CN112174039B - Underground intelligent installation carrier based on parallel mechanism and carrying method - Google Patents
Underground intelligent installation carrier based on parallel mechanism and carrying method Download PDFInfo
- Publication number
- CN112174039B CN112174039B CN202010972429.2A CN202010972429A CN112174039B CN 112174039 B CN112174039 B CN 112174039B CN 202010972429 A CN202010972429 A CN 202010972429A CN 112174039 B CN112174039 B CN 112174039B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- steering
- cylinder
- oil cylinder
- installation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
- B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
Abstract
The invention discloses an underground intelligent carrier installation and carrying method based on a parallel mechanism. The working personnel can be far away from the mechanical construction area to install and carry corresponding underground equipment, so that the working safety of the working personnel is improved, the working difficulty of the underground construction personnel is reduced, meanwhile, the main steering hydraulic oil cylinder and the auxiliary steering hydraulic oil cylinder form a parallel system, the driving torque during working can be improved, and the operation precision of the system is improved together with a corresponding internal closed-loop control system.
Description
Technical Field
The invention relates to the field of coal mine machinery, in particular to an underground intelligent carrier and a carrying method based on a parallel mechanism.
Background
At present, the installation of equipment in the pit is mainly based on artifical field operation with the transport machinery, and working strength is high, and degree of danger is high, and operational environment is poor. Along with the construction of intelligent mines, mining is unmanned, and intelligence becomes the main development target of coal mine industry at present. For better promoting the construction of intelligent mines, a mechanical device capable of being automatically installed and carried is needed to solve the problems of remote installation and intelligent installation of underground equipment.
Disclosure of Invention
The invention mainly provides an underground intelligent installation carrier based on a parallel mechanism and a carrying method, which are used for solving the technical problems in the background technology.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an underground intelligent installation carrier based on a parallel mechanism comprises a carrier body, wherein a mechanical arm carrying device and a bottom supporting structure used for providing an oil source, moving and steering for the mechanical arm carrying device are arranged on the carrier body, the bottom supporting structure comprises a chassis, wheels, a turntable and a hydraulic oil tank, the wheels are arranged at the bottom of the chassis, the hydraulic oil tank is arranged on the turntable, the turntable is arranged on the chassis, the mechanical arm carrying device comprises an operation mechanical arm, a mechanical arm steering mechanism and a mechanical arm lifting mechanism, one end of the mechanical arm lifting mechanism is connected with the hydraulic oil tank, the other end of the mechanical arm lifting mechanism is connected with the turntable, the mechanical arm steering mechanism is installed on the mechanical arm lifting mechanism, one end of the operation mechanical arm is connected with the mechanical arm lifting mechanism, and the operation mechanical arm is fixed through the mechanical arm steering mechanism.
Further, arm lifting mechanism includes main steering cylinder supporting box, supplementary steering cylinder supporting box and lifting hydro-cylinder, the lifting hydro-cylinder is equipped with two, the symmetrical arrangement, two tip of main steering cylinder supporting box respectively with two the lifting hydro-cylinder is articulated, two the other end of lifting hydro-cylinder with the carousel is articulated, supplementary steering cylinder supporting box through support the hinge with hydraulic tank connects.
Furthermore, the mechanical arm steering mechanism comprises two steering fixed hinges, a main steering hydraulic oil cylinder, two auxiliary steering oil cylinders and a cylinder body supporting connecting sleeve, wherein the two main steering hydraulic oil cylinders are symmetrically arranged, one ends of the two main steering hydraulic oil cylinders are hinged through the steering fixed hinges, the other ends of the two auxiliary steering hydraulic oil cylinders are respectively connected with the main steering oil cylinder supporting box body, the two auxiliary steering oil cylinders are arranged in the auxiliary steering oil cylinder supporting box body, and the two auxiliary steering hydraulic oil cylinders are symmetrically arranged and are connected with each other through the cylinder body supporting connecting sleeve.
Further, the operation arm includes flexible pneumatic cylinder and end effector installation interface, flexible pneumatic cylinder passes turn to fixed hinge, cylinder body support adapter sleeve is established the one end of flexible pneumatic cylinder, end effector installation interface is installed the other end of flexible pneumatic cylinder, flexible pneumatic cylinder passes through turn to fixed hinge with cylinder body support adapter sleeve is fixed.
