CN112723194A - Stabilizing mechanical arm for offshore operation - Google Patents
Stabilizing mechanical arm for offshore operation Download PDFInfo
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- CN112723194A CN112723194A CN202110023330.2A CN202110023330A CN112723194A CN 112723194 A CN112723194 A CN 112723194A CN 202110023330 A CN202110023330 A CN 202110023330A CN 112723194 A CN112723194 A CN 112723194A
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- lifting column
- pair
- rotating pair
- axis
- driving device
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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
- B66C23/18—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 specially adapted for use in particular purposes
- B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
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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
- B66C23/06—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 with jibs mounted for jibbing or luffing movements
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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
- B66C23/18—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 specially adapted for use in particular purposes
- B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
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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
- B66C23/64—Jibs
- B66C23/68—Jibs foldable or otherwise adjustable in configuration
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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
- B66C23/84—Slewing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stabilizing mechanical arm for offshore operation, which comprises a rotating base, a swinging lifting column, a lifting column swinging driving device, a lifting column auxiliary linear unit, an upper platform, a lifting driving device and an arm main body, wherein the arm main body is provided with a lifting column driving device; the rotary base is arranged on a ship deck, the swing lifting column machine is arranged on the rotary base, the upper platform is arranged at the top of the lifting column, and the arm main body is arranged on the upper platform; the mechanical arm can realize the large-amplitude compensation of the interference motion of the sea waves through the joint motion of the swing lifting column, the upper platform and the arm main body; the stabilizing mechanical arm for offshore operation integrates the stabilizing mechanism and the executing mechanism, and has the advantages of compact structure, high integration level and large compensation range; the stabilizing mechanical arm for offshore operation has the functions of a crane and a pedestrian passageway, and can realize offshore hoisting operation and offshore personnel transportation operation.
Description
Technical Field
The invention belongs to the field of stabilizing mechanical arms for offshore operation, and particularly relates to a stabilizing mechanical arm for offshore operation.
Background
Offshore operations such as offshore hoisting, personnel transportation between ships, seabed excavation and the like are interfered by transverse, longitudinal, heading, transverse, longitudinal and heave motions of the ships caused by sea wind, sea waves and ocean currents, so that relative motion between the operation equipment and the operation platform is caused, the operation difficulty is increased, and collision accidents are easily caused.
The conventional stabilizing mechanical arm for offshore operation adopts multi-rope active compensation motion, adopts a parallel stable platform active compensation motion, adopts an X-Y-Z three-linear pair active compensation part motion and adopts a passive compensation mechanism with an elastic structure. The existing offshore stable crane has the problem that the driving force is multiplied by the load or the torsional rigidity is poor, and most offshore cranes combine a stable platform and a crane in series, so that the offshore stable crane is low in integration level, few in functions, relatively overstaffed in overall structure and relatively small in compensation range.
Therefore, it is necessary to design an arm body having high driving efficiency, high torsional rigidity, compact structure, high integration level, and large compensation range.
Disclosure of Invention
Aiming at the problems, the invention provides the stable mechanical arm for offshore operation, the series-parallel mechanical structure of the stable mechanical arm can greatly compensate the influence of sea waves, the stable mechanical arm can hoist cargoes and can be used as a pedestrian passageway, and the use scene is wide.
In order to achieve the purpose, the technical scheme adopted by the invention is to provide a stable mechanical arm for offshore operation, which comprises a rotating base, a swinging lifting column, a lifting column swinging driving device, a lifting column auxiliary linear unit, an upper platform, a lifting driving device and an arm main body; the rotary base comprises a base, a turntable bearing, a rotary table and a rotary driver; the base is fixedly arranged on a ship deck; the turntable bearing is rotatably connected between the base and the turntable, the axis of the turntable bearing is a first rotating pair, and the axis direction of the turntable bearing is vertical to the plane of the base; the rotary driver drives the first rotary pair;
