CN111847285A - Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot - Google Patents
Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot Download PDFInfo
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- CN111847285A CN111847285A CN202010810843.3A CN202010810843A CN111847285A CN 111847285 A CN111847285 A CN 111847285A CN 202010810843 A CN202010810843 A CN 202010810843A CN 111847285 A CN111847285 A CN 111847285A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
- B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses a stable adjusting mechanism suitable for a flexible cable parallel hoisting robot. The upper end of the wheel is hinged with the cylinder body of the hydraulic oil cylinder, and the lower end of the wheel is matched with the arc-shaped guide rail and can move along the guide rail. The push rod of the lifting hydraulic oil cylinder is hinged with two ends of a universal joint, and the upper end of the universal joint is fixed on a lifting arm of the lifting robot. Two ends of the electric cylinder are respectively hinged with the cylinder bodies of the hydraulic oil cylinders, the supporting angle between the hydraulic oil cylinders can be adjusted by adjusting the telescopic amount of the electric cylinder, and the electric cylinder is self-locked by a speed reducer on the electric cylinder, so that the effect of stable supporting is realized; the invention can enhance the stability of the flexible cable parallel hoisting robot in working and can change different working condition modes according to different task requirements of the hoisting robot such as hoisting, rotation, variable amplitude movement and the like.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to a stability adjusting mechanism suitable for a flexible cable parallel hoisting robot.
Background
The crane is a multi-action hoisting machine for vertically lifting and horizontally carrying heavy objects within a certain range, is also called a crane, and belongs to material carrying machinery.
In recent years, the world economy is rapidly increased, the quantity of engineering around the world is continuously increased, and the project mission days
The difficulty is increasing, the carried materials tend to be heavy and large, the working environment and the working task of the crane are increasingly complex, and therefore, higher requirements on the stability of the crane during working are provided in the times.
At present, some patents are directed to devices designed to enhance the stability of the crane during operation, and these devices are mostly associated with the supporting part of the crane. Patent application No. CN201520259380.0 discloses a column reinforcement device for a jib crane, which has a simple structure and can provide strong supporting force. Patent application number "cn201820357210. x" designs a fixing frame for enhancing the stability of a crane during operation. The working principle of the above patent is to increase the supporting area of the crane and the ground to enhance the stability of the crane.
Disclosure of Invention
The invention designs a stable adjusting mechanism connected with a crane jib, which is different from the prior device for improving the stability of a crane by increasing the supporting area with the ground, and designs an auxiliary support for the jib of a crane robot. The invention can change different working condition modes according to different task requirements of the hoisting robot such as hoisting, rotation, variable amplitude movement and the like.
The invention is realized by the following technical scheme:
a stable regulating mechanism suitable for a flexible cable parallel hoisting robot is provided, wherein an auxiliary supporting mechanism is arranged on a suspension arm of the hoisting robot.
When the lifting robot lifts and places to move, the telescopic electric cylinder and the hydraulic oil cylinder of the auxiliary supporting mechanism are locked, and the auxiliary supporting mechanism provides supporting force for the lifting arm to play a stabilizing role.
When the heavy robot rotates, the speed reducer of the telescopic electric cylinder is unlocked, the wheels move along the guide rail along with the suspension arm, and meanwhile, the electric cylinder stretches. When the suspension arm rotates to a designated position, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic oil cylinders and the oil cylinder expansion amount are unchanged.
When heavy robot becomes the amplitude of motion, the reduction gear unblock of flexible electronic jar, the flexible volume of 2 jack-up pneumatic cylinders changes, and electronic jar is flexible simultaneously, and the support angle changes, and the wheel moves along the guide rail. When the suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic oil cylinders and the oil cylinder expansion amount are unchanged.
Further, a guide rail 7 is provided on the foundation of the hoisting robot. The guide rail 7 is a circular arc or a closed loop. The closed loop is an elliptical ring or a circular ring.
Wheels, a lifting hydraulic oil cylinder and a universal joint are arranged on the lifting robot. Wherein:
the wheels are engaged with the guide rails and move upward.
The upper ends of the wheels are hinged with the cylinder body of the lifting hydraulic oil cylinder.
The upper end of the universal joint is connected with the crane boom, and the lower end of the universal joint is hinged with a push rod of a lifting hydraulic oil cylinder so as to transfer force and motion between the crane and the stable adjusting mechanism.
Further, the number of the guide rails 7 is 2, and these are referred to as an inner side rail and an outer side rail in this order. A wheel is arranged on each of the inner side rail and the outer side rail. Each wheel is provided with a lifting hydraulic oil cylinder. The push rod of each lifting hydraulic oil cylinder is connected with the crane jib through a universal joint.