Furthermore, a sliding groove for the telescopic hydraulic cylinder to slide is formed in the main steering cylinder supporting box body.
Furthermore, the main steering hydraulic oil cylinder and the auxiliary steering oil cylinder form a parallel system.
Furthermore, winches are arranged at two ends of the mounting carrier, the mounting carrier is pulled through a steel wire rope, and corresponding photoelectric encoders are arranged on the winches.
Furthermore, a control system for controlling the movement of the carrier body is arranged in the bottom supporting structure.
Furthermore, the control system comprises an ultrasonic sensor, a camera and a work control mechanism, the ultrasonic sensor and the camera are installed at the front end of the turntable and on the same side as the operation mechanical arm, and the work control mechanism is arranged in the chassis.
A carrying method of an intelligent installation vehicle comprises the following steps:
firstly, an operator remotely starts an intelligent installation carrier, and the intelligent installation carrier takes corresponding environment information through a camera and an ultrasonic sensor and sends the environment information to an upper computer;
secondly, an operator observes the operating environment in real time through an upper computer, adjusts the position of the intelligent installation carrier, and rotates the vehicle body through a bottom supporting structure to enable an installation interface of the end effector to reach the upper part of an operating object;
step three, the control system remotely controls the mechanical arm lifting mechanism, the lifting oil cylinder contracts to enable the operation mechanical arm to descend, the mounting interface of the end effector is further controlled to be close to the operation object, then the telescopic hydraulic cylinder is extended to complete clamping action on the operation object, and the telescopic hydraulic cylinder retracts after the clamping action is finished;
fourthly, the lifting oil cylinder extends, and the mechanical arm is operated to lift to drive an end effector mounting interface of the mechanical arm lifting mechanism and an operation object to rise;
step five, remotely controlling an intelligent carrier, moving the carrier to a specified position by matching with winches at two ends of the carrier, and transmitting position information acquired by a positioning system consisting of a photoelectric encoder and an electronic tag to an upper computer through a wireless communication unit of an industrial personal computer in the intelligent carrier in the process;
controlling a mechanical arm steering mechanism, and matching a main steering hydraulic oil cylinder and an auxiliary steering oil cylinder to accurately enable the operating mechanical arm to reach an installation/transportation position;
controlling a mechanical arm lifting mechanism to operate the mechanical arm to telescopically cooperate with the mounting interface of the end effector to complete corresponding mounting actions after the mounting interface of the end effector reaches a designated position;
and step eight, sending a reset instruction, and intelligently installing the carrier to complete resetting.
Compared with the prior art, the invention has the beneficial effects that:
the intelligent installation carrier is internally provided with a control system which comprises an ultrasonic distance sensor, a camera and an industrial control mechanism arranged in a chassis box body, and workers can install and carry corresponding underground equipment far away from a mechanical construction area, so that the working safety of the workers is improved, and the working difficulty of the underground workers is reduced; meanwhile, the main steering hydraulic oil cylinder and the auxiliary steering oil cylinder form a parallel system, so that the driving torque during working can be improved, and the operation precision of the system is improved together with a corresponding internal closed-loop control system.
Drawings
FIG. 1 is a schematic perspective view of an underground intelligent carrier for installation based on a parallel mechanism according to the present invention;
FIG. 2 is a left side view of an intelligent downhole truck according to the present invention;
FIG. 3 is a schematic structural diagram of a robot arm steering mechanism;
FIG. 4 is a layout view of a downhole mounted truck;
FIG. 5 is a block diagram of a control system architecture;
fig. 6 is a block diagram of a positioning system.
Wherein: 1. the device comprises a base, a main box body, 2, a hydraulic oil tank, 3, a supporting hinge, 4, an auxiliary steering oil cylinder supporting box body, 5, a main steering oil cylinder supporting box body, 6, a lifting oil cylinder, 7, a telescopic hydraulic cylinder, 8, a lighting device, 9, an end effector mounting interface, 10, a steering fixing hinge, 11, a main steering hydraulic oil cylinder, 12, a camera, 13, an ultrasonic sensor, 14, a turntable, 15, wheels, 16, an auxiliary steering oil cylinder, 17 and a cylinder body supporting connecting sleeve.