the swing lifting column comprises a swing frame, an outer lifting column, an inner lifting column, a front connector, a rear connector and an upper connector; the front end and the rear end of the swing frame are rotationally connected with the rotary table through hinged supports to form a second revolute pair, and the axis direction of the second revolute pair is parallel to the plane of the rotary table; the bottom of the outer lifting column is rotatably connected to the left side and the right side of the middle of the swing frame through a third rotating pair, and the axis of the third rotating pair is perpendicular to the axis of the second rotating pair; the inner lifting column and the outer lifting column form a first sliding pair, and the direction of the first sliding pair is along the extending direction of the outer lifting column and is vertical to the third rotating pair; the middle part of the upper connecting body is provided with an opening, the opening is sleeved with the lifting column and is rotatably connected to the middle part of the outer lifting column through a fourth rotating pair, and the axis of the fourth rotating pair is parallel to the axis of the third rotating pair; the lower end of the front connecting body is rotatably connected with the left side and the right side of the front part of the swing frame through a fifth rotating pair, the upper end of the front connecting body is rotatably connected with the left side and the right side of the front part of the upper connecting body through a sixth rotating pair, and the axes of the fifth rotating pair and the sixth rotating pair are parallel to the axis of the third rotating pair; the lower end of the rear connecting body is rotatably connected with the left side and the right side of the rear part of the swing frame through a seventh rotating pair, the upper end of the rear connecting body is rotatably connected with the left side and the right side of the rear part of the upper connecting body through an eighth rotating pair, and the axes of the seventh rotating pair and the eighth rotating pair are parallel to the third rotating pair;
the lifting column swing driving devices are a pair of obliquely arranged linear driving devices which are arranged on the left side and the right side of the lifting column, the lower ends of the lifting column swing driving devices are symmetrically and rotatably arranged on the front part of the rotary table through universal joints respectively, and the upper ends of the lifting column swing driving devices are rotatably connected to the left side and the right side of the rear part of the upper connecting body through ball pairs respectively;
the auxiliary linear units of the lifting column are a pair of obliquely arranged telescopic linear motion units which are arranged on two sides of the lifting column and are symmetrical, the lower ends of the auxiliary linear motion units are respectively connected to the rear part of the rotary table through ball pairs in a rotating mode and are symmetrically arranged in the left and right mode, and the upper ends of the auxiliary linear motion units are respectively connected to the left and right sides of the rear part of the upper connecting body through ball pairs in a rotating mode;
the upper platform is rotatably connected with the top of the inner lifting column through a ninth revolute pair, and the axis of the ninth revolute pair is parallel to the axis of the second revolute pair;
the lifting driving device is a linear driving device which is arranged on the left side and the right side of the lifting column, the direction of the linear driving device is similar to that of the first moving pair, the lower end of the linear driving device is respectively and rotatably connected with bosses on the two sides of the outer lifting column through a tenth rotating pair and an eleventh rotating pair, the upper end of the linear driving device is respectively and rotatably connected with the two sides of the lower part of the upper platform through a twelfth rotating pair and a thirteenth rotating pair, and the axes of the tenth rotating pair, the eleventh rotating pair, the twelfth rotating pair and;
the arm body is a mechanical arm with different functions; the rear end of the arm main body is rotatably connected with the front part of the upper platform through a fourteenth rotating pair, and the axis of the fourteenth rotating pair is perpendicular to the ninth rotating pair and parallel to the upper platform.
Furthermore, the front connecting body, the upper connecting body, the rear connecting body, the lifting column and the swinging frame of the swinging parallelogram form a double-parallelogram mechanism; the clearance between preceding connector, lift post and the back connector can reduce to the contact along with the forward or backward swing of lift post to play the spacing function of every single move, and can control the scope of every single move around through the size of adjustment clearance.
Further, the auxiliary linear units of the lifting column can be replaced by two support plate limiting devices arranged on the left side and the right side of the swing frame; the upper ends of the two support plates are fixedly connected through a transverse plate, the lower ends of the two support plates are respectively and rotatably connected with hinge bases extending out of the left side and the right side of the swing frame through a fifteenth rotating pair, and the axis of the fifteenth rotating pair is parallel to the second rotating pair; the transverse plate can be attached to the side face of the lifting column, and the support plate limiting device can rotate around the axis of the fifteenth rotating pair in a small range; when the lifting column swings within the normal swing angle range, the support plate limiting device falls outwards by means of self weight to separate the transverse plate from the side surface of the lifting column; when the lifting column swings to the limit position, the support plate limiting device is firstly contacted with the rotary table, and the transverse plate is then contacted with the side face of the lifting column to achieve the functions of limiting power and limiting.
Preferably, a pair of power assisting devices is mounted on the left and right side surfaces of the front connecting rod and the rear connecting rod of the swinging lifting column; the power assisting device is a linear driving device, the front end of the power assisting device is rotatably connected with the side face of the front connecting body through a sixteenth rotating pair, the rear end of the power assisting device is rotatably connected with the side face of the rear connecting body through a seventeenth rotating pair, and the axes of the sixteenth and seventeenth rotating pairs are parallel to the axis of the third rotating pair.
Preferably, a linear driving device is installed inside an inner lifting column of the swing lifting column, the upper end of the linear driving device is fixedly installed at the bottom of the outer lifting column, the lower end of the linear driving device is fixedly installed inside the inner lifting column, and at the moment, the upper platform is fixed at the top of the outer lifting column.
