Automatic turnover joint for a front arm of an automatic unloading machine

Abstract

The utility model discloses a kind of front arm automatic overturning joints of automatic unloading machine, including first connecting plate, for being connected with the rear arm of automatic unloading machine, rotating seat extending to one side is provided on first connecting plate, transmission screw rod nut mechanism is horizontally installed in the position corresponding with rotating seat on first connecting plate, first connecting seat is installed on it, first connecting seat is rotatably connected with the first end of driving link, transmission screw rod is rotated by first driving motor drive;Second connecting plate, it is hinged to rotating seat and is arranged in the side portion of first connecting plate, the second end of driving link is rotatably connected with second connecting plate, the upside of second connecting plate is connected with third connecting plate by plane turntable, plane turntable drives third connecting plate to carry out plane rotation by second driving motor on second connecting plate drive.The utility model can solve the problem that the present front arm and rear arm between overturning joint angle control precision is not enough and front arm cannot rotate horizontally.

Description

Technical Field

[0001] This utility model relates to the field of automatic unloading machine technology, specifically to an automatic forearm flipping joint of an automatic unloading machine. Background Technology

[0002] Automatic unloading machines are a common type of automated equipment used in the transfer of large quantities of boxed goods. They generally consist of a front arm, a rear arm, and a moving body. The front and rear arms can rotate relative to each other. The function of the front arm is to grab the boxed goods and transport them to the rear arm. A tilting joint needs to be installed between the front and rear arms. Currently, most tilting joints are hydraulically driven. However, hydraulic drives have limited precision and it is difficult to maintain a precise position for a long time. Moreover, the front and rear arms can only rotate relative to each other, and the front arm cannot rotate horizontally, which limits the range of motion of the front arm. Utility Model Content

[0003] This invention provides an automatic forearm flipping joint for an automatic unloading machine, which can solve the problems of insufficient control precision of the flipping joint angle between the forearm and rear arm, inability to maintain the state for a long time, and inability of the forearm to rotate horizontally.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automatic tilting joint for the forearm of an automatic unloading machine, comprising: a first connecting plate for connecting to the rear arm of the automatic unloading machine; a rotating seat extending to one side is provided on the first connecting plate; a translation transmission mechanism is laterally installed on the first connecting plate at a position corresponding to the rotating seat; a first connecting rod connecting seat is installed on the moving part of the translation transmission mechanism; and the first connecting rod connecting seat is rotatably connected to the first end of the driving connecting rod. The second connecting plate is disposed on the side of the first connecting plate and hinged to the rotating seat. The second end of the driving link passes through the side wall of the rotating seat and is rotatably connected to the second connecting plate through the second link connecting seat. The upper side of the second connecting plate is connected to the third connecting plate through a flat turntable. The third connecting plate is used to connect to the forearm. The flat turntable is driven by the second drive motor on the second connecting plate to rotate the third connecting plate in a plane. By setting the flat turntable, the relative rotation between the second connecting plate and the third connecting plate can be realized, thereby allowing for large-angle adjustment of the horizontal posture of the forearm. The rotation drive assembly is composed of a translation transmission mechanism, the first link connecting seat, and the driving link, which can realize precise rotation between the forearm and the rear arm and can self-lock to maintain the posture for a long time.

[0005] Preferably, the translation transmission mechanism includes a transmission screw and a first drive motor mounted on a first connecting plate. A nut block, serving as a moving component, is installed on the transmission screw, and a first connecting rod connecting seat is mounted on the nut block. The transmission screw is driven to rotate by the first drive motor, ensuring precise transmission and a self-locking function to guarantee the reliability of transportation.

[0006] Preferably, the rotating seat includes first side plates mounted side-by-side on the first connecting plate and an inclined plate disposed between the ends of the two first side plates. The inclined plate has a through groove through which the driving connecting rod passes. The transmission screw is disposed in the area between the first side plates. The rotating seat has a robust structure. By extending outward through the inclined plate, sufficient space is provided for the relative rotation between the first and second connecting plates. Furthermore, the space between the two first side plates allows for easy installation of the transmission screw, resulting in a compact structure.