Detailed Description
In order to facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings, in which several embodiments of the invention are shown, but which may be embodied in different forms and not limited to the embodiments described herein, but which are provided so as to provide a more thorough and complete disclosure of the invention.
It is noted that the terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
The invention discloses a parallel mechanism-based underground multifunctional installation carrier which comprises a carrier body and a control system, wherein a mechanical arm carrying device and a bottom supporting structure used for providing an oil source for the mechanical arm carrying device and moving and steering are arranged on the carrier body, and the mechanical arm carrying device comprises an operation mechanical arm, a mechanical arm steering mechanism and a mechanical arm lifting mechanism. The operation mechanical arm mainly operates the actuator to perform telescopic action, the mechanical arm steering mechanism mainly controls the mechanical arm to perform left-right steering action, the mechanical arm lifting mechanism mainly operates the mechanical arm to perform lifting action, the vehicle body rotating mechanism mainly controls the vehicle body main structure to rotate, the bottom supporting structure mainly provides support for a corresponding vehicle body, a corresponding control system is installed, and the vehicle body driving mechanism mainly operates the vehicle body to perform front-back movement action integrally.
In an embodiment, referring to fig. 1-3, the bottom support structure includes a chassis 1, wheels 15, a turntable 14 and a hydraulic oil tank 2, the wheels 15 are disposed at the bottom of the chassis 1, the hydraulic oil tank 2 is disposed on the turntable 14, the turntable 14 is disposed on the chassis 1, the mechanical arm carrying device includes an operating mechanical arm, a mechanical arm steering mechanism and a mechanical arm lifting mechanism, one end of the mechanical arm lifting mechanism is connected to the hydraulic oil tank 2, the other end of the mechanical arm lifting mechanism is connected to the turntable 14, the mechanical arm steering mechanism is mounted on the mechanical arm lifting mechanism, one end of the operating mechanical arm is connected to the mechanical arm lifting mechanism, the operating mechanical arm is fixed by the mechanical arm steering mechanism, and the control system is mounted in the bottom support structure.
Specifically, the mechanical arm lifting mechanism comprises a main steering oil cylinder supporting box body 5, an auxiliary steering oil cylinder supporting box body 4 and two lifting oil cylinders 6, the two lifting oil cylinders 6 are symmetrically arranged, two end portions of the main steering oil cylinder supporting box body 5 are hinged to the two lifting oil cylinders 6 respectively, the other ends of the two lifting oil cylinders 6 are hinged to a turntable 14, and the auxiliary steering oil cylinder supporting box body 4 is connected with the hydraulic oil tank 2 through a supporting hinge 3. The main steering oil cylinder supporting box body 5 is mainly used for installing a main steering hydraulic oil cylinder 11, a corresponding proportion electromagnetic valve and fixing a mechanical arm for corresponding operation, and the auxiliary steering oil cylinder supporting box body 4 is mainly used for installing an auxiliary steering oil cylinder 16 and a corresponding proportion electromagnetic valve and fixing an operation mechanical arm to a certain extent so as to improve the stress of the operation mechanical arm. The double lifting oil cylinders are used for improving the corresponding lifting moment and the stability of the lifting process, and meanwhile, the tail ends of the oil cylinders are provided with corresponding displacement sensors for feeding back the corresponding oil cylinder displacement so as to realize a corresponding closed-loop control system.
