CN217728738U

CN217728738U - Loading mechanical arm

Info

Publication number: CN217728738U
Application number: CN202221663914.2U
Authority: CN
Inventors: 王建军; 曾金; 杨进荣
Original assignee: Mianyang Lanao Robot Co ltd
Current assignee: Mianyang Lanao Robot Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-11-04
Anticipated expiration: 2032-06-30

Abstract

The utility model belongs to the automatic loading field, and discloses a car loader arm, which comprises a base and an arm, wherein the arm comprises an upper arm pivotally arranged on the base and a lower arm hinged with the upper arm, the lower arm is provided with a bag placing mechanism capable of pivoting relative to the lower arm, and the bag placing mechanism is hinged with a connecting rod assembly capable of keeping the bag placing mechanism in a horizontal state all the time; the upper end of the upper mechanical arm is fixedly connected with a driving device, a horizontal first rotating shaft is arranged on the upper mechanical arm, the lower mechanical arm is hinged to the lower end of the upper mechanical arm through a second rotating shaft, and driving wheels fixedly arranged on the first rotating shaft and the second rotating shaft are connected through a transmission pair; therefore, the utility model controls the mechanical arm to be unfolded or folded efficiently and accurately by a single motor, so that the structure is simple and the operation and control are convenient; and the bag placing mechanism is always kept in a horizontal state in the material stacking process, so that the material stacking efficiency and accuracy are improved.

Description

Loading mechanical arm

Technical Field

The utility model belongs to the automatic loading field especially relates to a carloader arm.

Background

With the promotion and innovation of industrial production, the production efficiency of the existing industrial products is very high, and in order to further match the current efficient material production and transportation, in the process of loading and transporting materials, the mechanical equipment gradually replaces the original manual handling. And a plurality of mechanical arms capable of automatically loading materials exist in the prior art.

The publication No. CN204528725U discloses a container loading robot, wherein two guide rails are arranged on a robot base, the guide rails are in a front-back direction, a platform with a rail drive at the bottom is mounted on the guide rails, and the platform can move back and forth along the guide rails under the control of the rail drive at the bottom; the center of the platform is provided with an arm seat with a first power mechanism and a mechanical arm, a second power mechanism is arranged in the middle of the mechanical arm, the tail end of the mechanical arm is provided with a third power mechanism and a fork hand, pressure fingers are arranged on placing shafts at two ends of the fork hand, and two sides of the connecting end of the fork hand and the pressure fingers are provided with pressure finger mechanisms; the connecting end of the fork is provided with an air cylinder which is communicated to an included angle between the fork and the pressure finger, and the inner end of the air cylinder is provided with a push plate.

The mechanical arm in the prior art is provided with a plurality of joints, each joint is provided with a motor, and a user can unfold or fold the mechanical arm by independently controlling the motors on each joint; however, the technical problems that the structure is too complex, the operation is difficult, and the mechanical arm cannot be efficiently and accurately controlled to be unfolded or folded due to the fact that the number of motors is too large exist in the technical scheme.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a loading arm has the effect that the operation is stable, simple structure, can high-efficient accurate control manipulator carry out sign indicating number package.

In order to achieve the above purpose, the specific technical solution of the present invention is as follows:

a car loader mechanical arm comprises a base and a mechanical arm, wherein the mechanical arm comprises an upper mechanical arm and a lower mechanical arm, the upper mechanical arm is arranged on the base in a pivoting mode, the lower mechanical arm is hinged to the upper mechanical arm, a bag placing mechanism capable of pivoting relative to the lower mechanical arm is arranged on the lower mechanical arm, and a connecting rod assembly used for keeping the bag placing mechanism in a balanced state all the time is hinged to the mechanical arm;

the upper end of the upper mechanical arm is fixedly connected with a driving device, a horizontal first rotating shaft is arranged on the upper mechanical arm, the lower mechanical arm is hinged to the lower end of the upper mechanical arm through a second rotating shaft, and driving wheels fixedly arranged on the first rotating shaft and the second rotating shaft are connected through a transmission pair.

Preferably, the connecting rod assembly comprises a first planar connecting rod assembly arranged between the first rotating shaft and the second rotating shaft, and a second planar connecting rod assembly arranged between the second rotating shaft and a third rotating shaft at the tail end of the lower mechanical arm, and the angle between adjacent connecting rods of the first planar connecting rod assembly and the second planar connecting rod assembly is fixed; one end of a first connecting rod of the first plane connecting rod component is hinged to the base.