Furthermore, a ladder with guardrails is installed at the rear part of the swing lifting column; the lower end of the guardrail ladder stand is rotatably connected with a hinged support extending out of the rear part of the swing frame through an eighteenth revolute pair; the middle part of the guardrail ladder stand is connected with a hinged support extending out of the rear part of the upper connecting body through a nineteenth revolute pair, and the axes of the eighteenth and nineteenth revolute pairs are parallel to the axis of the third revolute pair; guardrail cat ladder, back connector, upper connector and swing span constitute parallelogram, and the second section area guardrail cat ladder is connected through twentieth revolute pair and interior lift capital portion rear end, and its lower extreme passes through the pinch roller contact in the connector rear surface channel-section steel of back.
Preferably, the arm main body can be a telescopic lifting boom with a telescopic pedestrian deck and a guardrail, and a linear driving device is connected between the telescopic lifting boom and the upper platform to drive the telescopic lifting boom to rotate around the twelfth revolute pair; the telescopic hoisting boom is telescopic through a linear driving device, and the telescopic hoisting boom is provided with a lifting hook, a corresponding winch and a driving device.
Furthermore, the upper end of the rear part of the telescopic crane jib can be respectively connected with the first ends of the two pairs of second connecting rods through a twenty-first revolute pair, the second ends of the two connecting rods are connected with the middle part of the upper platform through a twenty-second revolute pair, the telescopic crane jib, the two connecting rods and the upper platform form a pair of parallelogram mechanisms, and two ends of the linear driving device are respectively connected to the twelfth revolute pair and the rotating shafts of the two connecting rods.
Preferably, the arm body can be a foldable multi-joint mechanical arm, each joint of the multi-joint mechanical arm is provided with a corresponding driving device, and a mechanical arm or engineering equipment or a hoisting device can be installed at the end part of the multi-joint mechanical arm.
Preferably, the arm main body can be a downward telescopic overlong mechanical arm, the end part of the overlong mechanical arm faces downward by a plurality of groups of lever mechanisms with linear drivers, the overlong mechanical arm main body is telescopic by a linear driving device, and an excavator bucket is arranged at the end part of the overlong mechanical arm.
Furthermore, a guardrail is arranged on the upper platform; the lower end of the upper platform can be directly fixed at the top end of the inner lifting column, and the lifting driving device in the corresponding embodiment is a single or a plurality of linear driving devices fixed up and down.
Furthermore, a pitching platform capable of swinging up and down can be added on the rotary base, the pair of linear driving devices are connected to the front end of the pitching platform and the rotary table through the ball pair, up and down swinging of the pitching platform is achieved, a parallelogram mechanism in the swinging lifting column in the corresponding embodiment is changed from the front-back direction to the left-right direction, the parallelogram lifting column does not pitch back and forth relative to the pitching platform, only left-right swinging capacity is reserved, and the damping limiting device of the lifting column is eliminated.
Furthermore, an enclosing frame enclosing the swing parallelogram lifting column can be installed on the rotary platform, an opening on the enclosing frame is radial, the edge of the radial opening is in tangential fit with each limit position of the lifting column to play a limiting role, and the damping limiting device of the lifting column in the corresponding embodiment is eliminated.
Further, each linear driving device can be a hydraulic cylinder, an electric cylinder, or a gas spring.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
(1) the stabilizing mechanical arm for offshore operation adopts the swing lifting column mechanism, realizes the balance of load torque by a mechanical structure, and reduces the required driving force; the mechanical arm is high in torsional rigidity by using the parallelogram mechanism, and the rotary table is arranged at the bottom of the rotary table to realize concentrated balance load of the mechanical arm.
(2) The stabilizing mechanism and the actuating mechanism are integrated by the stabilizing mechanical arm for offshore operation, and the stabilizing mechanical arm for offshore operation is compact in structure, high in integration level and large in compensation range.
