A reversing manipulator for an automatic robot loading system

Abstract

This invention belongs to the technical field of reversing robotic arms for loading systems, specifically an automatic robotic loading system reversing robotic arm, including a robotic arm mechanism. The robotic arm mechanism is placed on the ground and is used to drive the reversing mechanism and the lifting and pushing mechanism to perform reversing operations. The upper end of the robotic arm mechanism is connected to the reversing mechanism. The reversing mechanism and the robotic arm mechanism cooperate to realize the swing-type reversing operation of the material. The bottom of the reversing mechanism is connected to the clamping mechanism. This invention realizes the independent execution and arbitrary combination and coordinated linkage of reversing actions at each level, thereby completely eliminating the industry pain points of traditional loading robotic arms, such as single reversing dimension, inability to take into account large-angle cross-workstation conveying and precise stacking in the carriage, and strong coupling between reversing and attitude adjustment, which easily leads to material tilting and slipping.

Description

Technical Field

[0001] This invention relates to the field of reversing robotic arms for loading systems, specifically to a reversing robotic arm for an automated robotic loading system. Background Technology

[0002] In practical applications, existing automated loading robotic arms still have many unresolved technical shortcomings, making them unable to adapt to complex loading conditions and the operational needs of all scenarios. Specifically, these shortcomings are reflected in the following core aspects: First, the existing reversing mechanism design of loading robotic arms has inherent limitations, failing to meet the dual requirements of large-angle cross-station conveying and precise stacking within the truck bed. Existing loading robotic arms mostly employ single-stage or two-stage reversing architectures, capable only of large-angle swing reversing from the material handling station to the truck bed station. They cannot perform small-amplitude, precise micro-adjustments within the truck bed, making precise stacking difficult in the depths and corners of long truck beds, requiring manual secondary adjustments. Furthermore, the reversing action of existing mechanisms is strongly coupled with material posture adjustment, making material pitching and tilting prone to occur during reversing. This not only easily leads to material tilting and slipping but also necessitates the addition of complex posture compensation mechanisms and control systems, resulting in overall structural redundancy and significantly increased control difficulty. Moreover, the reversing action can only be executed sequentially with other operational actions, leading to long single-cycle operation times and hindering improvements in overall truck loading efficiency and reversing stability under heavy load conditions.

[0003] Secondly, existing loading robotic arms with lifting functions have core design flaws in their lifting and posture-maintaining mechanisms, making it impossible to achieve precise horizontal posture control throughout the lifting stroke. Most existing loading robotic arms use a single-drive linkage structure for their lifting mechanisms, inevitably causing pitch and deflection of the lifting plate during lifting, making it impossible to maintain absolute horizontality and easily leading to material slippage. The few lifting mechanisms that use dual-drive compensation are mostly off-axis split layouts, resulting in long transmission paths, large cumulative motion errors, and severe lag in posture compensation response, making it impossible to achieve synchronous execution of lifting and posture compensation. They also suffer from large structural volume and space occupation, making them unsuitable for confined loading station scenarios. Furthermore, their transmission efficiency and heavy-duty lifting capacity are insufficient to meet the loading needs of bulk cargo.

[0004] Third, the material posture holding mechanism of existing loading robotic arms is poorly designed and cannot achieve stable posture closed-loop control throughout the entire operation process. Existing material posture holding technologies rely heavily on electronic control systems and visual detection closed loops. Purely mechanical posture constraint mechanisms are mostly single-group parallelogram structures, which can only achieve posture holding under a single action and cannot take into account the stable posture control of the entire operation process of clamping, reversing, lifting, and pushing. The risk of material tilting is high during large-angle reversing. At the same time, the posture control method, which is highly dependent on electronic control, is greatly affected by factors such as the on-site environment, signal interference, and power outages, making it difficult to guarantee the stability and safety of equipment operation. It also has poor adaptability to different vehicle models and materials in all scenarios.

[0005] To address this, we propose a reversing robotic arm for an automated robotic loading system. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: An automated robotic loading system reversing robotic arm includes: a robotic arm mechanism; The robotic arm mechanism is placed on the ground and is used to drive the reversing mechanism and the lifting and pushing mechanism to perform reversing operations. The upper end of the robotic arm mechanism is connected to the reversing mechanism, which works in conjunction with the robotic arm mechanism to realize the swing-type reversing operation of the material. The bottom of the reversing mechanism is connected to the clamping mechanism, which is used to clamp the loaded material. The bottom of the clamping mechanism is equipped with a lifting and pushing mechanism, which is connected to the lower end of the robotic arm mechanism. The lifting and pushing mechanism lifts the material clamped by the clamping mechanism. At the same time, driven by the lifting and pushing mechanism, the loaded material is pushed into the depth of the truck compartment.