Specifically, the mechanical arm steering mechanism comprises a steering fixed hinge 10, a main steering hydraulic oil cylinder 11, auxiliary steering oil cylinders 16 and cylinder body supporting and connecting sleeves 17, the main steering hydraulic oil cylinders 11 are arranged in two numbers, the two main steering hydraulic oil cylinders are symmetrically arranged, one ends of the two auxiliary steering hydraulic oil cylinders are hinged through the steering fixed hinge 10, the other ends of the two auxiliary steering hydraulic oil cylinders are respectively connected with the main steering oil cylinder supporting box body 5, the two auxiliary steering oil cylinders 16 are arranged in the auxiliary steering oil cylinder supporting box body 4 and are symmetrically arranged, the middle of the two auxiliary steering hydraulic oil cylinders are connected through the cylinder body supporting and connecting sleeves 17, and the two auxiliary steering hydraulic oil cylinders are parallel to the main steering oil cylinder supporting box body 5. The main steering oil cylinders 16 which are symmetrically arranged mainly control the rotation of the operation mechanical arm, and the auxiliary steering oil cylinders 17 are arranged to increase the torque of the steering action and improve the stability of the steering action, so that the accurate control of the corresponding angle is realized. The main steering oil cylinders are obliquely arranged at an angle of 30 degrees in the design, the auxiliary steering oil cylinders are horizontally and symmetrically arranged in the design, and the corresponding included angles of the auxiliary steering oil cylinders can be designed according to actual requirements in practical application, so that the corresponding precision requirements and torque requirements are met. Meanwhile, the tail end of the oil cylinder is provided with a corresponding displacement sensor for feeding back the displacement of the corresponding oil cylinder so as to realize a corresponding closed-loop control system. In the invention, the turning angle of the steering oil cylinder and the displacement of the oil cylinder are in one-to-one correspondence, and when the turning angle is operated, the program is internally converted into the control of the displacement of the corresponding oil cylinder.
It should be noted that the main steering cylinder support box 5 is provided with a chute for the telescopic hydraulic cylinder 7 to move left and right, and a proportional solenoid valve corresponding to the hydraulic component is installed inside the main steering cylinder support box.
Specifically, the operation arm includes flexible pneumatic cylinder 7 and end effector installation interface 9, and flexible pneumatic cylinder 7 passes and turns to fixed hinge 10, and cylinder body support adapter sleeve 17 cover is established in the one end of flexible pneumatic cylinder 7, and end effector installation interface 9 is installed at the other end of flexible pneumatic cylinder 7, and flexible pneumatic cylinder 7 is fixed through turning to fixed hinge 10 and cylinder body support adapter sleeve 17. The corresponding telescopic hydraulic cylinder 7 is controlled by an electro-hydraulic servo control system, and meanwhile, a displacement sensor is installed at the tail end of the corresponding telescopic hydraulic cylinder to form a corresponding closed-loop control system to improve the telescopic precision of the corresponding mechanical arm so as to match the intelligent control of the multifunctional installation carrier.
It should be noted that a hydraulic motor is arranged in the turntable 14, the rotation of the vehicle body is mainly realized by the cooperation of the hydraulic motor and a gear box in the turntable 14, and a corresponding photoelectric encoder is arranged at the output end of the gear box to detect the rotation angle of the turntable, so that a corresponding closed-loop control system is realized.
In the embodiment, referring to fig. 4, the driving mechanism for installing the truck mainly comprises winches at two ends, and the winches pull the installing truck through a steel wire rope. And a corresponding photoelectric encoder is arranged on the winch, so that a part of positioning of the trolley is completed.
In an embodiment, referring to fig. 5, the control system includes an ultrasonic sensor 13, a camera 12 and an industrial control mechanism, the ultrasonic sensor 13 and the camera 12 are installed at the front end of the turntable 14 and are on the same side as the operating mechanical arm, and the industrial control mechanism is disposed in the chassis 1. Specifically, the control system is composed of an ultrasonic sensor 13, a camera 12, an industrial control mechanism arranged in a box body of the chassis 1, a proportional electromagnetic valve for controlling the movement of a corresponding oil cylinder, photoelectric encoders arranged on winches at two ends, a wireless communication module for performing information interaction with an upper computer, and a storage battery for supplying power to a corresponding internal control system. The sensor unit and the video acquisition unit send acquired information to the industrial personal computer, and then the industrial personal computer sends the information to the upper computer through the corresponding wireless communication module. And the upper computer sends the control command to the industrial personal computer through the wireless communication module. The industrial personal computer controls the corresponding charging and discharging and energy management module and the electro-hydraulic proportional system, so that the multifunctional mounting trolley can complete corresponding actions.