(3) The stabilizing mechanical arm for offshore operation has the functions of a crane and a pedestrian passageway, and can realize offshore hoisting operation and offshore personnel transportation operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the stabilizing arm for offshore operations of the present invention;
FIG. 2 is a schematic view of the swing lift column of the stabilizing arm for offshore operations of the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a support plate limiting device of the stabilizing mechanical arm for offshore operation;
FIG. 4 is a schematic view of a ladder stand structure of the stabilizing robot arm for offshore operations of the present invention;
FIG. 5 is a schematic structural view of an embodiment of the multi-joint robot arm of the stabilizing robot arm for offshore operations of the present invention;
FIG. 6 is a schematic structural view of an embodiment of the super-long robot arm of the stabilizing robot arm for offshore operations of the present invention;
FIG. 7 is a schematic structural diagram of an embodiment of a pitch platform of the stabilizing arm for offshore operations of the present invention;
FIG. 8 is a schematic structural view of an embodiment of the enclosure frame of the stabilizing arm for offshore operations of the present invention;
FIG. 9 is a schematic view of the primary revolute pair of the stabilizing arm for offshore operations of the present invention;
the main reference numbers:
1-rotating the base; 101-a base; 102-a turntable bearing; 103-a turntable; 2-swinging the lifting column; 201-a swing frame; 202-outer lifting columns; 203-inner lifting column; 204-an anterior linker; 205-a rear connector; 2051-channel steel; 206-an upper linker; 3-lifting column swing driving device; 4-lifting column auxiliary straight line unit; 5-an upper platform; 6-a lifting driving device; 7-an arm body; 8-a support plate limiting device; 801-support plate; 802-horizontal plate; 9-a power assisting device; 10-a guardrail ladder stand; 1001-climbing ladder; 1002-climbing a ladder; 1003-pressing wheel; 11-telescopic lifting boom; 12-two connecting rods; 13-a multi-joint robotic arm; 14-an ultra-long mechanical arm; 15-a pitch platform; 16-pitch drive means; 17-a surrounding frame; 1' -a first revolute pair; 2' -a second revolute pair; 3' -a third revolute pair; 4' -a fourth revolute pair; 5' -a fifth revolute pair; 6' -sixth revolute pair; 7' -a seventh revolute pair; 8' -eighth revolute pair; 9' -ninth revolute pair; 10' -tenth revolute pair; 11' -eleventh revolute pair; 12' -twelfth revolute pair; 13' -a thirteenth revolute pair; 14' -fourteenth revolute pair; 15' -a fifteenth revolute pair; 16' -sixteenth revolute pair; 17' -a seventeenth revolute pair; 18' -eighteenth revolute pair; 19' -nineteenth revolute pair; 20' -the twentieth revolute pair; 21' -the twenty-first revolute pair; 22' -the twenty-second revolute pair.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains. For example, front, rear, left and right are used for the present invention only for exemplary purposes and are words of convenience for description.
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides a stabilizing robot arm for offshore operations, which includes a rotating base 1, a swing elevating column 2, an elevating column swing driving device 3, an elevating column auxiliary linear unit 4, an upper platform 5, an elevating driving device 6, and an arm main body 7; the rotating base 1 comprises a base 101, a turntable bearing 102, a rotary driver and a turntable 103; the base 101 is fixedly arranged on a ship deck; the turntable bearing 102 is rotatably connected between the base 101 and the turntable 103, the axis of the turntable bearing 102 is a first rotating pair 1 ', the axial direction of the first rotating pair is vertical to the plane of the base 101, and the rotary driver drives the first rotating pair 1';
the swing lifting column 2 comprises a swing frame 201, an outer lifting column 202, an inner lifting column 203, a front connecting body 204, a rear connecting body 205 and an upper connecting body 206; the front end and the rear end of the swing frame 201 are rotationally connected with the rotary table 103 through hinged supports to form a second revolute pair 2 ', and the axial direction of the second revolute pair 2' is parallel to the plane of the rotary table 103; the bottom of the outer lifting column 202 is connected with the left side and the right side of the middle part of the swing frame 201 through a third revolute pair 3 ', and the axis of the third revolute pair 3 ' is vertical to the axis of the second revolute pair 2 '; the inner lifting column 203 and the outer lifting column 202 form a first moving pair, and the direction of the first moving pair is vertical to the third rotating pair 3'; the upper connecting body 205 is sleeved with the lifting column and is connected with the middle part of the outer lifting column 202 through a fourth rotating pair 4 ', and the axis of the fourth rotating pair 4 ' is parallel to the axis of the third rotating pair 3 '; the lower end of the front connecting body 204 is connected with the left and right sides of the front part of the swing frame 201 through a fifth revolute pair 5 ', the upper end is connected with the left and right sides of the front part of the upper connecting body 206 through a sixth revolute pair 6 ', and the axes of the fifth revolute pair 5 ' and the sixth revolute pair 6 ' are parallel to the axis of the third revolute pair 3 '; the lower end of the rear connecting body 205 is connected with the left and right sides of the rear part of the swing frame 201 through a seventh revolute pair 7 ', the upper end is connected with the left and right sides of the rear part of the upper connecting body 206 through an eighth revolute pair 8 ', and the axes of the seventh revolute pair 7 ' and the eighth revolute pair 8 ' are parallel to the third revolute pair 3 '; the front connecting body 204, the upper connecting body 206, the rear connecting body 205, the lifting column and the swing frame 201 form a double-parallelogram mechanism; a pair of power assisting devices 9 are arranged on the left and right side surfaces of the front connecting body and the rear connecting body of the swinging lifting column 2, the power assisting devices 9 are linear driving devices, the front ends of the power assisting devices 9 are connected with the side surface of the front connecting body 204 through sixteenth revolute pairs 16 ', the rear ends of the power assisting devices are connected with the side surface of the rear connecting body 205 through seventeenth revolute pairs 17', and the axes of the sixteenth revolute pairs 16 'and the seventeenth revolute pairs 17' are parallel to the third revolute pairs 3; the inner lifting column 203 of the swing lifting column 2 is internally provided with a linear power-assisted driving device, the lower end of the linear power-assisted driving device is fixed at the bottom of the outer lifting column 202, and the upper end of the linear power-assisted driving device is fixed in the inner lifting column 203.