[0007] As a preferred embodiment of the automatic robot loading system reversing robotic arm described in this invention, the robotic arm mechanism includes: a height-adjusting frame; The riser is placed on the ground, and mounting frames are installed at both ends of the top of the riser. The mounting frames are set in two sets, and the lower end of the gantry robot arm is rotatably connected to the inner wall of the two sets of mounting frames. The first motor is installed at the front end of the outer wall of the front mounting frame, and the output end of the first motor is connected to the lower port of one set of gantry robot arms.

[0008] As a preferred embodiment of the reversing robotic arm of the automatic robot loading system described in this invention, the robotic arm mechanism includes: a second motor; The second motor is installed on the outer wall of the rear mounting frame. The output end of the second motor is connected to the first shaft. The first shaft is connected to the lower end between the two sets of gantry robotic arms through bearings. The lifting and pushing mechanism is fixedly connected to the middle of the outer wall of the first shaft.

[0009] As a preferred embodiment of the automatic robot loading system reversing robotic arm described in this invention, the robotic arm mechanism includes: a second shaft; The second shaft is rotatably connected to the upper end between the two sets of gantry robotic arms via bearings. A third motor is installed on the outer wall of the rear gantry robotic arm. The output end of the third motor is connected to the rear end of the second shaft. The upper ends of the reversing mechanism are connected to both ends of the outer wall of the second shaft, and the lower ends of the reversing mechanism are connected to both ends of the outer wall of the first shaft.

[0010] As a preferred embodiment of the reversing robotic arm of the automatic robot loading system described in this invention, the reversing mechanism includes: a first telescopic rod; The lower end of the first telescopic rod is fixedly installed on the outer wall of the first shaft in the robotic arm mechanism. The first telescopic rod is set in two sets. The upper end of the first telescopic rod is rotatably connected to the fixed frame. The outer wall of the first telescopic rod is equipped with a fifth motor. The output end of the fifth motor is connected to the fixed frame. The left end of the inner wall of the fixed frame is rotatably connected to the first connecting rod. The bottom of the first connecting rod is rotatably connected to the left end of the outer wall of the mounting plate. The right end of the outer wall of the mounting plate is rotatably connected to the lower end of the second connecting rod.

[0011] As a preferred embodiment of the automatic robot loading system reversing robotic arm described in this invention, the reversing mechanism includes: a second link; The upper end of the second link is rotatably connected to the right end of the inner wall of the fixed frame. The left end of the outer wall of the fixed frame is connected to the left end of the third link. The left end of the third link is fixedly connected to the upper end of the first link. The right end of the third link is connected to the left extension of the eccentric wheel rod. The eccentric wheel at the right end of the eccentric wheel rod is connected to the right end of the outer wall of the fixed frame. The front end of the eccentric wheel at the right end of the eccentric wheel rod is rotatably connected to the lower end of the first arm.

[0012] As a preferred embodiment of the reversing robotic arm of the automatic robot loading system described in this invention, the reversing mechanism includes: a first arm; The upper end of the first arm is fixedly installed on the outer wall of the second shaft in the robotic arm mechanism. The rear end of the eccentric wheel at the right end of the eccentric wheel rod is connected to the output end of the fourth motor. The output end of the fourth motor passes through the second connecting rod and the fixed frame. The fourth motor is installed at the lower end of the outer wall of the second arm, and the upper end of the second arm is fixedly installed on the outer wall of the second shaft.

[0013] As a preferred embodiment of the reversing robotic arm of the automatic robot loading system described in this invention, the clamping mechanism includes: a connecting plate; The top of the connecting plate is installed at the bottom center of the mounting plate in the reversing mechanism. The bottom of the connecting plate is equipped with a first arc frame and a second arc frame. The first arc frame and the second arc frame are each set in several groups. The bottom ends of the first arc frame and the second arc frame are rotatably connected to two sets of clamping arc rods. The clamping arc rods at the bottom of the first arc frame and the clamping arc rods at the bottom of the second arc frame are connected by a third shaft. The outer wall of the third shaft is connected to the lower end of the second telescopic rod. The upper end of the second telescopic rod is rotatably connected to the rod between the first arc frame and the second arc frame.

[0014] As a preferred embodiment of the reversing robotic arm of the automatic robot loading system described in this invention, the lifting and pushing mechanism includes a support frame; The support frame is fixedly connected to the middle of the outer wall of the first shaft in the robotic arm mechanism. The sixth motor is installed at the rear end of the outer wall of the support frame, and the seventh motor is installed at the front end of the outer wall of the support frame. The output end of the seventh motor is connected to the fourth shaft. The front end of the fourth shaft is rotatably connected to the front end of the left end of the support frame. The rear end of the fourth shaft is rotatably connected to the output end of the sixth motor through a bearing. The output end of the sixth motor is connected to the left end of the first movable rod.