Further, the number of the guide rails 7 is 2, and these are referred to as an inner side rail and an outer side rail in this order. The wheels on the inner side rail and the outer side rail are arranged in one of the following modes:
a. and 1 wheel is arranged on the inner side rail, and 2 wheels are arranged on the outer side rail.
b. The inner side rail is provided with 2 wheels, and the outer side rail is provided with 1 wheel.
Each wheel is provided with a lifting hydraulic oil cylinder.
When there are 2 wheels on the inboard rail and 1 wheel on the outboard rail: the push rods of 2 hoisting hydraulic oil cylinders positioned on the inner side rail are connected with the crane jib through a duplex universal joint. The push rod of the lifting hydraulic oil cylinder positioned on the outer side rail is movably connected with the cross rod or the universal joint.
When there are 2 wheels on the outside rail and 1 wheel on the inside side rail: the push rods of 2 hoisting hydraulic oil cylinders positioned on the outer side rail are connected with the crane jib through a duplex universal joint. The push rod of the lifting hydraulic oil cylinder positioned on the inner side rail is movably connected with the cross rod or the universal joint.
Further, the number of the guide rails 7 is 1. 2 wheels are arranged on the guide rail 7. Each wheel is provided with a lifting hydraulic oil cylinder. The universal joint is a duplex universal joint. The horizontal pole is flexible electronic jar.
Furthermore, 2 wheels are arranged, 1 pair of lifting hydraulic oil cylinders are arranged, and 1 universal joint is arranged.
Each wheel is engaged with the rail and moves upward.
The upper end of each wheel is hinged with a cylinder body of a lifting hydraulic oil cylinder.
The push rods of the lifting hydraulic oil cylinders are hinged with the lower ends of the upper ends of the duplex universal joints, and the upper ends of the duplex universal joints are connected with a crane boom so as to transfer force and motion between the crane and the stabilizing and adjusting mechanism.
Furthermore, the cross rod is a telescopic electric cylinder. Namely, a telescopic electric cylinder is arranged between the lifting hydraulic cylinders.
Furthermore, a telescopic electric cylinder is arranged. Two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two hoisting hydraulic cylinders. The included angle between the pair of lifting hydraulic oil cylinders is called as a support angle of the stable adjusting mechanism, the variation range of the support angle is 20-50 degrees, the distance from the top end of a push rod of the hydraulic oil cylinder to the bottom of the cylinder body becomes the expansion amount of the stable adjusting mechanism, and the variation range of the expansion amount is 3.5-5 m.
Furthermore, the wheel consists of a guide wheel, a slide block, an oil cylinder support, a fixing bolt and a thrust bearing. The guide wheel shaft is fixed on the sliding block, and the outer edge of the guide wheel shaft is in tangential contact with the arc guide rail and used for guiding the moving direction of the wheel. The sliding block is hinged with the oil cylinder support through a fixing bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with a cylinder body of the lifting hydraulic oil cylinder.
The adjusting method of the stable adjusting mechanism comprises the following steps: and the drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with a computer. And the running state of the stable adjusting mechanism is known by reading the reading of the encoder. When the lifting hydraulic cylinder is a single-rail double-wheel or double-rail double-wheel condition, the two wheels and the corresponding lifting hydraulic cylinders are distinguished by A and B.
a. When the hoisting robot is in lifting/placing, the following steps are carried out:
the reducer of the telescopic electric cylinder 3 is self-locked, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged. The hoisting motor drives the rope to ascend/descend to complete the hoisting/placing movement of the hoisting robot.
b. When the hoisting robot rotates, the following steps are carried out:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The boom rotates, the wheel A1 and the wheel B6 move along the guide rail 7 along with the boom, and the electric cylinder 3 extends and contracts simultaneously. Preferably, the expansion range of the electric cylinder is 1-1.6 m.
3. The suspension arm rotates to a designated position, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1 and the wheel B6 stop moving, and the supporting angle between the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 and the telescopic amount of the oil cylinders are unchanged.
c. When the robot moves in a variable amplitude manner, the method comprises the following steps:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The telescopic amount of the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 is changed, the change range of the telescopic amount is 3.5m-5m, simultaneously the electric cylinder 3 is stretched, the stretching range of the electric cylinder is 1-1.6m, the supporting angle is changed, the change range of the supporting angle is 20 degrees-50 degrees, and the wheel A1 and the wheel B6 move along the circular arc or the circular guide rail 7.