[0007] Preferably, the transmission screw is mounted between two support plates, and guide posts located on both sides of the transmission screw are connected between the support plates. A slider is provided on the guide post, and the first connecting rod connecting seat is fixedly connected to the slider. The cooperation between the slider and the guide post can guide the movement of the first connecting rod connecting seat and prevent deflection. At the same time, the volume of the first connecting rod connecting seat can be made large to ensure sufficient strength.

[0008] Preferably, the second connecting plate has a hinged side plate perpendicular to the first connecting plate on the side facing the second connecting plate. The upper end of the hinged side plate is hinged to the upper end of the inclined plate. The second connecting rod connecting seat is installed on the hinged side plate. The hinged side plate allows the second connecting plate to rotate at a sufficiently large angle, making the structure more compact.

[0009] Preferably, multiple connecting ribs are provided between the hinged side plate and the second connecting plate to improve the connection strength between the hinged side plate and the second connecting plate.

[0010] Preferably, the output end of the first drive motor is connected to a speed reducer, and the output end of the speed reducer is connected to the transmission screw via a transmission belt. The speed reducer can adjust the rotation speed of the transmission screw, and the transmission belt, as a transmission component, can allow the first drive motor and the transmission screw to be arranged parallel to each other.

[0011] Preferably, the second drive motor and the planar turntable are connected by a worm gear drive or a gear drive, which provides high transmission accuracy and can meet the requirements for precise angle adjustment and self-locking.

[0012] Preferably, multiple position sensors are arranged along the length direction on the inner wall of the first side plate, and a position sensing block that cooperates with the position sensors is installed on the side of the first connecting rod connecting seat. The position of the first connecting rod connecting seat can be automatically sensed and fed back to the control system for timely braking and locking.

[0013] Preferably, the drive link is a link with a bending point, the bending point being close to the second link connecting seat, and the drive link having sufficient strength.

[0014] Compared with the prior art, the beneficial effects of this utility model are: With a simple structure, the relative rotation between the second and third connecting plates can be achieved by setting a planar turntable, thereby allowing for large-angle adjustment of the horizontal posture of the forearm. The rotation drive assembly is composed of a transmission screw, a first connecting rod connecting seat, and a drive connecting rod, which can achieve precise rotation between the forearm and the rear arm and can self-lock to maintain the posture for a long time. Attached Figure Description

[0015] Figure 1 This is a first-view perspective three-dimensional structural diagram of the present invention; Figure 2 This is a second-view perspective three-dimensional structural diagram according to the present invention; Figure 3 This is a top view structural diagram based on the present invention; Figure 4 yes Figure 3 AA-direction sectional view of the structure; Figure 5 This is a side view structural diagram based on the present invention; Figure 6 This is a structural schematic diagram of the automatic unloading machine according to the present invention.

[0016] Figure label: 1. First connecting plate; 11. Second connecting plate; 12. Second drive motor; 13. Third connecting plate; 14. Rotating seat; 141. Inclined plate; 142. First side plate; 15. Position sensing block; 16. Position sensor; 17. Connecting rib plate; 18. Second connecting rod connecting seat; 19. Hinge side plate; 2. First drive motor; 21. Flat turntable; 22. Reducer; 3. Transmission belt; 4. Transmission screw; 5. Support plate; 6. Guide post; 7. Nut block; 8. Slider; 9. First connecting rod connecting seat; 10. Drive connecting rod; A. Forearm; B. Rear arm. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0018] This invention addresses the problems of insufficient precision in controlling the rotational joint angle between the forearm and upper arm, the inability to maintain a stable position for extended periods, and the inability of the forearm to rotate horizontally. For example... Figure 1-6 As shown, the following technical solution is provided: an automatic tilting joint for the forearm of an automatic unloading machine, comprising: a first connecting plate 1 for connecting to the rear arm B of the automatic unloading machine, wherein a rotating seat 14 extending to one side is provided on the first connecting plate 1, a translation transmission mechanism is laterally installed on the first connecting plate 1 at a position corresponding to the rotating seat 14, a first connecting rod connecting seat 9 is installed on the moving part of the translation transmission mechanism, and the first connecting rod connecting seat 9 is rotatably connected to the first end of the driving connecting rod 10; The second connecting plate 11 is disposed on the side of the first connecting plate 1 and hinged to the rotating seat 14. The second end of the driving link 10 passes through the side wall of the rotating seat 14 and is rotatably connected to the second connecting plate 11 through the second link connecting seat 18. The upper side of the second connecting plate 11 is connected to the third connecting plate 13 through the flat turntable 21. The third connecting plate 13 is used to connect to the forearm A. The flat turntable 21 is driven by the second drive motor 12 on the second connecting plate 11 to drive the third connecting plate 13 to rotate in a plane. By setting the flat turntable, the relative rotation between the second connecting plate and the third connecting plate can be realized, thereby allowing for large-angle adjustment of the horizontal posture of the forearm A. The rotation drive assembly is composed of a translation transmission mechanism, the first link connecting seat, and the driving link, which can realize precise rotation between the forearm A and the rear arm B and can self-lock to maintain the posture for a long time.