[0015] As a preferred embodiment of the reversing robotic arm in the automated robot loading system of the present invention, the lifting and pushing mechanism includes: a first movable lever. The right end of the first movable rod is rotatably connected to the lower end of the second movable rod, the upper end of the second movable rod is rotatably connected to the right end of the third movable rod, the left end of the third movable rod is rotatably connected to the lower outer wall of the V-shaped rod, the upper right side of the V-shaped rod is rotatably connected to the upper end of the fifth movable rod, the lower end of the fifth movable rod is rotatably connected to the upper right side of the inner wall of the support frame, the left end of the third movable rod is provided with the right end of the third telescopic rod, the left end of the third telescopic rod is connected to both sides of the outer right side of the lifting plate, both sides of the outer left side of the lifting plate are connected to the left end of the fourth telescopic rod, the right end of the fourth telescopic rod is connected to the upper left side of the V-shaped rod, the lower inner wall of the V-shaped rod is connected to the upper end of the fourth movable rod, and the lower end of the fourth movable rod is connected to the outer wall of the fourth shaft.

[0016] Compared with existing technologies: This invention employs a three-level independent decoupled architecture design: a first motor drives a gantry robotic arm to complete a large-angle main reversing of 0-90°; second and third motors drive dual parallel shafts to complete secondary reversing; and a fourth motor drives an eccentric wheel linkage group to complete precise end-point reversing. This achieves independent execution and arbitrary combination and coordinated linkage of reversing actions at each level, thereby completely eliminating the industry pain points of traditional loading robotic arms, such as a single reversing dimension, inability to simultaneously handle large-angle cross-workstation conveying and precise stacking within the vehicle, and strong coupling between reversing and attitude adjustment leading to material tilting and slippage. Through the parallel execution design of the three-level reversing, lifting, and attitude adjustment actions, it achieves reversing coverage across all vehicle models and scenarios, and significantly improves reversing response speed, thereby shortening the single-cycle operation time, improving overall vehicle loading efficiency, and enhancing reversing stability under heavy-load conditions. This invention employs an independent decoupling design with the sixth and seventh motors arranged coaxially and separated front and rear, and bearing rotation isolation. The sixth motor drives the luffing linkage group to achieve lifting and lowering of the lifting plate, while the seventh motor drives the compensation linkage group to achieve reverse attitude compensation. This completely eliminates the problems of lifting plate pitch and deflection, large space occupation due to redundancy in the off-axis dual-drive structure, and lag in attitude compensation response during the lifting and lowering process of traditional single-drive lifting mechanisms. Through the completely decoupled synchronous execution design of lifting and lowering actions and horizontal attitude maintenance actions, precise closed-loop control of the horizontal attitude of the lifting plate throughout its entire stroke is achieved, thereby reducing the installation volume of the mechanism and improving transmission efficiency and heavy-load lifting capacity. This invention employs a dual-set independent parallelogram structure design: a parallelogram mechanism at the clamping end consisting of a "fixed frame, first connecting rod, second connecting rod, and mounting plate," and a parallelogram mechanism at the lifting end consisting of a "support frame, third movable rod, V-shaped rod, and fourth movable rod." This rigidly constrains the motion posture of the clamping mechanism and the lifting plate, thereby completely eliminating the problems of traditional single-set posture constraint mechanisms, such as inability to maintain posture stability throughout the entire process, high dependence on electronic control and susceptibility to signal interference, and easy tilting of materials during large-angle reversals. Through a dual constraint design that prioritizes rigidity and conformity preservation of the mechanical structure while supplementing it with servo dynamic compensation, it achieves closed-loop posture control throughout the entire cycle of material clamping, reversing, lifting, and pushing, thereby improving material transportation safety, heavy-load rigidity of the mechanism, and adaptability to all scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall main view structure provided by the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 A schematic diagram of the robotic arm mechanism provided by the present invention; Figure 4 This is a schematic diagram of the overall cross-sectional structure provided by the present invention; Figure 5 A schematic diagram of the reversing mechanism structure provided by the present invention; Figure 6Schematic diagram of the disassembled structure of the commutation mechanism provided by the present invention Figure 1 ; Figure 7 Schematic diagram of the disassembled structure of the commutation mechanism provided by the present invention Figure 2 ; Figure 8 This is a schematic diagram of the clamping mechanism structure provided by the present invention; Figure 9 This is a schematic diagram of the placement structure of the clamping mechanism and the lifting and pushing mechanism provided by the present invention; Figure 10 This is a schematic diagram of the connection structure of the lifting and pushing mechanism provided by the present invention; Figure 11 Schematic diagram of the lifting and pushing mechanism provided by the present invention Figure 1 ; Figure 12 Schematic diagram of the lifting and pushing mechanism provided by the present invention Figure 2 ; Figure 13 Schematic diagram of the lifting and pushing mechanism provided by the present invention Figure 3 ; Figure 14 This is a schematic diagram of the support plate connection structure provided by the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0019] This invention provides a reversing robotic arm for an automated robot loading system. Please refer to [link / reference]. Figures 1-14 It includes a robotic arm mechanism 1, a reversing mechanism 2, a clamping mechanism 3, and a lifting and pushing mechanism 4; The robotic arm mechanism 1 is placed on the ground and is used to drive the reversing mechanism 2 and the lifting and pushing mechanism 4 to perform reversing operations. The robotic arm mechanism 1 includes: a height-adjusting frame 11, a first motor 13, a