Preferably, the base comprises a support for hinging the mechanical arm, the driving device is installed on one side of the support, an output shaft of the driving device is collinear with the first rotating shaft, and the support is also provided with a roller for hoisting the mechanical arm on a support of a car loader;

the support comprises vertical plates and connecting plates, the vertical plates are vertically and parallelly arranged, the connecting plates are fixedly connected with the vertical plates, reinforcing plates perpendicular to the connecting plates and connected with the vertical plates are arranged on two sides of each connecting plate, and grooves used for containing the connecting rod assemblies are formed in the reinforcing plates.

Preferably, the upper mechanical arm comprises a pair of side plates I which are arranged oppositely and have the same structure, the two side plates I are connected through a first supporting piece located on one side of the upper mechanical arm, a first opening is formed between two ends of the two side plates I and the first supporting piece, the first opening is used for containing one part of the connecting rod assembly when the mechanical arm is folded, the lower mechanical arm comprises a pair of side plates II which are arranged oppositely, the two side plates II are connected through a second supporting piece located on one side of the lower mechanical arm, a cavity is formed between two ends of the two side plates II and the second supporting piece, and the cavity is used for containing one part of the connecting rod assembly when the mechanical arm is folded.

Preferably, the output end of the driving device is fixedly connected to the housing of the upper mechanical arm, the upper mechanical arm is rotatably sleeved on the first rotating shaft, and the first rotating shaft and the output shaft of the driving device are coaxially arranged;

the second rotating shaft is arranged at the lower end of the upper mechanical arm, and the transmission pair is connected between the second rotating shaft and the first rotating shaft.

Preferably, the transmission wheels on the first rotating shaft and the second rotating shaft are respectively a first bevel gear and a second bevel gear which are fixedly arranged on the corresponding rotating shafts, and the transmission pair arranged between the first bevel gear and the second bevel gear is a transmission rod with two ends respectively provided with a third bevel gear.

Preferably, the transmission ratio of the first bevel gear to the third bevel gear is equal to the transmission ratio of the second bevel gear to the third bevel gear.

Preferably, the transmission wheels on the first rotating shaft and the second rotating shaft are respectively a first transmission wheel and a second transmission wheel which are fixedly arranged on the corresponding rotating shafts, and a tensioned transmission part is connected between the first transmission wheel and the second transmission wheel; the transmission part is a gear ring, a synchronous belt or a chain corresponding to the transmission modes of the first transmission wheel and the second transmission wheel; the transmission element remains stationary relative to the housing of the upper robot arm.

Preferably, the first planar linkage assembly comprises a first link hinged to the base and parallel to the upper robot arm and a first link rod hinged to the first link; the second plane connecting rod assembly comprises a second connecting frame rod fixedly connected with the second rotating shaft, a second connecting rod hinged to the second connecting frame rod and parallel to the lower mechanical arm, and a third connecting frame rod with one end hinged to the second connecting rod, and the other end of the third connecting frame rod is hinged to the third rotating shaft.

Preferably, a fixed included angle is formed between the first side link and the second side link, or the first side link and the second side link are overlapped, or the first side link and the second side link are parallel.

Preferably, the first side link and the second side link are located on a rigid transition connecting piece, one point on the transition connecting piece is hinged to the hinged position of the upper mechanical arm and the lower mechanical arm, and the other two points on the transition connecting piece are respectively hinged to the first connecting rod and the second connecting rod;

the distance between the hinge points of the first connecting rod and the second rotating shaft on the transition connecting piece is equal to the distance between the hinge points of the second connecting rod and the second rotating shaft on the transition connecting piece;

the rigid part of the transition connecting piece between the hinge points of the first connecting rod and the second rotating shaft on the transition connecting piece forms the first connecting rod, and the rigid part of the transition connecting piece between the hinge points of the second connecting rod and the second rotating shaft on the transition connecting piece forms the second connecting rod.

Preferably, the bag placing mechanism comprises a connecting seat, the connecting seat is hinged to the lower mechanical arm, a discharging part is fixedly arranged below the connecting seat, and one end of the connecting rod assembly is fixedly connected to the connecting seat.

The utility model discloses a loading arm has following effect: can make the structure simpler through the high-efficient and accurate expansion or folding of single motor control robotic arm, it is more convenient to operate, utilizes the plane link assembly who sets up on the arm to make the arm lift in-process simultaneously, and lower extreme articulated puts the horizontally balanced state that a packet mechanism kept all the time when lifting sign indicating number material, can not arouse because of factors such as inertia, material loading, unloading, arm lift and rock, can make sign indicating number material efficiency and precision higher.