As shown in fig. 4, further, a ladder stand 10 with guardrails is installed at the rear part of the swing lifting column 2, the lower end of the lower ladder stand 1002 is connected with a hinged support extending from the rear part of the swing frame 201 through an eighteenth revolute pair 18 ', the middle part of the lower ladder stand 1002 is connected with a hinged support extending from the rear part of the upper connecting body 206 through a nineteenth revolute pair 19', the axes of the eighteenth revolute pair 18 'and the nineteenth revolute pair 19' are parallel to the axis of the third revolute pair 3 ', the lower ladder stand 1002, the rear connecting body 205, the upper connecting body 206 and the swing frame 201 form a parallelogram, the upper ladder 1001 is connected with the rear end of the top part of the inner lifting column 203 through a twentieth revolute pair 20', and the lower end thereof is contacted with the rear.
The lifting column swing driving device 3 is a pair of obliquely arranged linear driving devices positioned at the left side and the right side of the lifting column, the lower ends of the lifting column swing driving devices are symmetrically arranged at the front part of the rotary table 103 through universal joints respectively, and the upper ends of the lifting column swing driving devices are connected with the rear parts of the left side and the right side of the upper connecting body 206 through ball pairs respectively; as shown in fig. 3, the lifting column auxiliary linear unit 4 can perform the assisting and limiting functions, and can be replaced by two support plate limiting devices 8 installed at the left and right sides of the swing frame 201, the support plate limiting devices 8 are two support plates 801 with upper ends fixedly connected through a transverse plate 802, the lower ends of one sides of the two support plates 801 are respectively connected with hinge bases extending from the left and right sides of the swing frame 201 through a fifteenth rotating pair 15 ', the axis of the fifteenth rotating pair 15' is parallel to the second rotating pair 2 ', the transverse plate 802 can be attached to the side surface of the lifting column 2, the support plate limiting devices 8 can rotate slightly around the axis of the fifteenth rotating pair 15', when the lifting column 2 swings within the normal swing angle range, the support plate limiting devices 8 fall outwards by virtue of self weight to separate the transverse plate 802 from the side surface of the lifting column 2, when the lifting column 2 swings to the limit position, the support plate limiting devices 8 contact with the turntable 103 first, the horizontal plate 802 is contacted with the side surface of the lifting column 2 to realize the limit.
The lifting column auxiliary linear unit 4 is a pair of obliquely arranged telescopic linear motion units which are positioned on two sides of the lifting column symmetrically, the lower ends of the telescopic linear motion units are arranged on the rear part of the rotary table 103 in a bilateral symmetry mode through ball pairs respectively, and the upper ends of the telescopic linear motion units are connected to the rear parts of the left side and the right side of the upper connecting body 206 through the ball pairs respectively;
the upper platform 5 is connected with the top of the inner lifting column 203 through a ninth revolute pair 9 ', and the axis of the ninth revolute pair 9 ' is parallel to the axis of the second revolute pair 2 '; the lifting driving device 6 is a linear driving device which is positioned at the left side and the right side of the lifting column and has a direction similar to the direction of the first moving pair, the lower end of the linear driving device is respectively connected with the lower parts of the two sides of the outer lifting column 202 through a tenth revolute pair 10 'and an eleventh revolute pair 11', the upper end of the linear driving device is respectively connected with the two sides of the lower part of the upper platform 5 through a twelfth revolute pair 12 'and a thirteenth revolute pair 13', and the axes of the tenth revolute pair 10 ', the eleventh revolute pair 11', the twelfth revolute pair 12 'and the thirteenth revolute pair 13' are parallel to the axis; furthermore, a guardrail is arranged on the upper platform 5; the lower end of the upper platform 5 can be directly fixed on the top end of the inner lifting column 203, and the lifting driving device 6 in the corresponding embodiment is a single or a plurality of linear driving devices fixed up and down.