gantry robotic arm 14, a second motor 15, a first shaft 16, a second shaft 17, and a third motor 18. The height-adjusting frame 11 is placed on the ground and can be adjusted or replaced according to the height of the vehicle. Mounting brackets 12 are installed at both ends of the top of the height-adjusting frame 11. The mounting brackets 12 are configured in two sets, and the inner walls of the two sets of mounting brackets 12 are rotatably connected to the gantry robotic arm. At the lower end of arm 14, a first motor 13 is mounted on the front end of the outer wall of the front mounting bracket 12. The output end of the first motor 13 is connected to the lower port of a set of gantry robotic arms 14. Driven by the first motor 13, the gantry robotic arms 14 can be rotated, thereby realizing the swing and reversal of the gantry robotic arms 14. A second motor 15 is mounted on the outer wall of the rear mounting bracket 12. The output end of the second motor 15 is connected to a first shaft 16. The first shaft 16 is connected to the lower end between the two sets of gantry robotic arms 14 through bearings. A lifting mechanism is fixedly connected to the middle of the outer wall of the first shaft 16. The rotation of the first shaft 16 does not cause the two sets of gantry robotic arms 14 to rotate. Driven by the second motor 15, the first shaft 16 can rotate, thus causing the lifting and pushing mechanism 4 to rotate and reverse. The second shaft 17 is rotatably connected to the upper end of the two sets of gantry robotic arms 14 via bearings. The second shaft 17 connects the upper and lower ends of the two sets of gantry robotic arms 14 to the first shaft 16, so that when the first motor 13 drives, it can simultaneously drive both sets of gantry robotic arms. Arm 14 rotates without affecting the independent rotation of the second shaft 17 and the first shaft 16. A third motor 18 is installed on the outer wall of the rear gantry robot arm 14. The output end of the third motor 18 is connected to the rear end of the second shaft 17. The upper ends of the reversing mechanism 2 are connected to both ends of the outer wall of the second shaft 17. The lower ends of the reversing mechanism 2 are connected to both ends of the outer wall of the first shaft 16. Through the driving cooperation of the third motor 18 and the second motor 15, the reversing mechanism 2 can be driven to swing through the two sets of gantry robot arms 14, thereby realizing the reversing operation of the reversing mechanism 2. The reversing mechanism 2 is connected to the upper end of the robotic arm mechanism 1. The reversing mechanism 2 cooperates with the robotic arm mechanism 1 to realize the swing-type reversing operation of the material. The reversing mechanism 2 includes: a first telescopic rod 21, a fixed frame 22, a first connecting rod 23, a mounting plate 24, a second connecting rod 25, a third connecting rod 26, an eccentric wheel rod 27, a first arm rod 28, a second arm rod 29, a fourth motor 210, and a fifth motor 211.The lower end of the first telescopic rod 21 is fixedly installed on the outer wall of the first shaft 16 in the robotic arm mechanism 1. Two sets of the first telescopic rod 21 are configured. Through the extension and retraction drive of the first telescopic rod 21 and the rotation drive of the third motor 18 and the second motor 15, combined with the limiting of the first arm 28 and the second arm 29, a swing-type reversing operation of the fixed frame 22 is achieved. The upper end of the first telescopic rod 21 is rotatably connected to the fixed frame 22. A fifth motor 211 is installed on the outer wall of the first telescopic rod 21. The output end of the fifth motor 211 is connected to the fixed frame 22. Driven by the fifth motor 211, the fixed frame 22 can always remain parallel to the ground. The left end of the inner wall of the fixed frame 22 is rotatably connected to the first connecting rod 23. The bottom of the first connecting rod 23 rotates... The first link 23 is rotatably connected to the left end of the outer wall of the mounting plate 24, and the right end of the outer wall of the mounting plate 24 is rotatably connected to the lower end of the second link 25. The connection between the first link 23 and the second link 25 to the mounting plate 24 allows the first link 23 and the second link 25 to limit the mounting plate 24. The upper end of the second link 25 is rotatably connected to the right end of the inner wall of the fixing frame 22. The left end of the outer wall of the fixing frame 22 is connected to the left end of the third link 26. The left end of the third link 26 is fixedly connected to the upper end of the first link 23. Through the connection between the first link 23 and the third link 26, the rotation of the third link 26 can drive the first link 23 to rotate. Under the limiting effect of the connection of the second link 25, the third link 26 can drive the mounting plate 24 to rotate. The swing-type reversing mechanism, through the swing-type reversing of the mounting plate 24 and in conjunction with the rotational drive of the first shaft 16 and the second shaft 17, enables the mounting plate 24 to quickly reverse left and right. The right end of the third link 26 is connected to the left end extension of the eccentric wheel 27. The right end eccentric wheel of the eccentric wheel 27 is connected to the right end of the outer wall of the fixed frame 22. The front end of the right end eccentric wheel of the eccentric wheel 27 is rotatably connected to the lower end of the first arm 28. The upper end of the first arm 28 is fixedly installed on the outer wall of the second shaft 17 in the robotic arm mechanism 1. The rear end of the right end eccentric wheel of the eccentric wheel 27 is connected to the output end of the fourth motor 210. The output end of the fourth motor 210 passes through the second link 25 and the fixed frame 22. The second link 25 and the fourth motor 210 output... The connection at the outlet is connected by a bearing to prevent the fourth motor 210 from rotating the second link 25, so that the second link 25 is limited to the limiting function. Driven by the fourth motor 210, the eccentric wheel rod can be rotated, thereby driving the left extension rod of the eccentric wheel rod to rotate the third link 26, and then the third link 26 swings and reverses the mounting plate 24. The fourth motor 210 is installed at the lower end of the outer wall of the second arm 29, and the upper end of the second arm 29 is fixedly installed on the outer wall of the second shaft 17. By rotating the second shaft 17, the first arm 28 and the second arm 29 can be rotated, thereby causing the first arm 28 and the second arm 29 to pull the fixed frame 22 in reverse. The clamping mechanism 3 is connected to the bottom of the reversing mechanism 2. The clamping mechanism 3 is used to clamp the loaded materials. The clamping mechanism 