate and reducing the possibility of the connecting rod getting stuck when applying force to the linkage rod.

[0012] Optionally, a limiting assembly is provided on the linkage rod, and the limiting assembly includes an insertion rod, which is slidably connected to the linkage rod along a direction parallel to the rotation axis of the rotating leg. A limiting groove is provided on the fork claw at a position corresponding to the insertion rod. When the rotating leg is perpendicular to the ground, the insertion rod corresponds to the limiting groove, and one end of the insertion rod can be inserted into the limiting groove.

[0013] By adopting the above technical solution, after the linkage rod moves to the specified position, the insertion rod is slid to insert the insertion rod into the limiting groove, thereby limiting the position of the linkage rod, and then limiting the rotation of the rotating leg, thereby improving the stability of the rotating leg supporting the fork claw.

[0014] Optionally, an adjustment component is provided on the fork claw, and the adjustment component includes a rotating rod, a universal joint is provided between the rotating rod and the linkage rod, one end of the universal joint is rotatably connected to the linkage rod around an axis parallel to the length direction of the linkage rod, and the other end is fixedly connected to the connecting rod, the insertion rod is connected to the universal joint, and the end of the universal joint connected to the linkage rod is able to drive the insertion rod to move when it rotates.

[0015] By adopting the above technical solution, when the rotation axis of the universal shaft itself is parallel to the rotation axis of the rotating leg, the end of the rotating rod away from the linkage rod moves, which can drive the rotating leg to rotate, thereby realizing the adjustment of the rotation of the rotating leg. After the rotating leg is perpendicular to the ground, the rotating rod can be rotated to drive the end of the universal shaft connected to the linkage rod to rotate relative to the linkage rod, thereby driving the insertion rod to move, thereby realizing the adjustment of the insertion rod position.

[0016] Optionally, the limit assembly also includes a gear and a driving rod, the gear is rotatably connected to the linkage rod, the rotation axis of the gear is perpendicular to the sliding direction of the insertion rod, the corresponding gear on the insertion rod is provided with a tooth groove meshing with it, the driving rod is fixedly connected to the gear and to the end of the universal joint, and the rotation of one end of the universal joint connected to the linkage rod can drive the driving rod to rotate.

[0017] By adopting the above technical solution, the rotation of the driving rod drives the gear to rotate, which in turn drives the insertion rod to move, thereby realizing the connection between the universal shaft and the insertion rod.

[0018] Optionally, the adjustment assembly also includes a multifunctional driving assembly, which includes a cylindrical sliding column, which is slidingly connected to the fork claw in a direction parallel to the fork claw, and the sliding column can rotate around its own axis, and a universal joint is arranged between the sliding column and the rotating rod, and the two ends of the universal joint are respectively connected to the rotating rod and the sliding column.

[0019] By adopting the above technical solution, the sliding column can drive the rotating rod to translate away from one end of the linkage rod, and the rotating sliding column can drive the connecting rod to rotate through the universal shaft, thereby driving the connecting rod to rotate and move.

[0020] Optionally, the multifunctional driving assembly further includes a rotating sleeve and a driving sleeve, the rotating sleeve being located between the universal shaft and the sliding column, one end of the rotating sleeve being connected to the universal shaft, and the other end being rotatably sleeved on the sliding column along the length direction of the sliding column, the driving sleeve being arranged on the side of the sliding column away from the rotating sleeve, and when the sliding column drives the rotating sleeve to move, the rotating sleeve can abut against the driving sleeve, and after the rotating sleeve abuts against the driving sleeve, the sliding column can slide relative to the rotating sleeve; at the same time, the sliding column can be inserted into the driving sleeve, and the sliding column can rotate when sliding in the driving sleeve.

[0021] By adopting the above technical solution, a force in a direction parallel to the fork claw is applied to the sliding column, so that the sliding column drives the rotating sleeve to approach the driving sleeve. After the driving sleeve abuts against the rotating sleeve, the rotating leg is perpendicular to the ground. At this time, the driving sleeve restricts the movement of the rotating sleeve, thereby enabling the rotating leg to continue to rotate. As the sliding column continues to move, the sliding column enters the driving sleeve, and the driving sleeve drives the sliding column to rotate, and then drives the connecting rod to rotate, so as to adjust the position of the insertion rod, so that the insertion rod is automatically inserted into the limit groove during the movement of the sliding column.