The arm main body 7 is a mechanical arm with different functions, the rear end of the arm main body is connected with the front part of the upper platform 5 through a fourteenth revolute pair 14 ', and the axis of the fourteenth revolute pair 14 ' is vertical to the ninth revolute pair 9 ' and is parallel to the upper platform 5; the arm main body 7 can be a telescopic lifting boom 11 with a telescopic pedestrian deck and a guardrail, a linear driving device is connected between the telescopic lifting boom 11 and the upper platform 5 to drive the telescopic lifting boom 11 to rotate around a twelfth revolute pair 12', the telescopic lifting boom 11 completes the telescopic operation through the linear driving device, and the telescopic lifting boom 11 is provided with a lifting hook, a corresponding winch and a corresponding driving device.
The upper end of the rear part of the telescopic crane jib 11 can be respectively connected with one end of two pairs of two connecting rods 12 through a twenty-first revolute pair 21 ', the other end of the two connecting rods is connected with the middle part of the upper platform 5 through a twenty-second revolute pair 22 ', the telescopic crane jib 11, the two connecting rods 12 and the upper platform 5 form a pair of parallelogram mechanisms together, and the two ends of the linear driving device are respectively connected on the twelve revolute pairs 12 ' and the two connecting rod 12 rotating shafts at the moment.
As shown in fig. 5, the arm body 7 can be a foldable multi-joint mechanical arm 13, each joint of the multi-joint mechanical arm 13 is provided with a corresponding driving device, and a mechanical arm or engineering equipment or a hoisting device can be arranged at the end part of the multi-joint mechanical arm 13; as shown in fig. 6, the arm main body 7 can be a downward telescopic super-long mechanical arm 14, the end of the super-long mechanical arm 14 faces downward by a plurality of groups of lever mechanisms with linear drivers, the main body of the super-long mechanical arm 14 is telescopic by a linear driving device, and a bucket is arranged at the end of the super-long mechanical arm 14.
As shown in fig. 7, the rotating base 1 can add a pitching platform 15 that swings up and down on the turntable 103, the pitching driving device 16 is a pair of linear driving devices, and two ends of the linear driving device are connected to the front end of the pitching platform 15 and the turntable 103 through a ball pair, so as to swing up and down the pitching platform 15, the parallelogram mechanism in the swing lifting column 2 in the corresponding embodiment changes from the front-back direction to the left-right direction, the swing lifting column 2 does not pitch back and forth relative to the pitching platform 15 any more, only the left-right swinging capability is retained, and the lifting column auxiliary linear unit 4 is also eliminated.
As shown in fig. 8, an enclosing frame 17 enclosing the swing parallelogram lifting column 2 can be installed on the rotary platform 1, the opening of the enclosing frame 17 is radial, the edge of the radial opening is in tangential contact with each limit position of the lifting column 2 to play a limiting role, and the lifting column auxiliary linear unit 4 in the corresponding embodiment is eliminated.
Further, each linear driving device can be a hydraulic cylinder, an electric cylinder, or a gas spring.
The stable mechanical arm for offshore operation disclosed by the invention has the following working process:
when the ship is influenced by sea waves to generate transverse, longitudinal, yawing, transverse, longitudinal and heave motions, the base of the stable mechanical arm fixed on the deck of the ship also moves along with the sea waves, and the motion is actively compensated by a mechanism on the base, so that the position of the tail end of the mechanical arm is fixed relative to an operation object all the time; the ship transverse swing is mainly compensated by the swinging lifting column 2 driven by the lifting column swing driving device 3 to rotate around the second rotating pair 2 'and the lifting driving device 6 driving the upper platform 5 to rotate around the ninth rotating pair 9'; the ship pitching is mainly compensated by the swinging of the lifting column 2 driven by the lifting column swinging driving device 3 to rotate around the third revolute pair 3 'and the rotation of the mechanical arm 7 driven by the linear driving device around the fourteenth revolute pair 14'; the ship yawing is mainly compensated by the rotation of the rotary table 103 around the first rotating pair 1'; the compensation of the ship rolling is carried out together with the ship rolling; the ship pitching and the ship pitching are carried out together, and meanwhile, the ship pitching and the ship pitching are compensated through the expansion and contraction of the suspension arm 11; the ship heave motion is mainly compensated by driving the upper platform 5 to ascend and descend along the first sliding pair by the lifting driving device 6; the hybrid motion of the ship is finally compensated by coordinating all the drives together, and the compensation is realized in a way that when the ship tilts and displaces in a certain direction under the comprehensive influence of the motion of sea waves, all the drivers of the mechanical arm can drive a certain stroke respectively, so that the pose of the mechanical arm is changed, and the end effector overcomes the tilt and the displacement of the ship; compensation ultimately manifests as the end effector of the robotic arm remaining stationary relative to the work target at all times.