3 includes: a connecting plate 31, a first arc-shaped frame 32, a second arc-shaped frame 33, a clamping arc rod 34, a third shaft 35, and a second telescopic rod 36. The top of the connecting plate 31 is installed at the bottom center of the mounting plate 24 in the reversing mechanism 2. The bottom of the connecting plate 31 is equipped with the first arc-shaped frame 32 and the second arc-shaped frame 33. Both the first arc-shaped frame 32 and the second arc-shaped frame 33 are configured in several groups. Two sets of clamping arc rods 34 are rotatably connected to both ends of the bottom of the frame 33. The clamping arc rods 34 at the bottom of the first arc frame 32 and the clamping arc rods 34 at the bottom of the second arc frame 33 are connected by a third shaft 35. The outer wall of the third shaft 35 is connected to the lower end of the second telescopic rod 36. The upper end of the second telescopic rod 36 is rotatably connected to the rod between the first arc frame 32 and the second arc frame 33. Driven by the second telescopic rod 36, the clamping arc rods 34 can clamp each other, thereby clamping and fixing the loaded materials. The lifting and pushing mechanism 4 is located at the bottom of the clamping mechanism 3 and is connected to the lower end of the robotic arm mechanism 1. The lifting and pushing mechanism 4 lifts the material clamped by the clamping mechanism 3. Simultaneously, driven by the lifting and pushing mechanism 4, it pushes the loaded material deeper into the vehicle compartment. The lifting and pushing mechanism 4 includes: a support frame 41, a sixth motor 42, a seventh motor 43, a fourth shaft 44, a first movable rod 45, a second movable rod 46, a third movable rod 47, a V-shaped rod 48, a third telescopic rod 49, a lifting plate 410, a fourth telescopic rod 411, a fourth movable rod 412, and a fifth movable rod 413. The support frame 41 is fixedly connected to the middle of the outer wall of the first shaft 16 in the robotic arm mechanism 1. The rotation of the first shaft 16 drives the support frame 41 to perform a reversing operation. A sixth motor 42 is installed at the rear end of the outer wall of the support frame 41. The sixth motor 42 independently drives the first movable rod 45 to rotate, completely decoupled from the drive of the seventh motor 43 and without interference. The sixth motor 42 drives the first movable rod 45 to perform fixed-axis reciprocating swing, which drives the V-shaped rod 48 to complete pitch swing through the multi-link group transmission, thereby realizing the lifting and lowering of the lifting plate 410. A seventh motor 43 is installed at the front end of the outer wall of the support frame 41. The seventh motor 43 serves as the core drive source for maintaining the horizontal attitude of the lifting plate 410. It independently drives the fourth shaft 44 to rotate, which drives the V-shaped rod 48 to perform synchronous follow-up swing through the fourth movable rod 412, counteracting the drive of the sixth motor 42. The pitch angle change of the lifting plate caused by the luffing of the moving linkage ensures that the lifting plate 410 remains horizontal throughout its lifting and pushing stroke, preventing material slippage. The output end of the seventh motor 43 is connected to the fourth shaft 44. The front end of the fourth shaft 44 is rotatably connected to the front end of the left side of the support frame 41, and the rear end of the fourth shaft 44 is rotatably connected to the output end of the sixth motor 42 via a bearing. The rotation of the seventh motor 43 drives the fourth shaft 44 to rotate. The bearing structure isolates the rotation from the output end of the sixth motor 42, ensuring that the driving torque of the seventh motor 43 is transmitted only to the fourth shaft 44, completely decoupling it from the first moving rod 45 driven by the sixth motor 42. This allows for the coaxial synchronous execution of two independent actions within a very small space. The spatial layout of the mechanism is greatly simplified. The output end of the sixth motor 42 is connected to the left end of the first movable rod 45. The first movable rod 45 converts the rotational motion of the sixth motor 42 into the planar compound motion of the second movable rod 46, which is the starting point of the power input for the lifting action of the entire mechanism. The right end of the first movable rod 45 is rotatably connected to the lower end of the second movable rod 46. The second movable rod 46 is the intermediate force transmission component of the linkage drive, performing planar compound motion. The upper end of the second movable rod 46 is rotatably connected to the right end of the third movable rod 47. The left end of the third movable rod 47 is rotatably connected to the lower outer wall of the V-shaped rod 48. The upper right side of the V-shaped rod 48 is rotatably connected to the upper end of the fifth movable rod 413. The lower end of the fifth movable rod 413 is rotatably connected to the upper end of the right side of the inner wall of the support frame 41.The rotation of the support frame 41 can be limited by the fifth movable rod 413. The fifth movable rod 413 is a limiting and auxiliary support component for the swing of the V-shaped rod 48. The fifth movable rod 413, the V-shaped rod 48, and the support frame 41 form a rocker constraint, limiting the maximum swing angle of the V-shaped rod 48 and preventing overtravel during the lifting process. At the same time, it constrains the movement trajectory of the V-shaped rod, ensuring that there is no radial deviation during its swing and improving the motion accuracy. The left end of the third movable rod 47 is connected to the right end of the third telescopic rod 49. The left end of the third telescopic rod 49 is connected to both sides of the outer right side of the lifting plate 410. The left ends of the fourth telescopic rod 411 are connected to both sides of the outer left side of the lifting plate 410. The right end of the fourth telescopic rod 411 is connected to the upper left end of the V-shaped rod 48. Driven by the third telescopic rod 49 and the fourth telescopic rod 411, it can extend and retract the lifting plate 410. The lower inner wall of the V-shaped rod 48 is connected to the upper end of the fourth movable rod 412, and the lower end of the fourth movable rod 412 is connected to the outer wall of the fourth shaft 44. The fourth movable rod 412 is the core force transmission component for attitude compensation. The rotational motion of the fourth shaft 44 is converted into the swing driving force of the V-shaped rod 48, forming a reverse compensation with the linkage driven by the first movable rod 45, thus counteracting the pitch angle change generated during the lifting and lowering of the V-shaped rod 48 and ensuring that the lifting plate 410 remains horizontal throughout the entire process.