Drawings

Fig. 1 is a schematic view of the specific structure of the present invention;

fig. 2 is a folded state view of the specific structure of the present invention;

fig. 3 is a development state diagram of the specific structure of the present invention;

fig. 4 is a schematic structural diagram of the upper mechanical arm and the lower mechanical arm of the present invention;

fig. 5 is a schematic structural diagram of the connecting rod assembly of the present invention;

fig. 6 is a schematic structural diagram of the bag placing mechanism of the present invention;

fig. 7 is a schematic structural view of another embodiment of the present invention;

FIG. 8 is an enlarged view of a portion of FIG. 7;

1. a base; 2. A drive device; 3. An upper mechanical arm; 4. a lower mechanical arm; 5. a connecting rod assembly; 6. a first rotating shaft; 7. a second rotating shaft; 11. a first side plate; 12. a second side plate; 13. a first support member; 14. a second support member; 15. a first upper shaft hole; 16. a first lower shaft hole; 17. an upper shaft hole II; 18. a second lower shaft hole; 19. a first chamber space; 20. a chamber space two; 21. a bag placing mechanism; 22. a second motor; 23. vertical plates, 24, connecting plates, 25, reinforcing plates, 26 and grooves;

5a, a first connecting rod; 5b, transition connecting pieces; 5c, a second connecting rod;

8a, a first bevel gear; 8b, a first drive wheel;

9a, a second bevel gear; 9b, a second transmission wheel;

10a, a transmission rod; 10b, synchronous belt

11a, third bevel gear

21a, a connecting seat; 21b and a blanking part.

Detailed Description

In order to better understand the purpose, structure and function of the present invention, the following description is made in detail with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.

As shown in the figure, the utility model discloses a carloader arm, including set up on the carloader can be along carloader frame reciprocating motion's base 1 and arm the arm including but pivot ground set up in last arm 3 on the base 1 with articulate in go up the lower arm 4 of arm 3, be provided with the package mechanism 21 of putting of 4 pivots of arm 4 pivot down relatively on the arm 4 down. The upper end of the upper mechanical arm 3 is fixedly connected with a driving device 2 for driving the upper mechanical arm 3 to rotate, a horizontal first rotating shaft 6 is arranged on the upper mechanical arm 3, and the first rotating shaft 6 is collinear with a power output shaft of the driving device 2; the lower mechanical arm 4 is hinged to the lower end of the upper mechanical arm 3 through a second rotating shaft 7; the first rotating shaft 6 and the second rotating shaft 7 are respectively and fixedly provided with a driving wheel, and the two driving wheels are connected through a driving pair, so that torque is transmitted to the second rotating shaft 7 to enable the mechanical arm to be unfolded or folded.

The end of the lower mechanical arm is provided with a third rotating shaft, the third rotating shaft is hinged with the bag placing mechanism 21, and when the mechanical arm is unfolded or folded, the bag placing mechanism 21 is driven to move in the vertical direction.

The bag placing mechanism 21 is provided with a connecting rod assembly 5 for maintaining the bag placing mechanism 21 to be always in a balanced state; the connecting rod assembly 5 comprises a first plane connecting rod assembly arranged between the first rotating shaft 6 and the second rotating shaft 7 and a second plane connecting rod assembly arranged between the second rotating shaft 7 and the third rotating shaft, and the first plane connecting rod assembly and the second plane connecting rod assembly respectively comprise a connecting rod connected with a mechanical arm and a connecting rod connected with the connecting rod.

The first plane connecting rod assembly and the second plane connecting rod assembly are coplanar with the plane of the mechanical arm, the first plane connecting rod assembly and the second plane connecting rod assembly are two sets of connecting rod pairs of the stroke of the mechanical arm, the angle between two adjacent connecting rods of the first plane connecting rod assembly and the second plane connecting rod assembly is fixed, one end of a connecting rod of the first plane connecting rod assembly is hinged to the base 1, one end of a connecting rod of the second plane connecting rod assembly is hinged to the bag placing mechanism 21, the connecting rod of the first plane connecting rod assembly is always parallel to the upper mechanical arm 3, and the second plane connecting rod assembly is always parallel to the lower mechanical arm 4, so that the connecting rod assembly 5 and the mechanical arm in the application are kept synchronous, and a balance device only used for keeping the bag placing mechanism 21 balanced all the time is formed.