The invention has the following beneficial effects:
the invention can actively compensate the influence of sea waves on the ship, so that the mechanical arm and the operation target are always kept relatively static, the operation difficulty of offshore operation is greatly reduced, the operation efficiency is improved, the collision risk is reduced, and the safety is greatly improved.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A stabilizing mechanical arm for offshore operation comprises a rotating base, a swinging lifting column, a lifting column swinging driving device, a lifting column auxiliary linear unit, an upper platform, a lifting driving device and an arm main body;
the rotary base comprises a base, a turntable bearing, a rotary table and a rotary driver; the base is fixedly arranged on a deck of a ship for offshore operation; the turntable bearing is rotatably connected between the base and the turntable, the axis of the turntable bearing is a first rotating pair, and the axis direction of the turntable bearing is vertical to the plane of the base; the slewing drive drives the slewing bearing;
the swing lifting column comprises a swing frame, an outer lifting column, an inner lifting column, a front connector, a rear connector and an upper connector; the front end and the rear end of the swing frame are rotatably connected with the rotary table through hinged supports and form a second rotating pair, and the axis direction of the second rotating pair is parallel to the plane of the rotary table; the bottom of the outer lifting column is rotatably connected to the left side and the right side of the middle of the swing frame through a third rotating pair, and the axis of the third rotating pair is perpendicular to the axis of the second rotating pair; the inner lifting column and the outer lifting column form a first sliding pair, and the moving direction of the first sliding pair is along the extending direction of the outer lifting column and is vertical to the third revolute pair; the middle part of the upper connecting body is provided with an opening, is sleeved with the lifting column and is rotatably connected with the middle part of the outer lifting column through a fourth rotating pair, and the axis of the fourth rotating pair is parallel to the axis of the third rotating pair; the lower end of the front connecting body is rotatably connected with the left side and the right side of the front part of the swing frame through a fifth rotating pair, the upper end of the front connecting body is rotatably connected with the left side and the right side of the front part of the upper connecting body through a sixth rotating pair, and the axes of the fifth rotating pair and the sixth rotating pair are respectively parallel to the axis of the third rotating pair; the lower end of the rear connecting body is rotatably connected with the left side and the right side of the rear part of the swing frame through a seventh rotating pair, the upper end of the rear connecting body is rotatably connected with the left side and the right side of the rear part of the upper connecting body through an eighth rotating pair, and the axis of the seventh rotating pair and the axis of the eighth rotating pair are respectively parallel to the axis of the third rotating pair;
the lifting column swing driving device is a pair of obliquely arranged linear driving devices which are arranged on the left side and the right side of the lifting column, the lower end of the lifting column swing driving device is symmetrically and rotatably arranged on the front part of the rotary table through universal joints respectively, and the upper end of the lifting column swing driving device is rotatably connected to the left side and the right side of the rear part of the upper connecting body through a ball pair respectively;
the lifting column auxiliary linear units are a pair of obliquely arranged telescopic linear motion units which are arranged on two sides of the lifting column and are symmetrical, the lower ends of the lifting column auxiliary linear units are respectively connected to the rear part of the rotary table through ball pairs in a rotating mode and are symmetrically arranged in a left-right mode, and the upper ends of the lifting column auxiliary linear units are respectively connected to the left side and the right side of the rear part of the upper connecting body through ball pairs in a rotating mode;
the upper platform is rotatably connected with the top of the inner lifting column through a ninth revolute pair, and the axis of the ninth revolute pair is parallel to the axis of the second revolute pair;
the lifting driving device is arranged on the left side and the right side of the lifting column, the lower end of the lifting driving device is respectively and rotatably connected with bosses on the two sides of the outer lifting column through a tenth rotating pair and an eleventh rotating pair, the upper end of the lifting driving device is respectively and rotatably connected with the two sides of the lower part of the upper platform through a twelfth rotating pair and a thirteenth rotating pair, and the axes of the tenth rotating pair, the eleventh rotating pair, the twelfth rotating pair and the thirteenth rotating pair are respectively parallel to the axis of the ninth rotating pair;
the rear end of the arm main body is rotatably connected with the front part of the upper platform through a fourteenth rotating pair, and the axis of the fourteenth rotating pair is perpendicular to the axis of the ninth rotating pair and is parallel to the upper platform.
2. The stabilizing arm as claimed in claim 1, wherein said front, upper, rear, lifting and swinging frame of said swinging lifting column form a double parallelogram mechanism; the clearance between preceding connector, lift post and the back connector can reduce to the contact along with the forward or backward swing of lift post to play pitch limiting displacement, and can control the scope of pitching around adjusting the size in clearance.