[0022] Optionally, an elastic member is provided between the rotating sleeve and the sliding column for keeping the rotating sleeve and the sliding column moving in a direction approaching each other.

[0023] By adopting the above technical solution, under the action of the elastic member, when the rotating sleeve is not in contact with the driving ring, the elastic member blocks the relative sliding of the two, so the sliding column can drive the rotating leg to rotate during the movement. After the rotating sleeve is in contact with the driving sleeve, the driving sleeve restricts the movement of the rotating sleeve. At this time, the sliding column slides, the elastic member is compressed, and the rotating sleeve and the sliding column slide relative to each other, and the sliding column drives the rotating sleeve to rotate.

[0024] Optionally, the crack detection system includes a collection module for collecting noise signals generated when cracks appear on the fork claws, a data processing module for receiving the signals collected by the collection module and processing the signals, and a display module for displaying the processing results; The acquisition module includes acoustic sensors arranged at both ends of the fork claws; The steps of information processing by the data processing module include: When receiving the signal for the first time, start timing: There is a timing module in the industrial computer. When one of the signal sound sensors receives the signal, the timing module starts timing; Receive the signal again and stop timing: Another acoustic sensor stops timing after receiving the acoustic signal, and obtains the time difference between the two received signals; Calculate the offset distance d: Calculate the distance difference between the sound source and the two sound sensors; Calculate the crack position and define one of the acoustic sensors as the reference acoustic sensor. If the reference sound sensor receives a signal after reeling in: then the distance between the sound source and the reference sound sensor L = (hd) / 2; If the reference sound sensor receives a signal: Then the distance between the sound source and the reference sound sensor is L = (h + d) / 2.

[0025] By adopting the above technical solution, the status of the fork is monitored and the risk of safety accidents during the use of the fork is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present application from a first angle.

[0027] Figure 2 It is a schematic diagram of the overall structure from a second angle of the first embodiment of the present application.

[0028] Figure 3 This is the first embodiment of the present application. Figure 2 Enlarged view of part A.

[0029] Figure 4 It is a schematic structural diagram of the connection component of the first embodiment of the present application.

[0030] Figure 5 It is a schematic diagram of the overall structure of the second embodiment of the present application.

[0031] Figure 6 It is a schematic structural diagram of the limit assembly of the second embodiment of the present application.

[0032] Figure 7 It is a schematic structural diagram of the adjustment component of the third embodiment of the present application.

[0033] Figure 8 This is a state diagram of the rotating sleeve and the driving sleeve before abutting against each other in the third embodiment of the present application.

[0034] Fig. 9 This is a crack detection flow chart of the third embodiment of the present application.

[0035] Fig.10 This is a flow chart of crack calculation by an industrial computer in the third embodiment of the present application.

[0036] 1. Fork claw; 11. Main support plate; 12. Rib plate; 2. Rotating leg; 3. Linkage rod; 4. Connecting plate; 5. Adjusting assembly; 51. Connecting rod; 52. Pushing member; 53. Rotating rod; 54. Multi-functional driving assembly; 541. Rotating sleeve; 542. Sliding column; 543. Elastic member; 544. Driving sleeve; 545. Driving groove; 546. Matching rod; 55. Limiting pin; 56. Universal joint; 6. Limiting assembly; 61. Insert rod; 62. Gear; 63. Driving rod; 7. Acoustic sensor; 8. Connecting assembly; 81. Rotating shaft; 82. Blocking piece; 91. First axis; 92. Second axis. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1-10 This application is described in further detail.

[0038] Reference Figure 1 and Figure 2The fork of the three-dimensional material truck mainly includes two fork claws 1 arranged at intervals in the horizontal direction, a main support plate 11 of the fork claw 1 and a transverse rib 12. The main support plate 11 is a rectangular plate structure as a whole. The main support plate 11 is perpendicular to the ground, and its length direction is parallel to the ground. Two main support plates 11 are arranged in parallel and at intervals in a direction perpendicular to itself, and the transverse rib 12 is arranged between the two main support plates 11. Both sides of the transverse rib 12 are vertically welded to the two main support plates 11. Multiple transverse ribs 12 are arranged in parallel and at intervals in a direction parallel to the length direction of the main support plate 11 to improve the structural strength of the fork claw 1.

[0039] Example 1 The embodiment of the present application discloses a three-dimensional material cart rotating support structure.

[0040] Reference Figure 2 and Figure 3 A three-dimensional material cart rotating support structure includes a rotating leg 2 mounted on a fork claw 1. The rotating leg 2 is a rectangular rod-shaped structure as a whole, and the rotating leg 2 is arranged between two main support plates 11. A connecting assembly 8 is arranged between the rotating leg 2 and one of the main support plates 11. The rotating leg 2 is rotatably connected to the main support plate 11 through the connecting assembly 8, and the rotating leg 2 can be rotated to make the rotating leg 2 vertical or parallel to the ground. When the three-dimensional material cart (i.e., a forklift, the chassis structure of the forklift is not shown in the figure) takes goods in the furnace, the fork claw 1 is placed under the workpiece to drive the workpiece to rise, so that the gap between the workpiece and the ground is set. Then, the rotating leg 2 can be rotated to support the rotating leg 2 on the ground, and then the workpiece is moved out of the furnace by dragging, and then the workpiece is placed in the quenching tank by moving the fork downward. When in the quenching tank, the rotating leg 2 abuts against the bottom wall of the quenching tank to support the fork claw 1. The fork claw 1 is supported by the rotating leg 2, the load force on the fork claw 1 is shared, and the bending of the fork claw 1 is reduced.

[0041] Reference Figure 2 and Figure 4 The connecting assembly 8 includes a rotating shaft 81 and two baffles 82. A circular through hole is provided on the main support plate 11. The rotating shaft 81 is inserted into the through hole and can rotate around its own axis. The two baffles 82 are respectively arranged on both sides of the main support plate 11. The two baffles 82 are fixedly connected to the rotating shaft 81 to prevent the rotating shaft 81 from moving in a direction parallel to its own axis, thereby improving the stability of the rotating shaft 81 during rotation. The rotating leg 2 is welded on the rotating axis to realize the rotating connection between the rotating leg 2 and the fork claw 1. The axis of the rotating shaft 81 is perpendicular to the length direction of the fork claw 1, so that the length direction of the rotating leg 2 is consistent with the fork claw 1 after it is parallel to the ground, reducing the lateral size of the rotating leg 2 when it is idle, which is convenient for the three-dimensional material car to transport the workpiece.

[0042] Reference Figure 2 and Figure 4In order to improve the stability of the support of the fork claw 1 by the rotating legs 2, a plurality of rotating legs 2 are evenly spaced along the length direction of the fork claw 1. In this embodiment, three rotating legs 2 are provided. When the workpiece is moved and quenched, the three rotating legs 2 support the fork claw 1 synchronously, thereby improving the stability of the support of the fork claw 1 and further reducing the deformation of the fork claw 1.

[0043] Reference Figure 2 and Figure 4 , multiple rotating legs 2 are arranged from the end away from the vehicle chassis to the end close to the vehicle chassis, so as to provide targeted support for the position of the fork claw 1 with a larger torque. A linkage rod 3 is provided on the rotating leg 2, and the linkage rod 3 is arranged along the length direction of the fork claw 1. The linkage rod 3 is rotatably connected with the multiple rotating legs 2. The rotation axis between the linkage rod 3 and the rotating leg 2 is parallel to the rotation axis of the rotating leg 2 itself and is arranged at intervals. The multiple rotating legs 2 are connected by the linkage rod 3, so that the multiple rotating legs 2 can rotate synchronously.

[0044] Reference Figure 2 and Figure 3 The main support plate 11 is also provided with an adjustment assembly 5 for driving the rotating leg 2 to rotate. The adjustment assembly 5 includes a connecting rod 51 and a pusher 52. Figure 4 , one end of the connecting rod 51 is rotatably connected to the linkage rod 3, and the other end is rotatably connected to the pusher 52. The end of the connecting rod 51 close to the pusher 52 is defined as the driving end, and the pusher 52 is used to drive the driving end to move in a direction parallel to the fork claw 1. In this embodiment, the pusher 52 is a cylinder, the outer shell of the cylinder is fixedly connected to the fork claw 1, and the piston rod of the cylinder is rotatably connected to the driving end. The extension and retraction of the piston rod of the cylinder can drive the connecting rod 51 to move, and under the action of the connecting rod 51, the rotating leg 2 can be driven to rotate, thereby realizing the adjustment of the rotation of the rotating leg 2.

[0045] Reference Figure 2 and Figure 4 In order to facilitate the connection between the linkage rod 3 and the rotating leg 2, a connecting disk 4 is provided between the linkage rod 3 and the rotating leg 2. The connecting disk 4 is a disc-shaped structure, which is welded to the rotating leg 2, and the axis of the connecting disk 4 coincides with the rotation axis of the rotating leg 2. The linkage rod 3 is rotatably connected to the connecting disk 4.

[0046] Reference Figure 2 and Figure 3, it is defined that when the rotating leg 2 is perpendicular to the fork claw 1, it is the supporting state of the rotating leg 2, and the plane where the axes of the multiple rotating legs 2 are located is defined as the mid-plane. When the rotating leg 2 is in the supporting state, the piston rod of the push piece 52 is in a retracted state (that is, the piston rod is located inside the cylinder body). The axis of the linkage rod 3 and the rotating leg 2 is located on the side of the rotating leg 2 close to the push piece 52. At the same time, the rotation axis between the linkage rod 3 and the rotating leg 2 is located on one side of the mid-plane, that is, the length direction of the connecting rod 51 is set at an angle to the length direction of the fork claw 1, so as to facilitate the push piece 52 to drive the linkage rod 3 to move, and reduce the occurrence of jamming between the linkage rod 3 and the rotating leg 2.

[0047] The trajectory line in the length direction of the rotating leg 2 is defined as the first connecting line, the line connecting the vertical distance between the rotation axis of the linkage rod 3 and the rotation axis of the rotating leg 2 is defined as the second connecting line, and the angle between the first connecting member and the second connecting line is α, 90°≤α≤180°.

[0048] Reference Figure 2 and Figure 3 A limit pin 55 for limiting the position of the connecting rod 51 is provided below the connecting rod 51. The limit pin 55 is horizontally penetrated on the fork claw 1 in a direction perpendicular to the fork claw 1. During the movement of the piston rod of the cylinder, the connecting rod 51 rotates relatively, the piston rod of the cylinder contracts, and the end of the connecting rod 51 away from the push member 52 moves toward the direction close to the mid-plane. When the connecting rod 51 moves to a certain extent (that is, when the rotating leg 2 is perpendicular to the ground), the limit pin 55 abuts against the connecting rod 51 to block the movement of the connecting rod 51. The push member 52 continuously applies a pulling force to the connecting rod 51 to cooperate with the limit pin 55 to achieve the limit of the rotation of the rotating leg 2, thereby improving the stability of the rotating leg 2 in the process of supporting the fork claw 1.

[0049] Reference Figure 2 and Figure 3 In this embodiment, the limit pin 55 is a cylindrical structure, and the position of the axis of the limit pin 55 in the vertical direction can be determined by the following empirical formula: R=

[0050] In the formula: L1: the vertical distance between the rotation axis of the linkage rod 3 and the rotation axis between the rotating leg 2; L2: the vertical distance between the two rotation axes of the two ends of the connecting rod 51 relative to the linkage rod 3 and the push member 52; L3: the distance between the axis of the limit pin 55 and the rotation axis between the connecting rod 51 and the push member 52 in the direction parallel to the mid-plane.

[0051] The implementation principle of a three-dimensional material cart rotating support structure in an embodiment of the present application is: during the process of transporting the workpiece, the rotating leg 2 is rotated so that the rotating leg 2 is perpendicular to the ground. At this time, the end of the rotating leg 2 close to the ground can support the fork claw 1, thereby reducing the bending of the fork claw 1 due to the gravity of the workpiece.

[0052] Example 2 Reference Figure 5 and Figure 6 , the difference between this embodiment and embodiment 1 is that in this embodiment, a limit assembly 6 is provided on the linkage rod 3. The limit assembly 6 includes an insertion rod 61 and a gear 62. The insertion rod 61 is slidably connected to the linkage rod 3 in a direction parallel to the rotation axis of the linkage rod 3. The gear 62 is rotatably connected to the linkage rod 3. A tooth groove is provided on the side of the insertion rod 61 corresponding to the gear 62. The rotating gear 62 can drive the insertion rod 61 to move. A limit groove is provided on the main support plate 11 at a position corresponding to the insertion rod 61. The rotating gear 62 can drive the insertion rod 61 to insert into the limit groove, limit the movement of the linkage rod 3, and further limit the rotation of the rotating leg 2. Reduce the situation in which the reaction force on the rotating leg 2 during the workpiece handling process is continuously applied to the push member 52, causing damage to the push member 52.

[0053] Reference Figure 5 and Figure 6 The limit assembly 6 also includes a driving rod 63, which is a cylindrical rod-shaped structure. The driving rod 63 is rotatably connected to the linkage rod 3. The driving rod 63 is coaxially welded with the gear 62. Rotating the driving rod 63 can drive multiple gears 62 to rotate synchronously, thereby realizing synchronous control of the positions of multiple insertion rods 61.

[0054] Embodiment 3, Reference Figure 6 and Figure 7 The difference between this embodiment and embodiment 2 is that, in this embodiment, the adjustment component 5 includes a cylindrical rotating rod 53 and a multifunctional driving component 54, one end of the rotating rod 53 is connected to the linkage rod 3, and the other end is connected to the multifunctional driving component 54, and the multifunctional driving component 54 is used to drive the rotating rod 53 to rotate around its own axis and drive the rotating rod 53 to move in a direction parallel to the length direction of the fork claw 1.

[0055] Reference Figure 6 and Figure 7, the rotating rod 53 and the linkage rod 3 are connected by a universal shaft 56 (SWC58), and the two ends of the universal shaft 56 are defined as the first end and the second end respectively. The first end rotates around its own axis and is connected to the linkage rod 3, and is coaxially welded with the drive rod 63, and the second end is coaxially welded with the rotating rod 53. According to the characteristics of the universal shaft 56 itself, two mutually perpendicular rotation axes are formed between the first end and the second end, and the rotation axes are defined as the first axis 91 and the second axis 92. When the first axis 91 or the second axis 92 is parallel to the axis of the rotating leg 2, the end of the rotating rod 53 away from the linkage rod 3 is controlled to approach the linkage rod 3 along the length direction of the fork claw 1 to drive the linkage rod 3 to move, thereby realizing the adjustment of the rotation of the rotating leg 2. After the rotating leg 2 is perpendicular to the ground, the rotating rod 53 is driven to rotate by the multifunctional driving component 54, and then the driving rod 63 is driven to rotate, so that the insertion rod 61 is inserted into the limiting groove to realize the limiting of the linkage rod 3.

[0056] Reference Figure 6 and Figure 7 The multifunctional driving assembly 54 includes a rotating sleeve 541 and a cylindrical sliding column 542. The rotating sleeve 541 is a cylindrical structure. The rotating sleeve 541 and the end of the rotating rod 53 away from the linkage rod 3 are also provided with a universal shaft 56. The two ends of the universal shaft 56 are coaxially welded with the rotating rod 53 and the rotating sleeve 541. The end of the rotating sleeve 541 away from the universal shaft 56 is arranged on the sliding column 542 along its own length direction.

[0057] Reference Figure 6 and Figure 7 The rotating sleeve 541 and the sliding post 542 are provided with an elastic member 543, which is used to keep the rotating sleeve 541 and the sliding post 542 moving away from each other. In this embodiment, the elastic member 543 is a spring, which is sleeved outside the sliding post 542, and one end of the spring is welded to the rotating sleeve 541, and the other end is welded to the sliding post 542. Under the action of the elastic member 543, the rotating sleeve 541 and the sliding post 542 are moved away from each other.

[0058] Reference Figure 6 and Figure 7 , one end of the sliding column 542 away from the rotating sleeve 541 is slidably connected to the fork claw 1 along the length direction of the fork claw 1, and can rotate around its own axis. In this embodiment, the sliding of the sliding column 542 is driven by the cylinder, and the sliding column 542 is connected to the piston rod of the cylinder around its own axis. A driving sleeve 544 is welded to the fork claw 1, and the driving sleeve 544 is located on the side of the sliding column 542 away from the rotating sleeve 541. A spiral driving groove 545 is provided on the inner side wall of the driving sleeve 544, and the driving groove 545 forms an opening on the side close to the rotating sleeve 541. A matching rod 546 is provided on the upper side wall of the sliding column 542, and the matching rod 546 is arranged along the radial direction of the sliding column 542, and one end of the matching rod 546 is welded to the sliding column 542.

[0059] Reference Figure 6 and Figure 8 When the rotating leg 2 is parallel to the length of the fork claw 1, the piston rod of the cylinder is located outside the cylinder body. The matching rod 546 and the driving sleeve 544 are spaced apart. When the piston rod of the cylinder moves toward the inside of the cylinder body, a pulling force is applied to the rotating rod 53. Under the action of the elastic member 543, there will be no relative movement between the sliding column 542 and the rotating ring. The piston rod drives the connecting rod 51 to move, thereby driving the rotating leg 2 to rotate. Figure 7 After the rotating leg 2 is perpendicular to the ground, the rotating sleeve 541 abuts against the driving sleeve 544, and the driving sleeve 544 blocks the rotating sleeve 541 from continuing to move in a direction parallel to the fork claw 1. At this time, the piston rod continues to move, driving the sliding column 542 to move relative to the rotating sleeve 541, and the matching rod 546 enters the driving groove 545, driving the rotating rod 53 to rotate under the action of the driving groove 545, and then driving the insertion rod 61 to insert into the limiting groove to limit the rotating leg 2.

[0060] Reference Figure 6 and Figure 8 When the rotating leg 2 needs to be retracted, the piston rod of the cylinder extends. At this time, under the action of the elastic member 543, the rotating sleeve 541 can continue to abut against the driving sleeve 544, and the sliding column 542 moves relative to the rotating sleeve 541 toward the rotating sleeve 541, while driving the rotating sleeve 541 to rotate, thereby driving the rotating rod 53 to rotate so that the insertion rod 61 is disengaged from the limiting groove. Figure 7 At this time, the sliding column 542 can drive the rotating sleeve 541 to move, and exert a force parallel to the length of the fork claw 1 on the rotating sleeve 541, thereby driving the rotating leg 2 to rotate, thereby realizing the retraction of the rotating leg 2.

[0061] Reference Figure 6 and Figure 7 The rotation angle of the driving slot 545 is N*90°, where N is a positive integer, so that after the rotating rod 53 rotates, the rotation axis of the universal shaft 56 at its end is parallel to the rotation axis of the rotating leg 2, making it easier for the rotating rod 53 to drive the rotating leg 2 to rotate.

[0062] Reference Figure 6 and Figure 7 A crack detection system is provided on the fork claw 1 to detect whether there are cracks on the fork claw 1 and determine the location of the cracks to reduce the occurrence of safety hazards.

[0063] Reference Figure 5 and Fig. 9 ,The crack detection system includes an acquisition module, a data processing module, a display module and a power module.

[0064] Reference Figure 5 and Fig. 9, the acquisition module is used to collect noise signals. During the operation of the three-dimensional material car, when the acquisition module collects the noise signal in the process of metal crack generation, it is transmitted to the industrial computer. The industrial computer calculates the approximate location of the crack based on the information collected by the acquisition module. The display module is connected to the industrial computer. After the industrial computer determines the location of the crack, it sends a command to the display module, which is output by the display module. In this embodiment, the display module is a display screen. The power module is used to power the above modules.

[0065] Reference Figure 5 and Fig. 9 The acquisition module includes two acoustic sensors 7 arranged on the main support plate 11. The acoustic sensor 7 can detect the acoustic signal generated when the metal cracks (the noise frequency is generally 100-400kHz. The acoustic sensor 7 with a suitable resonant frequency can be selected to accurately capture the noise generated during the metal fracture process). The two acoustic sensors 7 are respectively arranged at both ends of the main support plate 11 in the length direction.

[0066] Reference Figure 5 and Fig.10 , the method for the control machine to calculate the crack position mainly includes: S1, receive the signal for the first time and start timing A timing module is provided in the industrial computer. When the main support plate 11 is broken, the acoustic signal is transmitted to the acoustic sensor 7 through the main support plate 11. After any one of the two acoustic sensors 7 receives the acoustic signal, the timing module starts timing.

[0067] S2, receive the signal again and stop timing When the other acoustic sensor 7 receives the acoustic signal, the timer stops timing the time interval Δt when the acoustic signal is transmitted to the two acoustic sensors 7 .

[0068] S3. Calculate the offset distance d The two acoustic sensors 7 are arranged along the length direction of the main support plate 11 and are located at a position on the main support plate 11 far from the ground. During the load-bearing process of the fork claw 1, the position of the main support plate 11 away from the ground first cracks, so the line between the sound source point and the acoustic sensor 7 and the line between the two acoustic sensors 7 can be approximately regarded as mutually overlapping lines. The difference between the distance from the sound source to one of the acoustic sensors 7 and the distance from the sound source to the other acoustic sensor 7 is defined as d, d satisfies the following formula: d=Δt*c S4. Calculate the crack position Determine the order in which the two acoustic sensors 7 receive the acoustic signals, and define the acoustic sensor 7 of the two acoustic sensors 7 close to the vehicle chassis of the three-dimensional material vehicle as the reference acoustic sensor 7: If the reference sound sensor 7 receives the signal first: Then the distance L between the sound source and the reference sound sensor 7 = (hd) / 2; If the reference sound sensor 7 receives a signal: Then the distance L between the sound source and the reference sound sensor 7 = (h+d) / 2.

[0069] After the crack position is determined, it is output through the display module, and the staff will inspect and repair the fork claw 1 to reduce the safety risks in the production process.

[0070] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A three-dimensional material car rotating support structure, characterized in that: A swivel leg (2) mounted on a fork claw (1) of a three-dimensional material truck fork, the swivel leg (2) being rotatably connected to the fork claw (1), and the swivel leg (2) being rotated so as to make the swivel leg (2) perpendicular or parallel to the ground. When the swivel leg (2) is perpendicular to the ground, its end face close to the ground is located below the side face of the fork claw (1) close to the ground. A plurality of swivel legs (2) are evenly spaced along the length direction of the fork claw (1), and a linkage rod (3) for driving the plurality of swivel legs (2) to rotate is further provided on the fork claw (1). The linkage rod (3) is parallel to the length direction of the fork claw (1), and the plurality of swivel legs (2) are rotatably connected to the linkage rod (3). The linkage rod (3) is spaced parallel to the rotation axis (81) line of the swivel leg (2) and the rotation axis (81) line of the swivel leg (2).

2. A three-dimensional material cart rotating support structure according to claim 1, characterized in that: The fork claw (1) is provided with an adjustment assembly (5), the adjustment assembly (5) comprising a connecting rod (51) and a push piece (52), one end of the connecting rod (51) is rotatably connected to the linkage rod (3), and the other end is rotatably connected to the fork claw (1) and can slide in a direction parallel to the fork claw (1); the push piece (52) is used to apply a force in a direction parallel to the direction of the fork claw (1) to the end of the connecting rod (51) away from the linkage rod (3).

3. A three-dimensional material cart rotating support structure according to claim 2, characterized in that: A limit pin (55) is provided on one side of the track line in the length direction of the connecting rod (51); when the connecting rod (51) abuts against the limit pin (55), the rotating leg (2) is perpendicular to the ground, and the connecting rod (51) and the fork claw (1) are arranged at an angle in the length direction.

4. A three-dimensional material cart rotating support structure according to claim 1, characterized in that: The linkage rod (3) is provided with a limit assembly (6), the limit assembly (6) comprising an insertion rod (61), the insertion rod (61) being slidably connected to the linkage rod (3) in a direction parallel to the rotation axis (81) of the rotating leg (2), a limit slot being provided on the fork claw (1) at a position corresponding to the insertion rod (61), and when the rotating leg (2) is perpendicular to the ground, the insertion rod (61) corresponds to the limit slot, and one end of the insertion rod (61) can be inserted into the limit slot.

5. A three-dimensional material cart rotating support structure according to claim 4, characterized in that: The fork claw (1) is provided with an adjustment assembly (5), the adjustment assembly (5) comprising a rotating rod (53), a universal shaft (56) being provided between the rotating rod (53) and the linkage rod (3), one end of the universal shaft (56) being rotatably connected to the linkage rod (3) around an axis parallel to the length direction of the linkage rod (3), and the other end being fixedly connected to the connection rod (51), the insertion rod (61) being connected to the universal shaft (56), and the insertion rod (61) being able to drive the movement of the insertion rod (61) when the end of the universal shaft (56) connected to the linkage rod is rotated.

6. A three-dimensional material cart rotating support structure according to claim 5, characterized in that: The limit assembly (6) further comprises a gear (62) and a drive rod (63); the gear (62) is rotatably connected to the linkage rod (3); the rotation axis (81) of the gear (62) is perpendicular to the sliding direction of the insertion rod (61); a tooth groove meshing with the corresponding gear (62) is provided on the insertion rod (61); the drive rod (63) is fixedly connected to the gear (62) and to the end of the universal shaft (56); the rotation of one end of the universal shaft (56) connected to the linkage rod can drive the drive rod (63) to rotate.

7. A three-dimensional material cart rotating support structure according to claim 6, characterized in that: The adjustment assembly (5) further comprises a multifunctional driving assembly (54), wherein the multifunctional driving assembly (54) comprises a cylindrical sliding column (542), wherein the sliding column (542) is slidably connected to the fork claw (1) in a direction parallel to the fork claw (1), and the sliding column (542) is capable of rotating around its own axis, and a universal shaft (56) is provided between the sliding column (542) and the rotating rod (53), and the two ends of the universal shaft (56) are respectively connected to the rotating rod (53) and the sliding column (542).

8. A three-dimensional material cart rotating support structure according to claim 7, characterized in that: The multifunctional driving assembly (54) further comprises a rotating sleeve (541) and a driving sleeve (544); the rotating sleeve (541) is located between the universal shaft (56) and the sliding column (542); one end of the rotating sleeve (541) is connected to the universal shaft (56); the other end of the rotating sleeve (541) is arranged on the sliding column (542) along the length direction of the sliding column (542); the driving sleeve (544) is arranged on the sliding column (542) away from the rotating sleeve (541). On one side of the driving sleeve (544), when the sliding column (542) drives the rotating sleeve (541) to move, the rotating sleeve (541) can abut against the driving sleeve (544); after the rotating sleeve (541) abuts against the driving sleeve (544), the sliding column (542) can slide relative to the rotating sleeve (541); at the same time, the sliding column (542) can be inserted into the driving sleeve (544), and the sliding column (542) can rotate when sliding in the driving sleeve (544).

9. A three-dimensional material cart rotating support structure according to claim 8, characterized in that: An elastic member (543) is provided between the rotating sleeve (541) and the sliding column (542) for keeping the rotating sleeve (541) and the sliding column (542) moving in a direction toward each other.

10. The three-dimensional material car rotating support structure according to claim 1, characterized in that: The fork claw (1) is provided with a crack detection system for monitoring the working state of the fork claw (1), the crack detection system comprising a collection module for collecting noise signals generated when cracks appear on the fork claw (1), a data processing module for receiving the signals collected by the collection module and processing the signals, and a display module for displaying the processing results; The acquisition module comprises acoustic sensors (7) arranged at both ends of the fork claw (1); The steps of information processing by the data processing module include: When a signal is received for the first time, timing starts: a timing module is provided in the information processing module, and when one of the signal sound sensors (7) receives a signal, the timing module starts timing; Receiving the signal again and stopping the timing: another acoustic sensor (7) stops timing after receiving the acoustic signal, and obtains the time difference between the two received signals; Calculate the offset distance d: calculate the distance difference between the sound source and the two sound sensors (7); Calculate the crack position, define one of the acoustic sensors (7) as the reference acoustic sensor (7), If the reference sound sensor (7) receives a signal when it is reeled in, then the distance L between the sound source and the reference sound sensor (7) = (hd) / 2; If the reference sound sensor (7) receives a signal: Then the distance between the sound source and the reference sound sensor (7) is L = (h + d) / 2.

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