[0020] In practical use, those skilled in the art will know that after the system is powered on, the PLC communicates with and performs status self-checks on all motors, telescopic rods, and sensors. After confirming that there are no faults, it enters the reset process. The first motor 13 drives the gantry robotic arm 14 to swing from any position to the material picking station side. The second motor 15 and the third motor 18 work together to rotate the first shaft 16 and the second shaft 17 to the angle facing the material picking station. The first telescopic rod 21 fully retracts, lowering the fixed frame 22 to the minimum safe height. The fifth motor 211 drives the fixed frame 22 to rotate to a horizontal state. The fourth motor 210 drives the eccentric wheel rod 27 to reset the mounting plate 24 to the horizontal center position. The second telescopic rod 36 fully retracts, and the clamping arc rod 34 opens to its maximum opening, waiting for the material to enter. The sixth motor 42 drives the linkage group to lower the lifting plate 410 to its lowest position. The third telescopic rod 49 and the fourth telescopic rod 411 are fully retracted, and the lifting plate 410 is against the front end of the support frame 41. The first telescopic rod 21 extends according to the material height signal, driving the fixed frame 22 to rise and fall to the corresponding height of the top of the material, so that the clamping arc rod 34 is aligned with both sides of the material. The fifth motor 211 drives the fixed frame 22 to rotate around the upper end of the first telescopic rod 21 to correct the horizontal angle. The fourth motor 210 drives the eccentric wheel rod 27 to rotate, which drives the first connecting rod 23 to swing slightly through the third connecting rod 26, fine-tuning the left and right positions of the mounting plate 24 and the clamping mechanism 3, so that the clamping arc rod 34 is completely in line with the contour of the material. The second telescopic rod 36 extends, driving the third shaft rod 35 to rotate, driving both sides The clamping arc rod 34 retracts inward synchronously. After the clamping force reaches the preset threshold, the second telescopic rod 36 is de-energized and self-locked, forming a ring-shaped clamp to ensure that the material does not shift during subsequent actions. The sixth motor 42 rotates forward, driving the first movable rod 45 to swing. Power is transmitted through the second movable rod 46 and the third movable rod 47, causing the V-shaped rod 48 to lift upward. The seventh motor 43 rotates in the opposite direction synchronously, driving the V-shaped rod 48 to perform attitude compensation swing through the fourth shaft rod 44 and the fourth movable rod 412 to offset the pitch angle during the lifting process and ensure that the lifting plate 410 is horizontal throughout the entire process. The lifting plate 410 is slowly raised until the plate surface is completely in contact with the bottom of the material, forming a bottom-protected lifting system. Together with the clamping mechanism, it forms a double load-bearing structure. The first motor 13 drives the gantry robotic arm. 14. Rotate around the lower end of the mounting frame 12, swinging 0-90° from the material handling station to the carriage station, completing the main path reversal. During the reversal, the fifth motor 211 fine-tunes the angle of the fixing frame 22 in real time to ensure that the material is always horizontal. The second motor 15 drives the first shaft 16 to rotate, and the third motor 18 drives the second shaft 17 to rotate synchronously, causing the reversing mechanism 2 and the lifting and pushing mechanism 4 to swing synchronously to adapt to the stacking angle in the carriage. The first telescopic rod 21 extends and retracts in real time according to the height of the carriage, adjusting the material height to a safe distance above the carriage floor. The fourth motor 210 drives the eccentric wheel rod 27 to rotate, which drives the first connecting rod 23 to swing through the third connecting rod 26, so that the mounting plate 24 and the clamping mechanism 3 complete a small-amplitude rapid left-right reversal to align with the specific stacking point in the carriage.Throughout the process, the parallelogram mechanism constrains the material's posture, ensuring no pitching, tilting, or swaying. The third telescopic rod 49 and the fourth telescopic rod 411 extend synchronously, driving the lifting plate 410 to move the material horizontally deeper into the carriage. The pushing stroke is precisely controlled by the PLC based on the carriage's three-dimensional data. During pushing, the two telescopic rods maintain synchronous extension and retraction, balancing the load and preventing the lifting plate 410 from bending or deforming. After reaching the desired position, the sixth motor 42 and the seventh motor 43 work together to drive the lifting plate 410 to slowly descend horizontally, allowing the material to fall smoothly onto the carriage floor. The second telescopic rod 36 retracts, and the clamping arc rod 34 simultaneously opens, completely releasing the material. The lifting plate 410 continues to descend slightly, disengaging from the bottom of the material to prevent scratching. The third telescopic rod 49 and the fourth telescopic rod 411 retract synchronously, and the lifting plate 410 smoothly retracts from inside the carriage to the front end of the support frame 41. The first motor 13 drives the gantry robot arm 14 to swing in the opposite direction and return to the material picking position. The second motor 15 and the third motor 18 work together to rotate the reversing mechanism 2 and the lifting and pushing mechanism 4 to their initial angles. The first telescopic rod 21 retracts, and the fixed frame 22 lowers to its low position. The fourth motor 210 and the fifth motor 211 drive the mounting plate 24 to reset to a horizontal and centered position. The second telescopic rod 36 remains in the retracted state, and the clamping arc rod 34 maintains its maximum opening. After the PLC confirms that all mechanisms have been reset, it automatically triggers the next round of material picking instructions, repeating the above process until the entire vehicle of materials is loaded.