3. The stabilizing arm as claimed in claim 1, wherein said lift column auxiliary linear unit is further provided with a support plate limiting device; the upper ends of the two support plates are fixedly connected through a transverse plate, the lower ends of the two support plates are respectively and rotatably connected with hinge bases extending out of the left side and the right side of the swing frame through a fifteenth rotating pair, and the axis of the fifteenth rotating pair is parallel to the second rotating pair; the transverse plate can be attached to the side face of the lifting column, and the support plate limiting device can rotate around the axis of the fifteenth rotating pair in a small range; when the lifting column swings within the normal swing angle range, the support plate limiting device falls outwards by means of self weight to separate the transverse plate from the side surface of the lifting column; when the lifting column swings to the limit position, the support plate limiting device is firstly contacted with the rotary table, and the transverse plate is then contacted with the side face of the lifting column to achieve the functions of limiting power and limiting.
4. The stabilizing arm as claimed in claim 1, wherein a pair of power assist devices are mounted on the left and right sides of the front and rear links of the swing lift column; the power assisting device is a linear driving device, the front end of the power assisting device is rotatably connected with the side face of the front connecting body through a sixteenth rotating pair, the rear end of the power assisting device is rotatably connected with the side face of the rear connecting body through a seventeenth rotating pair, and the axis of the sixteenth rotating pair and the axis of the seventeenth rotating pair are respectively parallel to the axis of the third rotating pair.
5. The stabilizing arm as claimed in claim 1, wherein the inner lifting column of the swing lifting column is internally provided with a linear driving device, the upper end of the linear driving device is fixedly arranged at the bottom of the outer lifting column, the lower end of the linear driving device is fixedly arranged at the inner lifting column, and the upper platform is fixedly connected to the top of the inner lifting column.
6. The stabilizing arm for offshore operations as claimed in claim 1, wherein a ladder with guard rails is installed at the rear of the swing elevating column; the lower end of the guardrail ladder stand is rotatably connected with a hinged support extending out of the rear part of the swing frame through an eighteenth revolute pair; the middle part of the guardrail crawling ladder is rotatably connected with a hinged support extending out of the rear part of the upper connecting body through a nineteenth revolute pair, and the axis of the eighteenth revolute pair and the axis of the nineteenth revolute pair are parallel to the axis of the third revolute pair; guardrail cat ladder, back connector, upper connector and swing span constitute parallelogram, and the second section area guardrail cat ladder is connected through twentieth revolute pair and interior lift capital portion rear end, and its lower extreme passes through the pinch roller contact in the connector rear surface channel-section steel of back.
7. The stabilizing arm as claimed in claim 1, wherein the arm body is a telescopic crane boom with a telescopic deck and a guardrail, and a linear driving device is connected between the telescopic crane boom and the upper platform to drive the telescopic crane boom to rotate around a twelfth revolute pair; the telescopic hoisting boom is telescopic through a linear driving device, and the telescopic hoisting boom is provided with a lifting hook, a corresponding winch and a driving device.
8. The stabilizing arm for offshore operations as claimed in claim 7, wherein: the upper end of the rear part of the telescopic hoisting boom can be respectively connected with the first ends of the two pairs of two connecting rods through the twenty-first revolute pair, the second ends of the two connecting rods are connected with the middle part of the upper platform through the twenty-second revolute pair, the telescopic hoisting boom, the two connecting rods and the upper platform form a pair of parallelogram mechanisms, and two ends of the linear driving device are respectively connected onto the twelfth revolute pair and the rotating shafts of the two connecting rods.
9. The stabilizing arm as claimed in claim 1, wherein the arm body is a foldable multi-joint arm, each joint of the multi-joint arm is provided with a corresponding driving device, and a manipulator or an engineering device or a lifting device can be mounted on an end of the multi-joint arm.
10. The stabilizing arm as claimed in claim 1, wherein the arm body is a downwardly telescopic super long arm, the super long arm is configured to be extended and retracted by a plurality of sets of lever mechanisms with linear actuators, the super long arm body is configured to be extended and retracted by a linear actuator, and a bucket is installed at an end of the super long arm.
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| CN202110023330.2A CN112723194B (en) | 2021-01-08 | 2021-01-08 | Stabilizing mechanical arm for offshore operation |
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| CN202110023330.2A CN112723194B (en) | 2021-01-08 | 2021-01-08 | Stabilizing mechanical arm for offshore operation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114771744A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Marine transfer accommodation bridge comprising three-degree-of-freedom stable platform |
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| CN112723194B (en) | 2021-10-26 |
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