[0019] The translational transmission mechanism includes a transmission screw 4 and a first drive motor 2 mounted on a first connecting plate 1. A nut block 7, which serves as a moving component, is installed on the transmission screw 4. A first connecting rod connecting seat 9 is mounted on the nut block 7. The transmission screw 4 is driven to rotate by the first drive motor 2, providing precise transmission and a self-locking function to ensure reliable transportation.

[0020] In this embodiment, a combination of a first drive motor 2, a transmission screw and nut mechanism, and a drive linkage is used. The high-precision linear transmission of the screw is converted into angular rotation of the forearm A, with an angle control accuracy of ±0.5°, representing a significant improvement over existing hydraulic drives. The screw and nut mechanism possesses mechanical self-locking characteristics, maintaining the current angle stability even after power failure, thus solving the problems of leakage and position drift inherent in hydraulic drives. The planar turntable achieves 360° horizontal rotation via a second drive motor. Combined with a flipping motion, this expands the range of motion of the forearm A to a spherical space, covering working areas inaccessible by existing technologies, such as side unloading and multi-layer stacking.

[0021] Specifically, the first connecting plate 1 is forged from aluminum alloy with a thickness of 15mm, and is connected to the rear arm B by four sets of M12 high-strength bolts; the transmission screw 4 is an SFU2005 ball screw, and the nut block is made of bearing steel, with preload to eliminate clearance; the first drive motor 2 is a 1.5kW servo motor, and the output end of the first drive motor 2 is connected to a reducer 22. The output end of the reducer 22 is connected to the transmission screw 4 via a transmission belt 3. The reducer 22 can adjust the rotation speed of the transmission screw 4, and the transmission belt 3 serves as a transmission component. The first drive motor 2 is arranged parallel to the transmission screw 4, with a speed range of 0-300 r / min, corresponding to a forearm A tilting speed of 0.5° / s. The flat turntable 21 has a diameter of 200 mm and is made of 45# steel with quenching treatment. The second drive motor 12 is a 0.75kW stepper motor with a horizontal rotation accuracy of ±0.1°. The second drive motor 12 and the flat turntable 21 are connected by a worm gear drive or gear drive, which has high transmission accuracy and can meet the requirements of precise angle adjustment and self-locking. The worm gear drive has a reverse self-locking function and can withstand 500N. The static torque of m ensures that the forearm A has no displacement after horizontal rotation; the gear transmission response speed is suitable for high-frequency horizontal adjustment scenarios; the worm gear lead angle is 3° and the meshing clearance is 0.1mm; the gear transmission adopts hardened tooth surface gears and the lubrication method is grease lubrication.

[0022] The drive link 10 is a link with a bending point. The bending point is close to the second link connecting seat 18. The drive link 10 has sufficient strength, and the bending angle of the bending link can be 120°, which can avoid the interference area of ​​the rotating seat 14 and increase the maximum rotation angle of the forearm A to 120°. The bending point is close to the second link connecting seat 18, which keeps the stress concentration area away from the hinge point and greatly improves the fatigue life.

