Seat turntable structure and control system and control method thereof

Abstract

The invention discloses a seat turntable structure as well as a control system and a control method thereof, and belongs to the technical field of forestry machinery. The seat turntable structure comprises a mounting plate, a braking assembly, a driving assembly, a gear and a base, the bottom of the mounting plate is fixedly connected with the rotary drum and is rotationally connected with the base through the rotary drum; the brake assembly comprises a brake motor, a connecting rod and a brake pad which are rotationally connected in sequence, and the connecting rod is rotationally connected above the base; the brake pad is positioned at a brake ring on the peripheral side of the rotary drum and is used for braking the rotary drum under the driving of the brake motor; the gear is fixedly arranged on the rotary drum in a sleeving mode and connected with the driving assembly in an engaged mode, and the gear drives the rotary drum to rotate under driving of the driving assembly. According to the seat turntable structure provided by the invention, the seat can automatically rotate along with the mechanical arm, so that the labor cost is greatly reduced, and the safety and convenience are improved; meanwhile, directional rotation and mechanical rotation can be carried out, and the device is suitable for more application scenes.

Description

Technical Field

[0001] The invention belongs to the technical field of forestry machinery, and in particular relates to a seat turntable structure and a control system and a control method thereof. Background Art

[0002] With the rapid development of intelligence, the intelligence level of mechanical products is getting higher and higher, and customers' recognition and dependence on intelligence are also increasing. Forestry machinery, especially equipment for centralized collection and felling, requires the mechanical arm to swing at a large angle during operation.

[0003] Traditional forestry machinery seats rotate mechanically or electrically, that is, when the seat needs to rotate, the pedal or hand switch is unlocked, the pedal base plate rotates the seat, or the hand button drives the motor to rotate. Since the start and stop and rotation speed of the mechanical arm during work are not constant, the operator needs to start and stop frequently and change the rotation force. Under long-term workload, it is very easy to cause extra fatigue to the operator, and it is easy to distract technical attention and cause safety hazards. As a result, many operators do not turn on the rotation function, so that the rotation function does not achieve the expected effect. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a seat turntable structure and a control system and control method thereof, so that the seat can automatically follow the rotation of the robotic arm, and can perform directional rotation and mechanical rotation at the same time, which is suitable for more application scenarios.

[0005] The present invention provides the following technical solutions: In a first aspect, a seat turntable structure is provided, comprising a mounting plate, a brake assembly, a drive assembly, a gear and a base; the mounting plate is used to mount a seat, and its bottom is fixedly connected to a rotating drum, and is rotatably connected to the base through the rotating drum; the brake assembly comprises a brake motor, a connecting rod and a brake pad that are rotatably connected in sequence, and the connecting rod is rotatably connected to the top of the base; the brake pad is located at the brake ring on the circumference of the rotating drum, and brakes the rotating drum under the drive of the brake motor; the gear is fixedly sleeved on the rotating drum, and is meshed with the drive assembly, and drives the rotating drum to rotate under the drive of the drive assembly.

[0006] As an optional technical solution of the present invention, the connecting rod is rotatably connected to the top of the base through bolts and washers.

[0007] As an optional technical solution of the present invention, the driving assembly includes a driving motor, a clutch and a reducer connected in sequence; the reducer is meshed with a gear.

[0008] As an optional technical solution of the present invention, the rotating drum is rotatably connected to the base via a bearing arranged above the base.

[0009] As an optional technical solution of the present invention, it also includes a proximity switch and a proximity switch sensor sheet; the proximity switch is installed on the mounting plate and rotates together with the mounting plate; the proximity switch sensor sheet is fixed on the base; the proximity switch sensor sheet senses the relative position of the proximity switch to identify the relative orientation of the current seat position and the starting position, and sends it to the control system.