3. When the suspension arm is lifted to a designated height, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1 and the wheel B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged.
The preferable scheme of the invention is as follows:
the utility model provides a stable adjustment mechanism suitable for flexible cable parallel hoisting robot, includes 2 wheels, 1 pair jack-up hydraulic cylinder, flexible electronic jar, duplex universal joint and circular arc guide rail, wheel and circular arc guide rail cooperation and on the track motion, the upper end of wheel is articulated with jack-up hydraulic cylinder's cylinder body. The upper end of the duplex universal joint is connected with a crane boom, and the lower end of the duplex universal joint is hinged with a push rod of a lifting hydraulic oil cylinder so as to transfer force and motion between the crane and the stable adjusting mechanism. Two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two hoisting hydraulic cylinders. The included angle between the pair of lifting hydraulic oil cylinders is called as a support angle of the stable adjusting mechanism, and the distance from the top end of the push rod of the hydraulic oil cylinder to the bottom of the cylinder body becomes the telescopic amount of the stable adjusting mechanism.
The wheel comprises 4 leading wheels, a slide block, an oil cylinder support, a fixing bolt and a thrust bearing. The guide wheel shaft is fixed on the sliding block, and the outer edge of the guide wheel shaft is in tangential contact with the arc guide rail and used for guiding the moving direction of the wheel. The sliding block is hinged with the oil cylinder support through a fixing bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with a cylinder body of the lifting hydraulic oil cylinder.
The duplex universal joint consists of a hinge joint and two fixed joints. Two ends of the hinge joint are respectively hinged with the two hoisting hydraulic oil cylinders, the outer sides of the two ends are hinged with the two fixed joints, and the two fixed joints are connected to the crane boom.
The electric cylinder mainly comprises a motor, a speed reducer, a cylinder body and a push rod. The motor rotates to adjust the extension amount of the push rod, and the speed reducer has a self-locking function. The cylinder body and the push rod of the electric cylinder are respectively hinged with the cylinder bodies of the two hoisting hydraulic cylinders.
The regulation method for the aforementioned preferred embodiment is as follows:
before the hoist and mount operation of robot, electronic jar concertina movement corresponds jack-up hydraulic cylinder concertina movement to the support angle between the corresponding hydraulic cylinder of regulation through the reduction gear auto-lock, plays the effect of stable stay.
According to different task requirements of hoisting, rotating, amplitude-variable movement and the like of the hoisting robot, the working condition modes of the stable adjusting mechanism are as follows:
the robot rotating motion comprises the following steps:
1. and unlocking a speed reducer of the telescopic electric cylinder.
2. The suspension arm rotates, the wheels move along the guide rail along with the suspension arm, and meanwhile, the electric cylinder stretches. In the process, if the suspension arm moves from the center of the guide rail to two ends, the electric cylinder is shortened. If the suspension arm moves from two ends of the guide rail to the center, the electric cylinder extends.
3. The suspension arm rotates to a designated position, the electric cylinder reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the telescopic amount of the cylinders are unchanged.
Secondly, the robot performs amplitude variation motion, and the method comprises the following steps:
1. and unlocking a speed reducer of the telescopic electric cylinder.
The flexible volume of 2.2 jack-up pneumatic cylinders changes, and electronic jar is flexible simultaneously, and support angle changes, and the wheel removes along the guide rail.
3. The suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic oil cylinders and the oil cylinder expansion amount are unchanged.
Compared with the prior art, the invention has the advantages that:
1. the invention is used for enhancing the stability of the hoisting robot, improving the bearing capacity during hoisting movement and preventing the hoisting robot from side turning.
2. The stability adjusting mechanism provided by the invention has multiple degrees of freedom, can meet the requirements of different tasks such as lifting, rotation and variable amplitude movement of the lifting robot, and can play a role in enhancing the stability in the process of executing different tasks.
3. According to the stable adjusting mechanism provided by the invention, the circle center of the arc guide rail is not coincident with the rotation center of the suspension arm, and the telescopic electric cylinder has a self-locking function. The whole mechanism can be fixed by self-locking the electric cylinder, so that the safety of hoisting movement is enhanced.
4. The stability adjusting mechanism provided by the invention can adopt a double-track double-wheel structure and a double-track three-wheel structure, and the stability of hoisting motion and rotating motion is respectively improved.
Drawings
FIG. 1 is a block diagram of a single-track dual wheel of the present invention.
Fig. 2 is a cross-sectional view of the structure of the wheel of fig. 1.
Fig. 3 is a structural view of the double joint of fig. 1.