Therefore, according to the scheme of the present invention, while the driving device 2 drives the upper mechanical arm 3 to rotate, the driving wheel disposed on the upper mechanical arm 3 transmits torque through the transmission pair, so that the lower mechanical arm 4 rotates reversely relative to the upper mechanical arm 3, and the single driving device 2 controls the expansion or folding of the entire mechanical arm; and the connecting rod assembly 5 arranged on the bale placing mechanism 21 realizes that the bale placing mechanism 21 is always kept in a balanced state in the process of lifting and stacking materials by arranging the first plane connecting rod assembly between the first rotating shaft 6 and the second rotating shaft 7 and arranging the second plane connecting rod assembly between the second rotating shaft 7 and a third rotating shaft at the tail end of the lower mechanical arm 4.

In the field of loading, the lower end of the mechanical arm is hinged to the bottom of the mechanical arm; if only the bag placing mechanism is hinged, when the mechanical arm is lifted, the bag placing mechanism can shake around a hinged third rotating shaft due to torque pulse, mechanical vibration, motion inertia and the like of the driving device 2; the material bag placing mechanism needs to receive the material bag and then discharges the material bag to a designated position, the material bag falls into the material bag placing mechanism, external force exists, the material bag placing mechanism can also cause shaking, and the shaking can be continuous and is not beneficial to quick, stable and accurate stacking of the material bag; if the driving device 2 is additionally arranged on the third rotating shaft, the bag placing mechanism is kept relatively balanced, a complicated structural design is needed, and the deflection or the shaking which occurs is detected by a sensor and the like and then adjusted, so that the material loading is still not facilitated. Based on this, the utility model discloses a high-efficient, stable operation of arm is realized to arm and link assembly 5. On this basis, the equilibrium state that this application indicates is the state that puts a packet mechanism 21 and does not take place to cause unloader to rock in following the arm lift process.

Specifically, the base 1 is arranged on a track, so that the base 1 can horizontally move along the track, and an upper mechanical arm 3 and a driving device 2 which rotate relative to the base 1 are arranged on the base 1; wherein the base 1 may be, for example, a bracket provided with rollers or sliders.

The driving device 2 is specifically a motor, the driving device 2 is fixed on the base 1, and an output shaft of the driving device 2 is fixed on the upper mechanical arm 3 through a flange, so that torque output by the driving device 2 directly acts on a shell of the upper mechanical arm 3, and the upper mechanical arm swings relative to the output shaft; the driving device 2 may further include a speed reducing mechanism connected to the motor, a flange of a power output end of the speed reducing mechanism is fixedly connected to the upper arm, so as to facilitate control of the angular velocity of the upper arm, and the speed reducing mechanism may be any speed reducing mechanism, such as a planetary reducer, which is conveniently mounted on the upper arm 3.

The structure of the mechanical arm is shown in fig. 3 to 4, wherein the upper mechanical arm 3 includes a pair of side plates 11 with the same structure and arranged opposite to each other, the two side plates 11 are connected through a first supporting member 13, and the two side plates 11 and the first supporting member 13 surround to form a chamber space 19 for the movement of the gear shaft. A first opening is further formed between two ends of the first side plates 11 and the first support 13, and the first opening is used for accommodating a part of the connecting rod assembly 5 when the mechanical arm is folded. An upper shaft hole I15 and a lower shaft hole II 18 are respectively formed in two ends of the side plate I11, a first rotating shaft 6 connected with the driving device 2 is horizontally fixed in the upper shaft hole I15, and a driving wheel is sleeved on the first rotating shaft 6; a second rotating shaft 7 capable of rotating relative to the first side plate 11 is horizontally arranged in the first lower shaft hole 16, and another driving wheel is sleeved on the second rotating shaft 7. And a transmission pair for transmitting torque is arranged between the first gear and the second gear. The first rotating shaft 6 is arranged in the first upper shaft hole 15 and is fixedly connected with the base 1, and the driving wheels on the first rotating shaft 6 and the second rotating shaft 7 are respectively a first driving wheel 8b and a second driving wheel 9b which are sleeved on the corresponding rotating shafts.

In one embodiment, the first rotating shaft 6 is sleeved with a first bevel gear 8a, the second rotating shaft 7 is sleeved with a second bevel gear 9a, the transmission rod 10a corresponding to the transmission pair is a transmission rod 10a with two ends respectively provided with a third bevel gear 11a, the transmission rod 10a is arranged in the first cavity space 19, and the two third bevel gears 11a at the two ends of the transmission pair are respectively engaged with the first bevel gear 8a and the second bevel gear 9a. By this mechanism, the rotation directions of the first bevel gear 8a and the second bevel gear 9a are the same. The transmission ratio of the first bevel gear 8a to the third bevel gear 11a is equal to the transmission ratio of the second bevel gear 9a to the third bevel gear 11a, and the transmission ratios are the same, so that the first rotating shaft and the second rotating shaft have equal torques, and the lower mechanical arm 4 is driven to rotate relative to the upper mechanical arm 3, and the mechanical arm is controlled to unfold or fold by a single motor.