[0021] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A reversing robotic arm for an automated robotic loading system, comprising: The robotic arm mechanism is characterized by: The robotic arm mechanism is placed on the ground and is used to drive the reversing mechanism and the lifting and pushing mechanism to perform reversing operations. The upper end of the robotic arm mechanism is connected to the reversing mechanism, which works in conjunction with the robotic arm mechanism to realize the swing-type reversing operation of the material. The bottom of the reversing mechanism is connected to the clamping mechanism, which is used to clamp the loaded material. The bottom of the clamping mechanism is equipped with a lifting and pushing mechanism, which is connected to the lower end of the robotic arm mechanism. The lifting and pushing mechanism lifts the material clamped by the clamping mechanism. At the same time, driven by the lifting and pushing mechanism, the loaded material is pushed into the depth of the truck compartment.

2. The reversing robotic arm of an automated robot loading system according to claim 1, characterized in that, The robotic arm mechanism includes: a height-adjusting frame; The riser is placed on the ground, and mounting frames are installed at both ends of the top of the riser. The mounting frames are set in two sets, and the lower end of the gantry robot arm is rotatably connected to the inner wall of the two sets of mounting frames. The first motor is installed at the front end of the outer wall of the front mounting frame, and the output end of the first motor is connected to the lower port of one set of gantry robot arms.

3. The reversing robotic arm of an automated robot loading system according to claim 2, characterized in that, The robotic arm mechanism includes: a second motor; The second motor is installed on the outer wall of the rear mounting frame. The output end of the second motor is connected to the first shaft. The first shaft is connected to the lower end between the two sets of gantry robotic arms through bearings. The lifting and pushing mechanism is fixedly connected to the middle of the outer wall of the first shaft.