FIG. 4 is a schematic diagram of the conditioning method of the present invention.
Fig. 5 is a schematic diagram of the present invention using two-track dual wheels (inner one and outer one).
FIG. 6 is a schematic view of the present invention using a dual track three wheel (inner one and outer two).
Fig. 7 is another structural schematic diagram of the present invention using a dual-track three-wheel (one inside and one outside).
The reference numbers in the figures are: 1-wheel a; 2-lifting hydraulic oil cylinder A; 3-telescopic electric cylinder; 4-a double universal joint; 5-lifting hydraulic oil cylinder B; 6-wheel B; 7-arc guide rail; 8-vehicle wheels; c9-lifting hydraulic cylinder C; 101-a guide wheel; 102-a slide block; 103-oil cylinder support; 104-a fixing bolt; 105-a thrust bearing; 401-fixed knot; 402-a hinge joint; 8-wheel C; 9-lifting hydraulic oil cylinder C.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, 5, 6 and 7, a stabilizing and adjusting mechanism for a flexible cable parallel hoisting robot is provided, in which an auxiliary supporting mechanism is arranged on a boom of the hoisting robot.
When the lifting robot lifts and places to move, the telescopic electric cylinder and the hydraulic oil cylinder of the auxiliary supporting mechanism are locked, and the auxiliary supporting mechanism provides supporting force for the lifting arm to play a stabilizing role.
When the heavy robot rotates, the speed reducer of the telescopic electric cylinder is unlocked, the wheels move along the guide rail along with the suspension arm, and meanwhile, the electric cylinder stretches. When the suspension arm rotates to a designated position, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic oil cylinders and the oil cylinder expansion amount are unchanged.
When heavy robot becomes the amplitude of motion, the reduction gear unblock of flexible electronic jar, the flexible volume of 2 jack-up pneumatic cylinders changes, and electronic jar is flexible simultaneously, and the support angle changes, and the wheel moves along the guide rail. When the suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic oil cylinders and the oil cylinder expansion amount are unchanged.
Further, a guide rail 7 is provided on the foundation of the hoisting robot. The guide rail 7 is a circular arc or a closed loop. The closed loop is an elliptical ring or a circular ring.
Wheels, a lifting hydraulic oil cylinder and a universal joint are arranged on the lifting robot. Wherein:
the wheels are engaged with the guide rails and move upward.
The upper ends of the wheels are hinged with the cylinder body of the lifting hydraulic oil cylinder.
The upper end of the universal joint is connected with the crane boom, and the lower end of the universal joint is hinged with a push rod of a lifting hydraulic oil cylinder so as to transfer force and motion between the crane and the stable adjusting mechanism.
Referring to fig. 5, 6 and 7, further, the number of the guide rails 7 is 2, which are referred to as an inner side rail and an outer side rail in this order. A wheel is arranged on each of the inner side rail and the outer side rail. Each wheel is provided with a lifting hydraulic oil cylinder. The push rod of each lifting hydraulic oil cylinder is connected with the crane jib through a universal joint.
Referring to fig. 6 and 7, further, the number of the guide rails 7 is 2, which are referred to as an inner side rail and an outer side rail in this order. The wheels on the inner side rail and the outer side rail are arranged in one of the following modes:
a. there are 1 wheel on the inside rail and 2 wheels on the outside rail as shown in fig. 6.
b. There are 2 wheels on the inside rail and 1 wheel on the outside rail, as shown in fig. 7.
Each wheel is provided with a lifting hydraulic oil cylinder.
When there are 2 wheels on the inboard rail and 1 wheel on the outboard rail: the push rods of 2 hoisting hydraulic oil cylinders positioned on the inner side rail are connected with the crane jib through a duplex universal joint. The push rod of the lifting hydraulic oil cylinder positioned on the outer side rail is movably connected with the cross rod or the universal joint.
When there are 2 wheels on the outside rail and 1 wheel on the inside side rail: the push rods of 2 hoisting hydraulic oil cylinders positioned on the outer side rail are connected with the crane jib through a duplex universal joint. The push rod of the lifting hydraulic oil cylinder positioned on the inner side rail is movably connected with the cross rod or the universal joint.
Referring to fig. 1, further, the number of the guide rails 7 is 1. 2 wheels are arranged on the guide rail 7. Each wheel is provided with a lifting hydraulic oil cylinder. The universal joint is a duplex universal joint. The horizontal pole is flexible electronic jar.
Furthermore, 2 wheels are arranged, 1 pair of lifting hydraulic oil cylinders are arranged, and 1 universal joint is arranged.