In an embodiment, referring to fig. 4-6, the cart positioning module is installed to position the multi-functional cart by combining a photoelectric encoder and an electronic tag. Corresponding electronic tags are arranged at a certain distance from the track, and 100m is adopted in the design for arranging the corresponding electronic tags. The trolley is positioned by the photoelectric encoder when the carrier is installed to run between the electronic tags, the position information of the corresponding encoder is cleared when the carrier passes through the electronic tags, and the current electronic tag information is recorded, so that the trolley is positioned in a mode that the corresponding encoder is combined with the electronic tags. This error accumulation that prevents that single photoelectric encoder location installation carrier from forming has improved the positioning accuracy of installation carrier, satisfies the requirement of corresponding intelligent installation.
A carrying method of an intelligent installation vehicle comprises the following steps:
firstly, an operator remotely starts an intelligent installation carrier, and the intelligent installation carrier takes corresponding environment information through a camera 12 and an ultrasonic sensor 13 and sends the environment information to an upper computer;
secondly, an operator observes the operation environment in real time through an upper computer, adjusts the position of the intelligent installation carrier, and rotates the vehicle body through a bottom supporting structure to enable the end effector installation interface 9 to reach the upper part of an operation object;
step three, the control system remotely controls the mechanical arm lifting mechanism, the lifting oil cylinder 6 contracts to enable the operation mechanical arm to descend, the end effector mounting interface 9 is further controlled to be close to an operation object, then the telescopic hydraulic cylinder 7 is extended to finish clamping action on the operation object, and the telescopic hydraulic cylinder 7 retracts after finishing the clamping action;
fourthly, the lifting oil cylinder 6 is extended, and the mechanical arm is operated to lift to drive the end effector mounting interface 9 of the mechanical arm lifting mechanism and the operation object to rise;
step five, remotely controlling an intelligent carrier, moving the carrier to a specified position by matching with winches at two ends of the carrier, and transmitting position information acquired by a positioning system consisting of a photoelectric encoder and an electronic tag to an upper computer through a wireless communication unit of an industrial personal computer in the intelligent carrier in the process;
controlling a mechanical arm steering mechanism, and matching a main steering hydraulic oil cylinder 11 with an auxiliary steering oil cylinder 16 to accurately operate the mechanical arm to reach the mounting/carrying position;
controlling a mechanical arm lifting mechanism to operate the mechanical arm to telescopically cooperate with the end effector mounting interface 9 to complete corresponding mounting actions after the end effector mounting interface 9 reaches a designated position;
and step eight, sending a reset instruction, and intelligently installing the carrier to complete resetting.
The invention is described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the above-described embodiments, and it is within the scope of the invention to adopt such insubstantial modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (8)
1. The underground intelligent installation carrier based on the parallel mechanism is characterized by comprising a carrier body, wherein a mechanical arm carrying device and a bottom supporting structure used for providing an oil source for the mechanical arm carrying device and moving and steering are arranged on the carrier body, the bottom supporting structure comprises a chassis (1), wheels (15), a turntable (14) and a hydraulic oil tank (2), the wheels (15) are arranged at the bottom of the chassis (1), the hydraulic oil tank (2) is arranged on the turntable (14), the turntable (14) is arranged on the chassis (1), the mechanical arm carrying device comprises an operation mechanical arm, a mechanical arm steering mechanism and a mechanical arm lifting mechanism, one end of the mechanical arm lifting mechanism is connected with the hydraulic oil tank (2), the other end of the mechanical arm lifting mechanism is connected with the turntable (14), and the mechanical arm steering mechanism is installed on the mechanical arm lifting mechanism, one end of the operation mechanical arm is connected with the mechanical arm lifting mechanism, and the operation mechanical arm is fixed through the mechanical arm steering mechanism;
the mechanical arm lifting mechanism comprises a main steering oil cylinder supporting box body (5), an auxiliary steering oil cylinder supporting box body (4) and two lifting oil cylinders (6), the two lifting oil cylinders (6) are symmetrically arranged, two end parts of the main steering oil cylinder supporting box body (5) are respectively hinged with the two lifting oil cylinders (6), the other ends of the two lifting oil cylinders (6) are hinged with the turntable (14), and the auxiliary steering oil cylinder supporting box body (4) is connected with the hydraulic oil tank (2) through a supporting hinge (3);
the mechanical arm steering mechanism comprises a steering fixing hinge (10), a main steering hydraulic oil cylinder (11), an auxiliary steering oil cylinder (16) and a cylinder body supporting connecting sleeve (17), wherein the main steering hydraulic oil cylinder (11) is provided with two parts which are symmetrically arranged, one end of the main steering hydraulic oil cylinder is hinged through the steering fixing hinge (10), the other end of the main steering hydraulic oil cylinder is connected with the main steering oil cylinder supporting box body (5), the auxiliary steering oil cylinder (16) is arranged in the auxiliary steering oil cylinder supporting box body (4) and is provided with two parts which are symmetrically arranged, and the middle of the auxiliary steering hydraulic oil cylinder is connected with the cylinder body supporting connecting sleeve (17).