In another embodiment, as shown in fig. 7 to 8, the first transmission wheel 8b and the second transmission wheel 9b are synchronous wheels, the transmission element is a synchronous belt arranged between the first transmission wheel 8b and the second transmission wheel 9b, and the synchronous belt 10b is tensioned and kept stationary relative to the housing of the upper robot arm 3.

When the driving device 2 drives the upper mechanical arm 3 to rotate, the first rotating shaft 6 is fixed, the upper mechanical arm 3 drives the second rotating shaft 7 to do circular arc motion by taking the first rotating shaft 6 as a circle center, meanwhile, the second rotating shaft 7 forms rotation in the lower shaft hole I16 under the tensioning action of the synchronous belt 10b, the rotation direction is opposite to the rotation direction of the output shaft of the driving device 2, so that the lower mechanical arm 4 is driven to rotate relative to the upper mechanical arm 3, and the mechanical arm is controlled to be unfolded or folded by a single motor. In other embodiments of the present application, the synchronizing wheel can also be replaced by a gear or a sprocket, and the transmission can be replaced by a toothed ring or a chain corresponding to the way the first transmission wheel 8b and the second transmission wheel 9b are driven.

As shown in fig. 1-4, the base 1 includes a support for hinging the mechanical arm, the driving device 2 is installed on one side of the support, an output shaft of the driving device 2 is collinear with the first rotating shaft, and a roller for hoisting the mechanical arm on a support of a car loader is further arranged on the support; the support comprises vertical plates 23 which are vertically arranged in parallel and a connecting plate 24 fixedly connected with the two vertical plates 23, reinforcing plates 25 which are perpendicular to the connecting plate 24 and connected with the vertical plates 23 are arranged on two sides of the connecting plate 24, and grooves 26 used for containing the connecting rod assemblies 5 are arranged on the reinforcing plates 25. Because the arm of this application is applied to loading sign indicating number package field, link assembly 5 that sets up on it is located the arm outside, when the arm is crooked, if the arm can't fully fold can influence the arm highly too high in the direction of height, cause sign indicating number packagine machine to have to leave bigger space in the below in order to guarantee the loading, this not only is unfavorable for cost control also in order to guarantee sign indicating number package integrity and unexpected. Therefore, set up recess 26 on the reinforcing plate 25 of base 1 of this application to when making the arm folding, link assembly 5 does not take place to interfere with base 1, ensures base 1's structural strength simultaneously.

The lower mechanical arm 4 comprises a pair of side plates 12 which are identical in structure and are opposite to each other, the side plates 12 are connected through a second supporting piece 14, the side plates 12 and the second supporting piece 14 surround to form a chamber space II 20, and the chamber space II 20 is larger than or smaller than the chamber space I19, so that the folding of the mechanical arm is facilitated, and the space occupied by the folded mechanical arm is saved. Two ends of the second side plate 12 are respectively provided with a second upper shaft hole 17 and a second lower shaft hole 18, the first lower shaft hole 16 and the second upper shaft hole 17 are coaxially arranged, and the second rotating shaft 7 is arranged in the second upper shaft hole 17 and fixed with the first lower shaft hole 16. The second cavity space 20 may be used to house a portion of the linkage assembly when the robot arm is folded.

As shown in fig. 2 to 6, the bale releasing mechanism 21 is connected with a connecting rod assembly 5 for maintaining the bale releasing mechanism 21 in a horizontal state; put a packet mechanism 21 and include unloading portion 21b and be located the connecting seat 21a of unloading portion 21b top, connecting seat 21a with lower arm 4 is articulated, the fixed unloading portion 21b that is provided with in below of connecting seat 21a, be provided with the drive on the unloading portion 21b pivoted second motor 22, second motor 22 is vertical to be fixed on connecting seat 21a, makes and put a packet mechanism 21 and rotate around vertical axle to realize the more demands such as material receiving, material package direction adjustment of nimble direction.

As shown in fig. 5, the link assembly 5 includes a first planar link assembly disposed between the first rotating shaft 6 and the second rotating shaft 7 and a second planar link assembly disposed between the second rotating shaft 7 and a third rotating shaft at the end of the lower robot arm 4, and an angle between adjacent link levers of the first and second link 5c assemblies is fixed.