Each wheel is engaged with the rail and moves upward.
The upper end of each wheel is hinged with a cylinder body of a lifting hydraulic oil cylinder.
The push rods of the lifting hydraulic oil cylinders are hinged with the lower ends of the upper ends of the duplex universal joints, and the upper ends of the duplex universal joints are connected with a crane boom so as to transfer force and motion between the crane and the stabilizing and adjusting mechanism.
Furthermore, the cross rod is a telescopic electric cylinder. Namely, a telescopic electric cylinder is arranged between the lifting hydraulic cylinders.
Furthermore, a telescopic electric cylinder is arranged. Two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two hoisting hydraulic cylinders. The included angle between the pair of lifting hydraulic oil cylinders is called as a support angle of the stable adjusting mechanism, the variation range of the support angle is 20-50 degrees, the distance from the top end of a push rod of the hydraulic oil cylinder to the bottom of the cylinder body becomes the expansion amount of the stable adjusting mechanism, and the variation range of the expansion amount is 3.5-5 m.
Furthermore, the wheel consists of a guide wheel, a slide block, an oil cylinder support, a fixing bolt and a thrust bearing. The guide wheel shaft is fixed on the sliding block, and the outer edge of the guide wheel shaft is in tangential contact with the arc guide rail and used for guiding the moving direction of the wheel. The sliding block is hinged with the oil cylinder support through a fixing bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with a cylinder body of the lifting hydraulic oil cylinder.
Referring to fig. 1 and 5, the adjusting method of the stabilizing and adjusting mechanism is performed as follows: and the drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with a computer. And the running state of the stable adjusting mechanism is known by reading the reading of the encoder. When the lifting hydraulic cylinder is a single-rail double-wheel or double-rail double-wheel condition, the two wheels and the corresponding lifting hydraulic cylinders are distinguished by A and B.
a. When the hoisting robot is in lifting/placing, the following steps are carried out:
the reducer of the telescopic electric cylinder 3 is self-locked, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged. The hoisting motor drives the rope to ascend/descend to complete the hoisting/placing movement of the hoisting robot.
b. When the hoisting robot rotates, the following steps are carried out:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The suspension arm rotates, the wheel A1 and the wheel B6 move along the guide rail 7 along with the suspension arm, and meanwhile, the electric cylinder 3 extends and retracts, wherein the extension range of the electric cylinder is 1-1.6 m.
3. The suspension arm rotates to a designated position, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1 and the wheel B6 stop moving, and the supporting angle between the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 and the telescopic amount of the oil cylinders are unchanged.
c. When the robot moves in a variable amplitude manner, the method comprises the following steps:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The telescopic amount of the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 is changed, the change range of the telescopic amount is 3.5m-5m, simultaneously the electric cylinder 3 is stretched, the stretching range of the electric cylinder is 1-1.6m, the supporting angle is changed, the change range of the supporting angle is 20 degrees-50 degrees, and the wheel A1 and the wheel B6 move along the circular arc or the circular guide rail 7.
3. When the suspension arm is lifted to a designated height, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1 and the wheel B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged.
The double universal joint consists of a hinge joint and two fixed joints. The hinge joint is hinged with the lifting hydraulic oil cylinder, the outer sides of the two ends of the hinge joint are hinged with the two fixed joints, and the hinge joint is connected to the crane boom through the fixed joints.
The electric cylinder comprises a motor, a speed reducer, a cylinder body, a push rod and the like. The elongation of the push rod is adjusted through the rotation of the motor, and the speed reducer has a self-locking function. The cylinder body and the push rod of the electric cylinder are respectively hinged with the cylinder bodies of the adjacent lifting hydraulic cylinders.
Referring to fig. 6 and 7, when three wheels are used, the control method is as follows:
the three wheels, and the corresponding lifting hydraulic rams, are all distinguished by A, B and C. And the drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with a computer. And the running state of the stable adjusting mechanism is known by reading the reading of the encoder. The following control is carried out by a computer:
a. when the hoisting robot is in lifting/placing, the following steps are carried out:
the reducer of the telescopic electric cylinder 3 is self-locked, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged. The hoisting motor drives the rope to ascend/descend to complete the hoisting/placing movement of the hoisting robot.
b. When the hoisting robot rotates, the following steps are carried out:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The suspension arm rotates, the wheel A1, the wheel B6 and the wheel C8 move along the guide rail 7 along with the suspension arm, and meanwhile, the electric cylinder 3 stretches and retracts, and the stretching range of the electric cylinder is 1-1.6 m.