[0023] In this embodiment, the rotating seat 14 includes first side plates 142 mounted side-by-side on the first connecting plate 1 and an inclined plate 141 positioned between the ends of the two first side plates 142. The inclined plate 141 has a through slot through which the driving connecting rod 10 passes. The transmission screw 4 is positioned in the area between the first side plates 142. The rotating seat 14 uses a double-side plate and inclined plate structure to form a rigid frame with a bending strength of 200 MPa, significantly improving strength compared to a single-plate structure. The inclined plate 141 forms a 45° angle with the first side plates 142, providing 120° rotation space for the driving connecting rod 10 to avoid motion interference. The first side plates 142 and the inclined plate 141 are made of Q235 steel or 5052 aluminum alloy, 10 mm thick and 200 mm high, and are fixed to the first connecting plate 1 by welding. The inclined plate 141 and the first side plates 142 can be welded together or connected by bolts, such as four sets of M8 bolts.

[0024] In this embodiment, the transmission screw 4 is mounted between two support plates 5, and guide posts 6 located on both sides of the transmission screw 4 are connected between the support plates 5. A slider 8 is provided on the guide post 6, and the first connecting rod connecting seat 9 is fixedly connected to the slider 8. The double guide post structure and the slider 8 form a guiding mechanism, which, together with the screw transmission, achieves three-point positioning with a linearity error of ≤0.02mm / m, avoiding deflection of the connecting rod due to unilateral force. The slider 8 and the first connecting rod connecting seat 9 are integrated, increasing the load-bearing capacity to 500kg, meeting the needs of heavy cargo gripping.

[0025] In this embodiment, a hinged side plate 19 perpendicular to the second connecting plate 11 is provided on the side of the second connecting plate 11 facing the first connecting plate 11. The upper end of the hinged side plate 19 is hinged to the upper end of the inclined plate 141. The second connecting rod connecting seat 18 is installed on the hinged side plate 19. The hinged side plate 19 is perpendicular to the second connecting plate 11, which moves the rotation fulcrum upward by 50mm, shortens the torque arm when the forearm A flips, and reduces the load on the drive motor. The hinged side plate 19 is a 6mm thick steel plate with a height of 180mm, and is hinged to the inclined plate 141 by a steel pin with a diameter of 15mm. The second connecting rod connecting seat 18 is a cast steel part, fixed to the middle of the hinged side plate by M10 bolts, and has a copper sleeve or bearing inside the rotation hole. At the same time, multiple connecting ribs 17 are provided between the hinged side plate 19 and the second connecting plate 11, which can improve the connection strength between the hinged side plate 19 and the second connecting plate 11.

[0026] In this embodiment, multiple position sensors 16 are arranged along the length direction on the inner side wall of the first side plate 142. A position sensing block 15 that cooperates with the position sensors 16 is installed on the side of the first connecting rod connecting seat 9. The position sensors 16 and the position sensing block 15 cooperate to realize real-time monitoring of the position of the connecting rod. The braking can be triggered 0.5s in advance at the extreme position (such as the 90° flip point) to avoid mechanical collision. Through multi-sensor calibration, the cumulative error is controlled within ±0.3mm. The position sensor 15 is a Hall effect sensor (model A3144) with a sensing distance of 3mm and an output signal of NPN switching quantity. The position sensing block 15 is a neodymium iron boron magnet, which is fixed to the side of the first connecting rod connecting seat 9 with epoxy resin.

[0027] Work process: Flipping action: Start the first drive motor 2. After the servo motor is reduced in speed by the reducer, it drives the transmission screw 4 to rotate through the transmission belt 3. The nut block 7 drives the first connecting rod connecting seat 9 to translate along the guide post 6. The driving connecting rod 10 pushes the hinged side plate 19 to rotate around the pin shaft, realizing the forearm A0-120° flipping. When the position sensing block 16 triggers the corresponding displacement sensor 15, the PLC controls the motor to brake, and the screw self-locks to maintain the angle.

[0028] Horizontal rotation action: Start the second drive motor 12, and the stepper motor drives the flat turntable 21 to rotate through gear transmission, so as to realize the horizontal rotation of the forearm A360°; combined with the flipping action, it can complete complex operations such as side unloading and multi-layer stacking.

[0029] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0030] Furthermore, in this utility model, descriptions involving terms such as "primary," "secondary," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "primary" or "secondary" may explicitly or implicitly include at least one of those features. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly and specifically defined.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0032] The various dimensional parameters, component models, and examples of manufacturing materials mentioned in the specification of this patent application are only used to illustrate that the technical solution of this application can be implemented, and do not mean that the technical solution of this application can only be implemented using the above-mentioned dimensional parameters and component models. The above-mentioned dimensional parameters, component models, and manufacturing materials do not limit the scope of protection of this application, and those skilled in the art can fully implement the technical solution of this application using other suitable parameters and equivalent components.

[0033] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

Claims

1. An automatic tilting joint for the forearm of an automatic unloading machine, characterized in that, include: The first connecting plate (1) is used to connect with the rear arm of the automatic unloading machine. The first connecting plate (1) is provided with a rotating seat (14) extending to one side. A translation transmission mechanism is installed laterally on the first connecting plate (1) at the position corresponding to the rotating seat (14). A first connecting rod connecting seat (9) is installed on the moving part of the translation transmission mechanism. The first connecting rod connecting seat (9) is rotatably connected to the first end of the drive connecting rod (10). The second connecting plate (11) is disposed on the side of the first connecting plate (1) and hinged to the rotating seat (14). The second end of the driving link (10) passes through the side wall of the rotating seat (14) and is rotatably connected to the second connecting plate (11) through the second link connecting seat (18). The upper side of the second connecting plate (11) is connected to the third connecting plate (13) through the flat turntable (21). The third connecting plate (13) is used to connect to the forearm. The flat turntable (21) is driven by the second drive motor (12) on the second connecting plate (11) to drive the third connecting plate (13) to rotate in a plane.

2. The automatic forearm flipping joint of the automatic unloading machine according to claim 1, characterized in that: The translation transmission mechanism includes a transmission screw (4) and a first drive motor (2) mounted on a first connecting plate (1). A nut block (7) serving as a moving component is mounted on the transmission screw (4). A first connecting rod connecting seat (9) is mounted on the nut block (7). The transmission screw (4) is driven to rotate by the first drive motor (2).

3. The automatic forearm flipping joint of the automatic unloading machine according to claim 2, characterized in that: The rotating seat (14) includes a first side plate (142) mounted side by side on the first connecting plate (1) and an inclined plate (141) disposed between the ends of the two first side plates (142). The inclined plate (141) has a through groove, the driving connecting rod (10) passes through the through groove, and the transmission screw (4) is disposed in the area between the first side plates (142).

4. The automatic forearm flipping joint of the automatic unloading machine according to claim 2, characterized in that: The transmission screw (4) is mounted between two support plates (5). The support plates (5) are also connected to guide posts (6) located on both sides of the transmission screw (4). A slider (8) is provided on the guide post (6). The first connecting rod connecting seat (9) is fixedly connected to the slider (8).

5. The automatic forearm flipping joint of the automatic unloading machine according to claim 3, characterized in that: The second connecting plate (11) has a hinged side plate (19) perpendicular to the first connecting plate (1) on the side facing the second connecting plate (11). The upper end of the hinged side plate (19) is hinged to the upper end of the inclined plate (141). The second connecting rod connecting seat (18) is installed on the hinged side plate (19).

6. The automatic forearm flipping joint of the automatic unloading machine according to claim 5, characterized in that: Multiple connecting ribs (17) are provided between the hinged side plate (19) and the second connecting plate (11).

7. The automatic forearm flipping joint of the automatic unloading machine according to claim 2, characterized in that: The output end of the first drive motor (2) is connected to a reducer (22), and the output end of the reducer (22) is connected to the transmission screw (4) via a transmission belt (3).

8. The automatic forearm flipping joint of the automatic unloading machine according to claim 2, characterized in that: The second drive motor (12) and the flat turntable (21) are connected by worm gear transmission or gear transmission.

9. The automatic forearm flipping joint of the automatic unloading machine according to claim 3, characterized in that: Multiple position sensors (16) are arranged along the length direction on the inner wall of the first side plate (142), and a position sensing block (15) that cooperates with the position sensors (16) is installed on the side of the first connecting rod connecting seat (9).

10. The automatic forearm tilting joint of the automatic unloading machine according to any one of claims 1-9, characterized in that: The drive link (10) is a link with a bend point, which is close to the second link connecting seat (18).

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