4. The reversing robotic arm of an automated robot loading system according to claim 3, characterized in that, The robotic arm mechanism includes: a second shaft; The second shaft is rotatably connected to the upper end between the two sets of gantry robotic arms via bearings. A third motor is installed on the outer wall of the rear gantry robotic arm. The output end of the third motor is connected to the rear end of the second shaft. The upper ends of the reversing mechanism are connected to both ends of the outer wall of the second shaft, and the lower ends of the reversing mechanism are connected to both ends of the outer wall of the first shaft.

5. The reversing robotic arm of an automated robot loading system according to claim 4, characterized in that, The reversing mechanism includes: a first telescopic rod; The lower end of the first telescopic rod is fixedly installed on the outer wall of the first shaft in the robotic arm mechanism. The first telescopic rod is set in two sets. The upper end of the first telescopic rod is rotatably connected to the fixed frame. The outer wall of the first telescopic rod is equipped with a fifth motor. The output end of the fifth motor is connected to the fixed frame. The left end of the inner wall of the fixed frame is rotatably connected to the first connecting rod. The bottom of the first connecting rod is rotatably connected to the left end of the outer wall of the mounting plate. The right end of the outer wall of the mounting plate is rotatably connected to the lower end of the second connecting rod.

6. The reversing robotic arm of an automated robot loading system according to claim 5, characterized in that, The reversing mechanism includes: a second link; The upper end of the second link is rotatably connected to the right end of the inner wall of the fixed frame. The left end of the outer wall of the fixed frame is connected to the left end of the third link. The left end of the third link is fixedly connected to the upper end of the first link. The right end of the third link is connected to the left extension of the eccentric wheel rod. The eccentric wheel at the right end of the eccentric wheel rod is connected to the right end of the outer wall of the fixed frame. The front end of the eccentric wheel at the right end of the eccentric wheel rod is rotatably connected to the lower end of the first arm.

7. The reversing robotic arm of an automated robot loading system according to claim 6, characterized in that, The reversing mechanism includes: a first arm; The upper end of the first arm is fixedly installed on the outer wall of the second shaft in the robotic arm mechanism. The rear end of the eccentric wheel at the right end of the eccentric wheel rod is connected to the output end of the fourth motor. The output end of the fourth motor passes through the second connecting rod and the fixed frame. The fourth motor is installed at the lower end of the outer wall of the second arm, and the upper end of the second arm is fixedly installed on the outer wall of the second shaft.

8. The reversing robotic arm of an automated robot loading system according to claim 7, characterized in that, The clamping mechanism includes: a connecting plate; The top of the connecting plate is installed at the bottom center of the mounting plate in the reversing mechanism. The bottom of the connecting plate is equipped with a first arc frame and a second arc frame. The first arc frame and the second arc frame are each set in several groups. The bottom ends of the first arc frame and the second arc frame are rotatably connected to two sets of clamping arc rods. The clamping arc rods at the bottom of the first arc frame and the clamping arc rods at the bottom of the second arc frame are connected by a third shaft. The outer wall of the third shaft is connected to the lower end of the second telescopic rod. The upper end of the second telescopic rod is rotatably connected to the rod between the first arc frame and the second arc frame.

9. The reversing robotic arm of an automated robot loading system according to claim 8, characterized in that, The lifting and pushing mechanism includes: a support frame; The support frame is fixedly connected to the middle of the outer wall of the first shaft in the robotic arm mechanism. The sixth motor is installed at the rear end of the outer wall of the support frame, and the seventh motor is installed at the front end of the outer wall of the support frame. The output end of the seventh motor is connected to the fourth shaft. The front end of the fourth shaft is rotatably connected to the front end of the left end of the support frame. The rear end of the fourth shaft is rotatably connected to the output end of the sixth motor through a bearing. The output end of the sixth motor is connected to the left end of the first movable rod.

10. The reversing robotic arm of an automated robot loading system according to claim 9, characterized in that, The lifting and pushing mechanism includes: a first movable rod. The right end of the first movable rod is rotatably connected to the lower end of the second movable rod, the upper end of the second movable rod is rotatably connected to the right end of the third movable rod, the left end of the third movable rod is rotatably connected to the lower outer wall of the V-shaped rod, the upper right side of the V-shaped rod is rotatably connected to the upper end of the fifth movable rod, the lower end of the fifth movable rod is rotatably connected to the upper end of the right side of the inner wall of the support frame, the left end of the third movable rod is provided with the right end of the third telescopic rod, the left end of the third telescopic rod is connected to both sides of the right side of the outer wall of the lifting plate, both sides of the left side of the outer wall of the lifting plate are connected to the left end of the fourth telescopic rod, the right end of the fourth telescopic rod is connected to the upper side of the left end of the V-shaped rod, the lower inner wall of the V-shaped rod is connected to the upper end of the fourth movable rod, and the lower end of the fourth movable rod is connected to the outer wall of the fourth shaft.

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