3. The suspension arm rotates to a designated position, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1, the wheel B6 and the wheel C8 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged. Lift hydraulic cylinder C9 adjusts its own support angle and cylinder extension and retraction as lift hydraulic cylinder a2 and lift hydraulic cylinder B5 change.
c. The variable amplitude motion of the robot is adjusted according to the following steps:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The telescopic amount of the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 is changed, the change range of the telescopic amount is 3.5m-5m, the electric cylinder 3 is simultaneously telescopic, the telescopic range of the electric cylinder is 1-1.6m, the supporting angle is changed, the change range of the supporting angle is 20 degrees-50 degrees, and the wheel A1, the wheel B6 and the wheel C8 move along the guide rail 7.
3. The lifting arm is lifted to a designated height, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1, the wheel B6 and the wheel C8 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged. Lifting hydraulic cylinder C9 also does not change accordingly.
Further elaboration on the preferred embodiment is as follows:
as shown in fig. 1, a stability adjusting mechanism suitable for a flexible cable parallel hoisting robot comprises wheels a 1. Lifting hydraulic ram a 2. And a telescopic electric cylinder 3. A double universal joint 4. Lifting hydraulic cylinder B5. Wheel B6. A circular arc guide rail 7. Wherein:
the wheel A1 and the wheel B6 move on the circular arc guide rail 7 to adjust the space state of the stability adjusting mechanism so as to meet the requirements of different working modes of the hoisting robot. The upper ends of the wheel A1 and the wheel B6 are respectively hinged with the cylinder bodies of the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 and bear the supporting force of the hydraulic oil cylinders.
The upper end of the duplex universal joint 4 is connected to the suspension arm, and the two sides of the lower end are respectively hinged with the push rods of the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5.
The push rod of the telescopic electric cylinder 3 is hinged with the cylinder body of the lifting hydraulic oil cylinder A2, and the cylinder body of the telescopic electric cylinder 3 is hinged with the cylinder body of the lifting hydraulic oil cylinder B5.
As shown in fig. 2, the wheel is composed of a guide wheel 101, a slider 102, a cylinder support 103, a fixing bolt 104, and a thrust bearing 105. The wheel axle of the guide wheel 101 is fixed on the slide block 102, and the outer edge of the guide wheel is in tangential contact with the arc guide rail 7 and is used for guiding the moving direction of the wheel. The slide block 102 and the cylinder support 103 are hinged through a fixing bolt and a 104 thrust bearing 105, and the upper end of the cylinder support 103 is hinged with the cylinder body of the lifting hydraulic cylinder.
As shown in fig. 3, the double universal joint is composed of a fixed joint 401 and a hinge joint 402. The two ends of the hinge joint 402 are respectively hinged with two lifting hydraulic oil cylinders, the outer sides of the two ends are hinged with two fixed joints 401, and the two fixed joints 401 are connected to the crane boom.
As shown in fig. 4, the adjustment of the stability adjustment mechanism for the flexible cable parallel hoisting robot according to the present invention includes two variables, an included angle between the hoisting hydraulic cylinder a2 and the hoisting hydraulic cylinder B5 is referred to as a support angle of the stability adjustment mechanism, and a distance from a top end of a push rod of the hoisting hydraulic cylinder to a bottom of a cylinder body is referred to as a telescopic amount of the stability adjustment mechanism.
Different tasks such as lifting, turning and variable amplitude movement of the lifting robot are combined for description, and the working condition modes of the stable adjusting mechanism are as follows:
the robot rotating motion comprises the following steps:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The boom rotates, the wheel A1 and the wheel B6 move along the guide rail 7 along with the boom, and the electric cylinder 3 extends and contracts simultaneously.
3. The suspension arm rotates to a designated position, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1 and the wheel B6 stop moving, and the supporting angle between the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 and the telescopic amount of the oil cylinders are unchanged.
Secondly, the robot performs amplitude variation motion, and the method comprises the following steps:
1. the reducer of the telescopic electric cylinder 3 is unlocked.
2. The expansion and contraction amounts of the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 are changed, simultaneously the electric cylinder 3 expands and contracts, the supporting angle is changed, and the wheel A1 and the wheel B6 move along the arc guide rail 7.
3. When the suspension arm is lifted to a designated height, the speed reducer of the electric cylinder 3 is self-locked, the wheel A1 and the wheel B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinders are unchanged.
The invention discloses a stable adjusting mechanism suitable for a flexible cable parallel hoisting robot. The upper end of the wheel is hinged with the cylinder body of the hydraulic oil cylinder, and the lower end of the wheel is matched with the arc-shaped guide rail and can move along the guide rail. The push rod of the lifting hydraulic oil cylinder is hinged with two ends of a universal joint, and the upper end of the universal joint is fixed on a lifting arm of the lifting robot. Two ends of the electric cylinder are respectively hinged with the cylinder bodies of the hydraulic oil cylinders, the supporting angle between the hydraulic oil cylinders can be adjusted by adjusting the telescopic amount of the electric cylinder, and the electric cylinder is self-locked by a speed reducer on the electric cylinder, so that the effect of stable supporting is realized; the invention can enhance the stability of the flexible cable parallel hoisting robot in working and can change different working condition modes according to different task requirements of the hoisting robot such as hoisting, rotation, variable amplitude movement and the like.
Claims (10)
1. The utility model provides a stable adjustment mechanism suitable for parallel hoisting robot of flexible cable which characterized in that: an auxiliary supporting mechanism is arranged on a suspension arm of the hoisting robot;
when the lifting robot is lifted and placed to move, a telescopic electric cylinder and a hydraulic oil cylinder of the auxiliary supporting mechanism are locked, and the auxiliary supporting mechanism provides supporting force for the lifting arm to play a role in stabilization;
when the heavy robot rotates, a speed reducer of the telescopic electric cylinder is unlocked, wheels move along the guide rail along with the suspension arm, and the electric cylinder is telescopic at the same time;
when the suspension arm rotates to a specified position, the electric cylinder reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the telescopic amount of the cylinders are unchanged;
when the heavy robot performs amplitude motion, the speed reducer of the telescopic electric cylinder is unlocked, the telescopic amount of the 2 hoisting hydraulic cylinders is changed, meanwhile, the electric cylinder is telescopic, the supporting angle is changed, and the wheels move along the guide rail;
when the suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic oil cylinders and the oil cylinder expansion amount are unchanged.
2. The stable adjusting mechanism for the flexible cable parallel hoisting robot of claim 1, wherein the hoisting robot comprises a boom; the method is characterized in that: a guide rail (7) is arranged on the foundation of the hoisting robot; the guide rail (7) is a circular arc or a closed loop; the closed loop is an elliptical ring or a circular ring;
wheels, a hoisting hydraulic oil cylinder and a universal joint are arranged on the hoisting robot; wherein:
the wheels are matched with the guide rails and move upwards;
the upper ends of the wheels are hinged with a cylinder body of the lifting hydraulic cylinder;
the upper end of the universal joint is connected with the crane boom, and the lower end of the universal joint is hinged with a push rod of a lifting hydraulic oil cylinder so as to transfer force and motion between the crane and the stable adjusting mechanism.
3. The stability adjusting mechanism for the flexible cable parallel hoisting robot according to claim 2, wherein: the number of the guide rails (7) is 2, and the guide rails are sequentially called as an inner side rail and an outer side rail; a wheel is arranged on each of the inner side rail and the outer side rail; each wheel is provided with a lifting hydraulic oil cylinder; the push rod of each lifting hydraulic oil cylinder is connected with the crane jib through a universal joint.
4. The stability adjusting mechanism for the flexible cable parallel hoisting robot according to claim 2, wherein: the number of the guide rails (7) is 2, and the guide rails are sequentially called as an inner side rail and an outer side rail; the wheels on the inner side rail and the outer side rail are arranged in one of the following modes:
a. 1 wheel is arranged on the inside side rail, and 2 wheels are arranged on the outside side rail;
b. 2 wheels are arranged on the inside side rail, and 1 wheel is arranged on the outside side rail;
each wheel is provided with a lifting hydraulic oil cylinder;
when there are 2 wheels on the inboard rail and 1 wheel on the outboard rail: the push rods of 2 hoisting hydraulic oil cylinders positioned on the inner side rail are connected with the crane jib through a duplex universal joint; a push rod of a hoisting hydraulic oil cylinder positioned on the outer side rail is movably connected with a cross rod or a universal joint;
when there are 2 wheels on the outside rail and 1 wheel on the inside side rail: the push rods of 2 hoisting hydraulic oil cylinders positioned on the outer side rail are connected with the crane jib through a duplex universal joint; the push rod of the lifting hydraulic oil cylinder positioned on the inner side rail is movably connected with the cross rod or the universal joint.
5. The stability adjusting mechanism for the flexible cable parallel hoisting robot according to claim 2, wherein: the number of the guide rails (7) is 1; 2 wheels are arranged on the guide rail (7); each wheel is provided with a lifting hydraulic oil cylinder.
6. The stability adjusting mechanism for the flexible cable parallel hoisting robot according to claim 2 or 5, wherein: 2 wheels are arranged, 1 pair of lifting hydraulic oil cylinders are arranged, and 1 universal joint is arranged;
each wheel is matched with the guide rail and moves upwards;
the upper end of each wheel is hinged with a cylinder body of a lifting hydraulic oil cylinder;
the push rods of the lifting hydraulic oil cylinders are hinged with the lower ends of the upper ends of the duplex universal joints, and the upper ends of the duplex universal joints are connected with a crane boom so as to transfer force and motion between the crane and the stabilizing and adjusting mechanism.
7. The stability adjusting mechanism for the flexible cable parallel hoisting robot according to claim 2 or 4, wherein: the cross rod is a telescopic electric cylinder; namely, a telescopic electric cylinder is arranged between the lifting hydraulic cylinders.
8. The stability adjusting mechanism for the flexible cable parallel hoisting robot of claim 6, wherein: a telescopic electric cylinder is arranged; two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two hoisting hydraulic cylinders; the included angle between the pair of lifting hydraulic oil cylinders is called as a support angle of the stable adjusting mechanism, the variation range of the support angle is 20-50 degrees, the distance from the top end of a push rod of the hydraulic oil cylinder to the bottom of the cylinder body becomes the expansion amount of the stable adjusting mechanism, and the variation range of the expansion amount is 3.5-5 m.
9. The stability adjusting mechanism for the flexible cable parallel hoisting robot according to claim 2, wherein: the wheel consists of a guide wheel, a slide block, an oil cylinder support, a fixing bolt and a thrust bearing; the guide wheel shaft is fixed on the sliding block, and the outer edge of the guide wheel shaft is in tangential contact with the arc guide rail and is used for guiding the movement direction of the wheel; the sliding block is hinged with the oil cylinder support through a fixing bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with a cylinder body of the lifting hydraulic oil cylinder.
10. The method of adjusting any stability adjustment mechanism of claims 1-9, wherein: the method comprises the following steps:
a) when the hoisting robot is in lifting/placing, the following steps are carried out:
the reducer of the telescopic electric cylinder (3) is self-locked, and the supporting angle between the hoisting hydraulic oil cylinder A (2) and the hoisting hydraulic oil cylinder B (5) and the oil cylinder telescopic amount are unchanged;
the hoisting motor drives the rope to ascend/descend to complete the hoisting/placing movement of the hoisting robot;
b) when the hoisting robot rotates, the following steps are carried out:
1) unlocking the reducer of the telescopic electric cylinder 3;
2) the suspension arm rotates, the wheel A (1) and the wheel B (6) move along the guide rail (7) along with the suspension arm, and the electric cylinder (3) stretches and retracts;
3) the suspension arm rotates to a designated position, the speed reducer of the electric cylinder (3) is self-locked, the wheel A (1) and the wheel B (6) stop moving, and the supporting angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the telescopic amount of the cylinders are unchanged;
c) when the robot moves in a variable amplitude manner, the method comprises the following steps:
1) unlocking a speed reducer of the telescopic electric cylinder (3);
2) the telescopic amount of the lifting hydraulic oil cylinder A (2) and the lifting hydraulic oil cylinder B (5) is changed, the change range of the telescopic amount is 3.5m-5m, the electric cylinder (3) is simultaneously telescopic, the telescopic range of the electric cylinder is 1-1.6m, the supporting angle is changed, the change range of the supporting angle is 20 degrees-50 degrees, and the wheel A1 and the wheel B6 move along an arc or a circular guide rail (7);
3) the lifting arm is lifted to a designated height, the speed reducer of the electric cylinder (3) is self-locked, the wheel A (1) and the wheel B (6) stop moving, and the supporting angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the telescopic amount of the cylinders are unchanged.
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| CN202310353050.7A CN116462109A (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method for flexible cable parallel hoisting robot |
| CN202010810843.3A CN111847285B (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112405502A (en) * | 2020-11-20 | 2021-02-26 | 哈尔滨工业大学（深圳） | Movable anchor point seat type rope-driven parallel robot |
| CN113879993A (en) * | 2021-09-14 | 2022-01-04 | 合肥工业大学 | Flexible cable parallel stabilizing mechanism for preventing automobile crane from side turning and adjusting method |
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Also Published As
| Publication number | Publication date |
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| CN116462109A (en) | 2023-07-21 |
| CN111847285B (en) | 2023-06-02 |
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