The angle may be that an included angle is formed between the first planar connecting rod assembly and the adjacent side link of the second connecting rod 5c assembly and the first planar connecting rod assembly is fixed, or the first planar connecting rod assembly and the adjacent side link of the second connecting rod 5c assembly are overlapped and fixed; the first planar connecting rod assembly and the second connecting rod 5c assembly are both parallelogram connecting rod mechanisms, and the first planar connecting rod assembly comprises a fixed rod, a first connecting rod 5a which is hinged with the fixed rod and is parallel to the upper mechanical arm 3, and a first connecting rod frame which is hinged with the first connecting rod 5a and is parallel to the fixed rod; the second plane connecting rod assembly comprises a second side link connected with the second rotating shaft 7, a second connecting rod 5c hinged to the second side link and parallel to the lower mechanical arm 4, and a third side link with one end hinged to the second connecting rod 5c and parallel to the second side link, and the other end of the third side link is hinged to the third rotating shaft. The fixed rod and the side link are parallel to each other and have the same length. One end of the first connecting rod 5a is hinged to the base 1, the fixing rod may be an entity rod with one end hinged to a hinge point of the first connecting rod 5a hinged to the base 1 and the other end hinged to the first rotating shaft, or a non-entity mechanical fixing rod with a constant distance and a constant angle between the hinge point of the first connecting rod 5a hinged to the base 1 and the first rotating shaft. The angle between the adjacent side link rods of the first and second planar link assemblies is fixed, and the two ends of the third side link rod are hinged to the third rotating shaft and the second connecting rod 5c, when the length of the mechanical side link rod formed between the hinge points at the two ends of the third side link rod is the same as that of the other side link rods and is parallel to the other side link rods, at this time, because the upper end hinge point of the first connecting rod 5a of the first planar link rod assembly is fixed, as the upper end is hinged to the base 1, the length and the angle of the mechanical fixing rod formed by the first planar link rod assembly are equal to those of the mechanical fixing rod formed by the first planar link rod assembly and the other side link rod are fixed, and because the angle between the first planar link rod and the adjacent side link rod of the second planar link rod assembly is fixed, and the third side link rod passes through the mechanical parallelogram structure of the second planar link rod, no matter how the third side link rod assembly moves, the included angle between the connecting line between the hinge points at the two ends of the third side link rod and the horizontal plane is not changed, therefore, the bale putting mechanism 21 connected by the third side link rod can be ensured to be always kept in a balanced state.

As a preferred embodiment, the first side link and the second side link are two sides of a rigid transition connecting piece 5b, one point on the transition connecting piece 5b is hinged on the second rotating shaft 7, the other two points on the transition connecting piece 5b are respectively hinged with the first connecting rod 5a and the second connecting rod 5c, a connecting line between hinge points of the first connecting rod 5a and the second rotating shaft 7 on the transition connecting piece 5b can be regarded as the virtual first side link, a connecting line between hinge points of the second connecting rod 5c and the second rotating shaft 7 on the transition connecting piece 5b can be regarded as the virtual second side link, that is, a rigid portion of the transition connecting piece 5b between hinge points of the first connecting rod 5a and the second rotating shaft 7 on the transition connecting piece 5b constitutes the first connecting rod, and a rigid portion of the transition connecting piece 5b between hinge points of the second connecting rod 5c and the second rotating shaft 7 on the transition connecting piece 5b constitutes the second side link. One end of the second connecting rod 5c, which is far away from the transition connecting piece 5b, is hinged to a bag placing mechanism 21, a connecting line section between the second connecting rod 5c and a hinge point of the lower mechanical arm 4 on the bag placing mechanism 21 can be regarded as a virtual third connecting rod, and a distance between the hinge points of the first connecting rod 5a and the second rotating shaft 7 on the transition connecting piece is equal to a distance between the hinge points of the second connecting rod and the second rotating shaft 7 on the transition connecting piece 5b, that is, the lengths of the fixing rod, the first connecting rod, the second connecting rod and the third connecting rod are the same. Wherein the transition piece 5b may be of any configuration, such as: a tripod, a set square, a circular plate, etc., most preferred are isosceles tripods, such as: as shown in fig. 3 and 5, a top corner of the isosceles triangular bracket is hinged to the second rotating shaft 7, two bottom corners of the isosceles triangular bracket are hinged to one end of a first connecting rod 5a and one end of a second connecting rod 5c, respectively, the other end of the first connecting rod 5a is hinged to the upper robot arm 3, and the other end of the second connecting rod 5c is hinged to the bale putting mechanism 21, the first connecting rod 5a and the second connecting rod 5c have the same structure, and since two waists of the isosceles triangular bracket are equal and distances from a hinge point of the top corner to hinge points of the two bottom corners are equal, the first connecting rod 5a and the second connecting rod 5c are better enabled to be always parallel to the upper robot arm 3 and the lower robot arm 4, respectively, when the robot arms are unfolded or folded.