2. The underground intelligent installation handling vehicle based on the parallel mechanism is characterized in that the operating mechanical arm comprises a telescopic hydraulic cylinder (7) and an end effector installation interface (9), the telescopic hydraulic cylinder (7) penetrates through the steering fixed hinge (10), the cylinder body support connecting sleeve (17) is sleeved at one end of the telescopic hydraulic cylinder (7), the end effector installation interface (9) is installed at the other end of the telescopic hydraulic cylinder (7), and the telescopic hydraulic cylinder (7) is fixed through the steering fixed hinge (10) and the cylinder body support connecting sleeve (17).
3. The underground intelligent installation handling vehicle based on the parallel mechanism as claimed in claim 2, wherein the main steering cylinder supporting box (5) is provided with a sliding groove for the telescopic hydraulic cylinder (7) to slide.
4. The downhole intelligent installation truck based on a parallel mechanism according to claim 3, characterized in that the main steering hydraulic cylinder (11) and the auxiliary steering cylinder (16) form a parallel system.
5. The downhole intelligent installation truck based on the parallel mechanism as claimed in claim 1, wherein a winch is provided at each end of the installation truck, the installation truck is pulled by a steel wire rope, and a corresponding photoelectric encoder is disposed on the winch.
6. The parallel mechanism based intelligent downhole installation cart of claim 1, wherein a control system for controlling movement of the cart body is provided in said bottom support structure.
7. The downhole intelligent installation truck based on the parallel mechanism as claimed in claim 6, wherein the control system comprises an ultrasonic sensor (13), a camera (12) and an industrial control mechanism, the ultrasonic sensor (13) and the camera (12) are installed at the front end of the turntable (14) and are on the same side as the operation mechanical arm, and the industrial control mechanism is arranged in the chassis (1).
8. A carrying method of an intelligent installation vehicle, which carries out carrying operation by using the underground intelligent installation vehicle based on the parallel mechanism as claimed in claim 1, and is characterized by comprising the following steps:
firstly, an operator remotely starts an intelligent installation carrier, and the intelligent installation carrier takes corresponding environment information through a camera (12) and an ultrasonic sensor (13) and sends the environment information to an upper computer;
secondly, an operator observes the operation environment in real time through an upper computer, adjusts the position of the intelligent installation carrier, and rotates the vehicle body through a bottom supporting structure to enable an end effector installation interface (9) to reach the upper part of an operation object;
step three, the control system remotely controls the mechanical arm lifting mechanism, the lifting oil cylinder (6) contracts to enable the operation mechanical arm to descend, the end effector mounting interface (9) is further controlled to be close to an operation object, then the telescopic hydraulic cylinder (7) is extended to complete clamping action on the operation object, and the telescopic hydraulic cylinder (7) retracts after the clamping action is finished;
fourthly, the lifting oil cylinder (6) is extended, and the mechanical arm is operated to lift and drive the end effector mounting interface (9) of the mechanical arm lifting mechanism and the operation object to rise;
step five, remotely controlling an intelligent carrier, moving the carrier to a specified position by matching with winches at two ends of the carrier, and transmitting position information acquired by a positioning system consisting of a photoelectric encoder and an electronic tag to an upper computer through a wireless communication unit of an industrial personal computer in the intelligent carrier in the process;
controlling a mechanical arm steering mechanism, matching a main steering hydraulic oil cylinder (11) with an auxiliary steering oil cylinder (16) to enable the mechanical arm to accurately reach an installation/carrying position;
controlling a mechanical arm lifting mechanism to operate the mechanical arm to telescopically cooperate with the end effector mounting interface (9) to complete corresponding mounting actions after the end effector mounting interface (9) reaches a designated position;