[0010] In a second aspect, a control system for a seat turntable structure is provided, which is applied to the seat turntable structure described in the first aspect; The control system includes a control module, a robotic arm data acquisition module, a drive module, a mode adjustment module and a brake switching module; The working arm data acquisition module is connected to the control module and is used to collect the position, speed and acceleration data of the mechanical arm and send them to the control module; The driving module is connected to the control module, receives a driving signal from the control module, and is used to drive the driving motor to drive the rotating drum to rotate; The mode adjustment module is connected to the control module, and is used to adjust the rotation mode of the seat turntable structure and send a current rotation mode signal to the control module; the rotation modes include automatic follow-up rotation, directional rotation and mechanical rotation; The brake switching module is connected to the control module, and is used to drive the brake motor to unlock or brake the drum, and send a brake signal or an unlock signal to the control module; The control module receives the current rotation mode signal and sends a driving signal to the driving module in different rotation modes to control the rotation of the drum.

[0011] As an optional technical solution of the present invention, the control module receives a relative position signal of the proximity switch sensor sheet and determines the rotation direction of the drive motor according to the relative position signal.

[0012] In a third aspect, a control method based on the control system of the second aspect is provided, comprising: obtaining a current rotation mode of the seat turntable structure; When the seat turntable structure is in the automatic follow-up rotation mode, unlock the seat turntable structure and control the seat turntable structure so that the seat rotates to the starting position, and according to the pre-acquired mechanical arm position information, control the seat turntable structure so that the seat rotates to the mechanical arm starting position, and control the seat turntable structure to rotate with the mechanical arm; When the seat turntable structure is in a directional rotation mode, unlocking the seat turntable structure and controlling the seat turntable structure to rotate in a pre-selected direction; When the seat turntable structure is in the mechanical rotation mode, the seat turntable structure is unlocked and the driver manually drives the seat turntable structure to rotate.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The seat turntable structure provided by the present invention, by setting a braking component and a driving component and cooperating with a control system, can realize that during the working process, the seat automatically follows the mechanical arm to rotate at a uniform speed, greatly reducing labor costs and improving safety and convenience; at the same time, it can perform directional rotation and mechanical rotation, and is suitable for more application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of the driving side of the seat turntable structure in an embodiment of the present invention; Figure 2 is a schematic diagram of the braking side of the seat turntable structure in an embodiment of the present invention; Figure 3 is an exploded view of the seat turntable structure in an embodiment of the present invention; Figure 4 is a schematic diagram of the structure of a control system in an embodiment of the present invention; Figure 5 Schematic diagram of the installation of the encoder in the embodiment of the present invention.

[0015] The markings in the figure are: 1. encoder; 2. robotic arm; 3. mounting plate; 4. brake motor; 5. drive motor; 6. clutch; 7. reducer; 8. gear; 9. bearing; 10. base; 11. proximity switch; 12. bolt; 13. gasket; 14. proximity switch sensor plate; 15. connecting rod; 16. brake pad. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0017] Example 1 This embodiment provides a seat turntable structure, such as Figure 1-Figure 3 As shown, it includes a mounting plate 3, a brake assembly, a drive assembly, a gear 8, a base 10, a proximity switch 11 and a proximity switch sensing sheet 14.

[0018] The mounting plate 3 is used to mount the seat, and the bottom of the mounting plate 3 is fixedly connected to the rotating drum, and is rotatably connected to the base 10 through the rotating drum. The rotating drum is rotatably connected to the base 10 through a bearing 9 arranged above the base 10.

[0019] Furthermore, the base 10 is installed on a cab floor or other fixing parts.

[0020] The brake assembly includes a brake motor 4, a connecting rod 15 and a brake pad 16 which are rotatably connected in sequence. The connecting rod 15 is rotatably connected above the base 10; the brake pad 16 is located at the brake ring on the circumference of the drum and brakes the drum under the drive of the brake motor 4.

[0021] Furthermore, the connecting rod 15 is rotatably connected to the top of the base 10 through bolts 12 and washers 13 .

[0022] The gear 8 is fixedly sleeved on the drum and meshedly connected with the driving assembly, and drives the drum to rotate under the drive of the driving assembly.

[0023] Furthermore, the driving assembly includes a driving motor 5 , a clutch 6 and a reducer 7 which are connected in sequence; the reducer 7 is meshed with a gear 8 .

[0024] The proximity switch 11 is mounted on the mounting plate 3 and rotates together with the mounting plate 3; the proximity switch sensing sheet 14 is fixed on the base 10. The proximity switch sensing sheet 14 senses the relative position of the proximity switch 11 to identify the relative position of the current seat position and the starting position, and sends it to the control system.

[0025] Example 2 This embodiment provides a control system based on the embodiment 1, which is applied to the seat turntable structure described in the embodiment 1. Figure 4 As shown, the control system includes a control module, a robotic arm data acquisition module, a drive module, a mode adjustment module and a brake switching module.

[0026] The working arm data acquisition module is connected to the control module and is used to collect the position, speed and acceleration data of the robotic arm and send them to the control module.

[0027] In this embodiment, the working arm data acquisition module collects the working signal of the robot arm through the encoder 1. Figure 5 As shown, the encoder 1 is installed at the rotating shaft of the robot arm 2 and rotates along with the robot arm 2 .

[0028] The driving module is connected to the control module, receives a driving signal from the control module, and is used to drive the driving motor 5 to drive the drum to rotate.

[0029] The mode adjustment module is connected to the control module and is used to adjust the rotation mode of the seat turntable structure and send a current rotation mode signal to the control module; the rotation modes include automatic follow-up rotation, directional rotation and mechanical rotation.

[0030] Furthermore, the rotation mode is selected by a driver operation mode adjustment module.

[0031] The brake switching module is connected to the control module, and is used to drive the brake motor 4 to unlock or brake the drum, and send a brake signal or an unlock signal to the control module.

[0032] The control module receives the current rotation mode signal and sends a driving signal to the driving module in different rotation modes to control the rotation of the drum.

[0033] When the seat turntable structure is in the automatic follow-up rotation mode, the control module receives the relative position signal of the proximity switch sensor sheet 14 and determines the rotation direction of the drive motor 5 according to the relative position signal.

[0034] Specifically, when the driver takes his seat and turns on the automatic follow-up rotation mode, the proximity switch sensor 14 senses the position of the receiving switch 11 and sends it to the control module, which determines the rotation direction of the drive motor 5 and drives the seat to rotate to the starting position through the drive module. The control module controls the seat turntable structure to rotate the seat to the starting position of the mechanical arm based on the pre-acquired mechanical arm position information, and keeps the position consistent with the mechanical arm.

[0035] When the driver turns off the automatic follow-up rotation mode and selects the directional rotation mode, the driving module drives the servo motor 5 to rotate at a constant speed according to the orientation. In this embodiment, the directional rotation mode includes left rotation and right rotation.

[0036] When the driver turns off the automatic follow-up rotation mode and does not select the directional rotation mode, the seat is switched to the mechanical rotation mode. At this time, the brake motor 4 is unlocked, the servo motor 5 is not powered, and the driver can use foot force to drive the rotation at any position within the working range. If the rotation needs to be stopped, the brake module can be operated to brake the seat.

[0037] Example 3 This embodiment provides a control method of the control system described in Embodiment 2 on the basis of Embodiment 2. The method comprises: The current rotation mode of the seat turntable structure is obtained.

[0038] When the seat turntable structure is in the automatic follow-up rotation mode, the seat turntable structure is unlocked and controlled so that the seat rotates to the starting position, and according to the pre-acquired mechanical arm position information, the seat turntable structure is controlled so that the seat rotates to the starting position of the mechanical arm, and the seat turntable structure is controlled to rotate with the mechanical arm.

[0039] When the seat turntable structure is in the directional rotation mode, the seat turntable structure is unlocked and controlled to rotate in a pre-selected direction.

[0040] When the seat turntable structure is in the mechanical rotation mode, the seat turntable structure is unlocked and the driver manually drives the seat turntable structure to rotate.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A seat turntable structure, characterized in that: include: A mounting plate (3), a brake assembly, a drive assembly, a gear (8) and a base (10); The mounting plate (3) is used to mount a seat, and its bottom is fixedly connected to a rotating drum, and is rotatably connected to a base (10) through the rotating drum; The brake assembly comprises a brake motor (4), a connecting rod (15) and a brake pad (16) which are rotatably connected in sequence, wherein the connecting rod (15) is rotatably connected to the top of the base (10); the brake pad (16) is located at a brake ring on the circumference of the rotating drum and brakes the rotating drum under the drive of the brake motor (4); The gear (8) is fixedly sleeved on the rotating drum and meshedly connected with the driving component, and drives the rotating drum to rotate under the drive of the driving component.

2. The seat turntable structure according to claim 1, characterized in that: The connecting rod (15) is rotatably connected to the top of the base (10) via a bolt (12) and a gasket (13).

3. The seat turntable structure according to claim 1, characterized in that: The driving assembly comprises a driving motor (5), a clutch (6) and a reducer (7) which are connected in sequence; the reducer (7) is meshingly connected to a gear (8).

4. The seat turntable structure according to claim 1, characterized in that: The rotating drum is rotatably connected to the base (10) via a bearing (9) disposed above the base (10).

5. The seat turntable structure according to claim 1, characterized in that: It also includes a proximity switch (11) and a proximity switch sensing sheet (14); The proximity switch (11) is mounted on the mounting plate (3) and rotates together with the mounting plate (3); the proximity switch sensing sheet (14) is fixed on the base (10); The proximity switch sensing sheet (14) senses the relative position of the proximity switch (11) to identify the relative position between the current seat position and the starting position, and sends the information to the control system.

6. A control system for a seat turntable structure, characterized in that: The seat turntable structure applied to any one of claims 1 to 5; The control system includes a control module, a robotic arm data acquisition module, a drive module, a mode adjustment module and a brake switching module; The working arm data acquisition module is connected to the control module and is used to collect the position, speed and acceleration data of the mechanical arm and send them to the control module; The driving module is connected to the control module, receives a driving signal from the control module, and is used to drive the driving motor (5) to drive the rotating drum to rotate; The mode adjustment module is connected to the control module, and is used to adjust the rotation mode of the seat turntable structure and send a current rotation mode signal to the control module; the rotation modes include automatic follow-up rotation, directional rotation and mechanical rotation; The brake switching module is connected to the control module and is used to drive the brake motor (4) to unlock or brake the drum, and send a brake signal or an unlock signal to the control module; The control module receives the current rotation mode signal and sends a driving signal to the driving module in different rotation modes to control the rotation of the drum.

7. The control system according to claim 6, characterized in that: When the seat turntable structure is in an automatic follow-up rotation mode, the control module receives a relative position signal from a proximity switch sensing sheet (14), and determines the rotation direction of the drive motor (5) according to the relative position signal.

8. A control method based on the control system according to any one of claims 6 to 7, characterized in that: include: Acquire the current rotation mode of the seat turntable structure; When the seat turntable structure is in the automatic follow-up rotation mode, unlock the seat turntable structure and control the seat turntable structure so that the seat rotates to the starting position, and according to the pre-acquired mechanical arm position information, control the seat turntable structure so that the seat rotates to the mechanical arm starting position, and control the seat turntable structure to rotate with the mechanical arm; When the seat turntable structure is in a directional rotation mode, unlocking the seat turntable structure and controlling the seat turntable structure to rotate in a pre-selected direction; When the seat turntable structure is in the mechanical rotation mode, the seat turntable structure is unlocked and the driver manually drives the seat turntable structure to rotate.

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