When the device is used, the base 1 is moved to a specified position, the driving device 2 is started to rotate forwards or backwards, and the first rotating shaft 6 drives the upper mechanical arm 3 to rotate; the first gear on the first rotating shaft 6 transmits torque force to the second gear through the gear shaft to drive the second gear to rotate in the opposite direction of the first gear, so that the second rotating shaft 7 drives the lower mechanical arm 4 to rotate in the opposite direction of the upper mechanical arm 3, and the mechanical arms can efficiently and accurately stack materials; meanwhile, in the process of stacking the materials by the bale placing mechanism 21, the fixing rod is always kept forbidden because the base 1 is always kept in a horizontal state, and the transition connecting piece 5b is always kept balanced, namely does not deflect no matter how the upper mechanical arm 3 serving as a rocker in the first plane connecting mechanism swings, because the first plane connecting rod assembly and the second plane connecting rod assembly form a parallelogram connecting rod mechanism, so that the third connecting rod is always kept not to deflect no matter how the lower mechanical arm 4 swings, and the bale placing mechanism 21 is always kept in a balanced state to stack the materials.

Therefore, the upper mechanical arm 3 is controlled to move through the first rotating shaft 6, and the second rotating shaft 7 rotates reversely relative to the first rotating shaft 6 through the transmission of the transmission pair, so that the rotating directions of the lower mechanical arm 4 fixed on the second rotating shaft 7 and the upper mechanical arm 3 are opposite, the single motor is used for controlling the mechanical arm to be efficiently and accurately unfolded or folded, the structure is simpler, and the control is easier; and the connecting rod assembly 5 is arranged on the bale placing mechanism 21, so that the bale placing mechanism 21 is always kept in a balanced state in the movement process, and the material stacking efficiency and accuracy are improved.

It is to be understood that the present invention has been described with reference to certain embodiments and that various changes or equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention as defined by the appended claims. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application are intended to be covered by the present invention.

Claims

1. The utility model provides a carloader arm which characterized in that: the bag placing mechanism comprises a base (1) and a mechanical arm, wherein the mechanical arm comprises an upper mechanical arm (3) which is pivotally arranged on the base (1) and a lower mechanical arm (4) which is hinged to the upper mechanical arm (3), the lower mechanical arm (4) is provided with a bag placing mechanism (21) which can pivot relative to the lower mechanical arm (4), and the mechanical arm is hinged with a connecting rod assembly (5) which is used for keeping the bag placing mechanism (21) in a balanced state all the time;

the upper end of the upper mechanical arm (3) is fixedly connected with a driving device (2), a horizontal first rotating shaft (6) is arranged on the upper mechanical arm (3), the lower mechanical arm (4) is hinged to the lower end of the upper mechanical arm (3) through a second rotating shaft (7), and driving wheels fixedly arranged on the first rotating shaft (6) and the second rotating shaft (7) are connected through a transmission pair.

2. The truck loader arm according to claim 1, wherein: the connecting rod assembly (5) comprises a first plane connecting rod assembly arranged between the first rotating shaft (6) and the second rotating shaft (7) and a second plane connecting rod assembly arranged between the second rotating shaft (7) and a third rotating shaft at the tail end of the lower mechanical arm (4), and the angle between adjacent connecting rods of the first plane connecting rod assembly and the second plane connecting rod assembly is fixed; one end of a first connecting rod of the first plane connecting rod component is hinged on the base (1).

3. The truck loader arm according to claim 2, wherein: the base (1) comprises a support for hinging the mechanical arm, the driving device (2) is installed on one side of the support, an output shaft of the driving device (2) is collinear with the first rotating shaft (6), and the support is also provided with a roller for hoisting the mechanical arm on a support of a car loader;

the support comprises vertical plates (23) which are vertically arranged in parallel and a connecting plate (24) fixedly connected with the two vertical plates (23), reinforcing plates (25) which are perpendicular to the connecting plate (24) and connected with the vertical plates (23) are arranged on two sides of the connecting plate (24), and grooves (26) used for containing the connecting rod assemblies (5) are formed in the reinforcing plates (25).

4. The truck loader arm according to claim 3, wherein: the upper mechanical arm (3) comprises a pair of side plates I (11) which are oppositely arranged and have the same structure, the side plates I (11) are connected through a first supporting piece (13) located on one side of the upper mechanical arm (3), a first opening is formed between two ends of the side plates I (11) and the first supporting piece (13), the first opening is used for containing one part of the connecting rod assembly (5) when the mechanical arm is folded, the lower mechanical arm (4) comprises a pair of side plates II (12) which are oppositely arranged, the side plates II (12) are connected through a second supporting piece (14) located on one side of the lower mechanical arm (4), a cavity is formed between two ends of the side plates II (12) and the second supporting piece (14), and the cavity is used for containing one part of the connecting rod assembly (5) when the mechanical arm is folded.

5. The truck loader arm according to claim 4, wherein: the output end of the driving device (2) is fixedly connected to the shell of the upper mechanical arm (3), the upper mechanical arm (3) is rotatably sleeved on the first rotating shaft (6), and the first rotating shaft (6) and the output shaft of the driving device (2) are coaxially arranged;

the second rotating shaft (7) is arranged at the lower end of the upper mechanical arm (3), and the transmission pair is connected between the second rotating shaft (7) and the first rotating shaft (6).

6. The truck loader arm according to claim 5, wherein: the transmission wheels on the first rotating shaft (6) and the second rotating shaft (7) are respectively a first bevel gear (8 a) and a second bevel gear (9 a) which are fixedly arranged on the corresponding rotating shafts, and the transmission pair arranged between the first bevel gear (8 a) and the second bevel gear (9 a) is a transmission rod (10 a) of which two ends are respectively provided with a third bevel gear (11 a).

7. The truck loader arm according to claim 6, wherein: the transmission ratio of the first bevel gear (8 a) to the third bevel gear (11 a) is equal to the transmission ratio of the second bevel gear (9 a) to the third bevel gear (11 a).

8. The truck loader arm according to claim 5, wherein: the transmission wheels on the first rotating shaft (6) and the second rotating shaft (7) are respectively a first transmission wheel (8 b) and a second transmission wheel (9 b) which are fixedly arranged on the corresponding rotating shafts, and a tensioning transmission part is connected between the first transmission wheel (8 b) and the second transmission wheel (9 b); the transmission part is a gear ring, a synchronous belt (10 b) or a chain corresponding to the transmission mode of the first transmission wheel (8 b) and the second transmission wheel (9 b); the transmission element remains stationary relative to the housing of the upper robot arm (3).

9. The truck loader arm according to claim 5, wherein: the first planar connecting rod assembly comprises a first connecting rod (5 a) hinged to the base (1) and parallel to the upper mechanical arm (3) and a first connecting rod hinged to the first connecting rod (5 a); the second plane connecting rod assembly comprises a second connecting rod frame fixedly connected with the second rotating shaft (7), a second connecting rod (5 c) hinged to the second connecting rod frame and parallel to the lower mechanical arm (4), and a third connecting rod frame with one end hinged to the second connecting rod (5 c), and the other end of the third connecting rod frame is hinged to the third rotating shaft.

10. The truck loader arm according to claim 9, wherein: a fixed included angle is formed between the first side link and the second side link, or the first side link and the second side link are superposed, or the first side link and the second side link are parallel.

11. The truck loader arm according to claim 10, wherein: the first side link and the second side link are positioned on a rigid transition connecting piece (5 b), one point on the transition connecting piece (5 b) is hinged at the hinged part of the upper mechanical arm (3) and the lower mechanical arm (4), and the other two points on the transition connecting piece (5 b) are respectively hinged with the first connecting rod (5 a) and the second connecting rod (5 c);

the distance between the hinge points of the first connecting rod (5 a) and the second rotating shaft (7) on the transition connecting piece (5 b) is equal to the distance between the hinge points of the second connecting rod (5 c) and the second rotating shaft (7) on the transition connecting piece (5 b);

the rigid part of the transition connecting piece (5 b) between the hinge point of the first connecting rod (5 a) and the second rotating shaft (7) on the transition connecting piece (5 b) forms the first connecting rod, and the rigid part of the transition connecting piece (5 b) between the hinge point of the second connecting rod (5 c) and the second rotating shaft (7) on the transition connecting piece (5 b) forms the second connecting rod.

12. The truck loader arm according to claim 5, wherein: put a packet mechanism (21) including connecting seat (21 a), connecting seat (21 a) with lower arm (4) are articulated, connecting seat (21 a) below is fixed and is provided with unloading portion (21 b), the one end fixed connection of link assembly (5) is in on connecting seat (21 a).