and step eight, sending a reset instruction, and intelligently installing the carrier to complete resetting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010972429.2A CN112174039B (en) | 2020-09-16 | 2020-09-16 | Underground intelligent installation carrier based on parallel mechanism and carrying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010972429.2A CN112174039B (en) | 2020-09-16 | 2020-09-16 | Underground intelligent installation carrier based on parallel mechanism and carrying method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112174039A CN112174039A (en) | 2021-01-05 |
| CN112174039B true CN112174039B (en) | 2022-03-29 |
Family
ID=73920780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010972429.2A Active CN112174039B (en) | 2020-09-16 | 2020-09-16 | Underground intelligent installation carrier based on parallel mechanism and carrying method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112174039B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202953062U (en) * | 2012-12-07 | 2013-05-29 | 上海电机学院 | Automatic carrier |
| CN104471151A (en) * | 2013-03-15 | 2015-03-25 | 克拉克设备公司 | Lift arm structure with an articulated knee portion for a power machine |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
| CN205255332U (en) * | 2015-12-14 | 2016-05-25 | 常州市华立液压润滑设备有限公司 | Mould compound die tilting mechanism and upset compound die system that constitutes thereof |
-
2020
- 2020-09-16 CN CN202010972429.2A patent/CN112174039B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202953062U (en) * | 2012-12-07 | 2013-05-29 | 上海电机学院 | Automatic carrier |
| CN104471151A (en) * | 2013-03-15 | 2015-03-25 | 克拉克设备公司 | Lift arm structure with an articulated knee portion for a power machine |
| CN205255332U (en) * | 2015-12-14 | 2016-05-25 | 常州市华立液压润滑设备有限公司 | Mould compound die tilting mechanism and upset compound die system that constitutes thereof |
| CN105500333A (en) * | 2016-01-15 | 2016-04-20 | 山东建筑大学 | Transfer robot based on mobile mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112174039A (en) | 2021-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10988025B2 (en) | Energy storage robot | |
| CN105500333B (en) | Transfer robot based on mobile mechanical arm | |
| CN109681117B (en) | Hydraulic single-arm automatic anchor cable drill carriage for coal mine | |
| CN110723656B (en) | Multi-degree-of-freedom mining hoisting device | |
| CN206126690U (en) | Bulk cargo grab bucket overhead traveling crane automatic control device | |
| CN113184678B (en) | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof | |
| CN112093467A (en) | Mobile carrying robot system and control method thereof | |
| CN111997681B (en) | Mining intelligent support carrying device and carrying method thereof | |
| CN108203054A (en) | One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle | |
| CN113710428A (en) | Apparatus and method for maintaining an overhead line system of a track | |
| CN112174039B (en) | Underground intelligent installation carrier based on parallel mechanism and carrying method | |
| CN213894407U (en) | Device for automatically loading and unloading materials for large test box | |
| CN110883515A (en) | Intelligent tightening assembly system based on crawler-type six-axis robot | |
| CN207986532U (en) | One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle | |
| CN115538934B (en) | Integrated drilling robot based on six-axis manipulator drill rod loading and unloading and control method | |
| CN217256337U (en) | Underground transfer robot for coal mine | |
| CN217493270U (en) | Six heavy load assembly manipulators with hand dynamics perception ability | |
| CN203529776U (en) | Rubber-tyred gantry crane in electric-hydraulic driving manner | |
| CN214167163U (en) | Lifting system matched with wind power blade mould | |
| CN205312911U (en) | Two roof beam hoists of hydraulic grab rubbish | |
| CN103482481A (en) | Wireless remote control electro-hydraulic drive tyre type gantry crane | |
| CN205312910U (en) | Two roof beam hoists of centralized control grab bucket rubbish | |
| CN209127952U (en) | Comprehensive container handler | |
| CN210557520U (en) | Device for automatically transferring upper frame of excavator from material preparation assembly line to assembly line | |
| CN203529775U (en) | Wireless remote control electro-hydraulic driven rubber-tyred gantry crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |