CN116462109A - Stable adjusting mechanism and adjusting method for flexible cable parallel hoisting robot - Google Patents
Stable adjusting mechanism and adjusting method for flexible cable parallel hoisting robot Download PDFInfo
- Publication number
- CN116462109A CN116462109A CN202310353050.7A CN202310353050A CN116462109A CN 116462109 A CN116462109 A CN 116462109A CN 202310353050 A CN202310353050 A CN 202310353050A CN 116462109 A CN116462109 A CN 116462109A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- lifting hydraulic
- robot
- wheels
- electric cylinder
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
- B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a stable adjusting mechanism of a flexible cable parallel hoisting robot, which comprises wheels, a hoisting hydraulic cylinder, a telescopic electric cylinder, universal joints and guide rails. The upper ends of the wheels are hinged with the cylinder body of the hydraulic cylinder, and the lower ends of the wheels are matched with the circular arc-shaped guide rail and can move along the guide rail. The push rod of the lifting hydraulic oil cylinder is hinged with two ends of a universal joint, and the upper end of the universal joint is fixed on the lifting arm of the lifting robot. The two ends of the electric cylinder are respectively hinged with the cylinder bodies of the hydraulic cylinders, the supporting angle between the hydraulic cylinders can be adjusted by adjusting the expansion and contraction amount of the electric cylinder, and the electric cylinder is self-locked through a speed reducer on the electric cylinder, so that the function of stable supporting is realized; the invention can enhance the stability of the parallel flexible rope hoisting robot during operation and can change different working condition modes according to different task demands such as hoisting, rotation and amplitude-changing movement of the hoisting robot.
Description
Master patent No.: 202010810843.3;
the application date of the parent case: 8 months 13 days 2020;
master case name: a stable adjusting mechanism and an adjusting method suitable for a flexible cable parallel hoisting robot;
Technical Field
The invention relates to the field of mechanical equipment, in particular to a stable adjusting mechanism of a flexible cable parallel hoisting robot.
Background
The crane is a multi-action lifting machine for vertically lifting and horizontally carrying heavy objects in a certain range, which is also called a crane and belongs to a material carrying machine.
In recent years, the world economy is rapidly increased, the engineering quantity is continuously increased around the world, and the engineering task is daily
The heavy load trend of the carried materials is that the working environment and the working task of the crane are more and more complex, so the time has higher requirements on the stability of the crane during working.
Currently, some patents have devised means for enhancing the stability of the crane when in operation, which are often associated with the support portion of the crane. Patent application number CN201520259380.0 designs a cantilever crane column reinforcement device with simple structure, which can provide strong supporting force. The patent application number of CN201820357210.X designs a fixing frame for enhancing the stability of a crane during operation. The working principle of the patent is to increase the supporting area of the crane and the ground so as to enhance the stability of the crane.
Disclosure of Invention
The invention designs a stable adjusting mechanism connected with a crane boom, which is different from the traditional device for improving the stability of a crane by increasing the supporting area with the ground, and an auxiliary support is designed for the crane boom of a crane robot. According to the invention, different working condition modes can be changed according to different task demands such as lifting, rotation and luffing movement of the lifting robot.
The invention is realized by the following technical scheme:
a stable adjusting mechanism of a flexible cable parallel hoisting robot is provided with an auxiliary supporting mechanism on a suspension arm of the hoisting robot.
When the hoisting robot lifts by crane and places the motion, the telescopic electric cylinder and the hydraulic cylinder of the auxiliary supporting mechanism are locked, and the auxiliary supporting mechanism provides supporting force for the suspension arm and plays a role in stabilizing.
When the heavy robot rotates, the speed reducer of the telescopic electric cylinder is unlocked, the wheels move along the guide rail along with the suspension arm, and meanwhile, the electric cylinder stretches. When the suspension arm rotates to a designated position, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
When the heavy robot moves in a variable amplitude mode, the speed reducer of the telescopic electric cylinder is unlocked, the telescopic amount of the 2 lifting hydraulic cylinders is changed, meanwhile, the electric cylinders are telescopic, the supporting angle is changed, and the wheels move along the guide rail. When the suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
Further, a guide rail 7 is provided on the foundation of the hoisting robot. The guide rail 7 is an arc or a closed loop. The closed loop is an elliptical loop or a circular loop.
Wheels, a lifting hydraulic cylinder and universal joints are arranged on the lifting robot. Wherein:
the wheels are engaged with the guide rail and move upward.
The upper ends of the wheels are hinged with the cylinder body of the lifting hydraulic cylinder.
The upper end of the universal joint is connected with the crane boom, and the lower end of the universal joint is hinged with the push rod of the lifting hydraulic oil cylinder so as to transmit force and motion between the crane and the stable adjusting mechanism.
Further, the number of the guide rails 7 is 2, which are sequentially called an inner side rail and an outer side rail. A wheel is arranged on each of the inner side rail and the outer side rail. Each wheel is provided with a lifting hydraulic cylinder. The push rod of each lifting hydraulic cylinder is connected with the crane boom through a universal joint.
Further, the number of the guide rails 7 is 2, which are sequentially called an inner side rail and an outer side rail. The wheels on the inner and outer side rails are arranged in one of the following ways:
a. the inner side rail is provided with 1 wheel, and the outer side rail is provided with 2 wheels.
b. The inner side rail is provided with 2 wheels, and the outer side rail is provided with 1 wheel.
Each wheel is provided with a lifting hydraulic cylinder.
When 2 wheels are provided on the inner side rail and 1 wheel is provided on the outer side rail: the pushing rods of the 2 lifting hydraulic cylinders positioned on the inner side rail are connected with the crane boom through the duplex universal joint. The push rod of the lifting hydraulic cylinder positioned on the outer side rail is movably connected with the cross rod or the universal joint.
When 2 wheels are provided on the outer side rail and 1 wheel is provided on the inner side rail: the pushing rods of the 2 lifting hydraulic cylinders positioned on the outer side rail are connected with the crane boom through the duplex universal joint. The push rod of the lifting hydraulic cylinder positioned on the inner side rail is movably connected with the cross rod or the universal joint.
Further, the number of the guide rails 7 is 1. The guide rail 7 is provided with 2 wheels. Each wheel is provided with a lifting hydraulic cylinder. The universal joint is a duplex universal joint. The cross rod is a telescopic electric cylinder.
Further, there are 2 wheels, 1 pair of lifting hydraulic cylinders and 1 universal joint.
Each wheel cooperates with the guide rail and moves upward.
The upper end of each wheel is hinged with the cylinder body of one lifting hydraulic cylinder.
The push rods of the lifting hydraulic cylinders are hinged with the lower ends of the upper ends of the duplex universal joints, and the upper ends of the duplex universal joints are connected with the crane boom to transfer force and motion between the crane and the stable adjusting mechanism.
Further, the cross rod is the telescopic electric cylinder. Namely, a telescopic electric cylinder is arranged between the lifting hydraulic cylinders.
Further, a telescopic electric cylinder is provided. The two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two lifting hydraulic cylinders. The included angle between the pair of lifting hydraulic cylinders is called as the supporting angle of the stable adjusting mechanism, the supporting angle is changed to be 20-50 degrees, the distance from the top end of the push rod of the hydraulic cylinder to the bottom of the cylinder body is the expansion and contraction amount of the stable adjusting mechanism, and the expansion and contraction amount is changed to be 3.5-5 m.
Further, the wheel is composed of a guide wheel, a sliding block, an oil cylinder support, a fixing bolt and a thrust bearing. The guide wheel axle is fixed on the slide block, and the outer edge of the guide wheel axle is in tangential contact with the circular arc guide rail and is used for guiding the movement direction of the wheel. The sliding block is hinged with the oil cylinder support through a fixed bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with the cylinder body of the lifting hydraulic oil cylinder.
The adjusting method of the stable adjusting mechanism comprises the following steps: the drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with a computer. The operating state of the stable adjusting mechanism is known by reading the reading of the encoder. In the case of a single track dual wheel or dual track dual wheel, both wheels, and the corresponding lift cylinders, are distinguished by a and B.
a. When the hoisting robot is in hoisting/placing, the hoisting robot is adjusted as follows:
the speed reducer of the telescopic electric cylinder 3 is self-locked, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is unchanged. The lifting motor drives the rope to ascend/descend to complete the lifting/placing movement of the lifting robot.
b. When the hoisting robot rotates, the hoisting robot is adjusted according to the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The boom rotates, the wheels A1 and B6 follow the boom to move along the guide rail 7, and the electric cylinder 3 stretches and contracts. Preferably, the telescopic range of the electric cylinder is 1-1.6m.
3. The suspension arm rotates to a designated position, the reducer of the electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged.
c. When the robot moves in a variable amplitude mode, the robot is adjusted according to the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The telescopic quantity of the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is changed, the telescopic quantity is changed to be 3.5m-5m, the electric cylinder 3 is telescopic, the telescopic range of the electric cylinder is 1-1.6m, the supporting angle is changed to be 20-50 degrees, and the wheel A1 and the wheel B6 move along the circular arc or circular guide rail 7.
3. The suspension arm is lifted to the designated height, the reducer of the electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged.
The preferable scheme of the invention is as follows:
the stable adjusting mechanism of the flexible cable parallel hoisting robot comprises 2 wheels, 1 pair of hoisting hydraulic cylinders, a telescopic electric cylinder, a duplex universal joint and an arc guide rail, wherein the wheels are matched with the arc guide rail and move on a track, and the upper ends of the wheels are hinged with the cylinder body of the hoisting hydraulic cylinders. The upper end of the duplex universal joint is connected with the crane boom, and the lower end of the duplex universal joint is hinged with the push rod of the lifting hydraulic cylinder so as to transmit force and motion between the crane and the stable adjusting mechanism. And two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two lifting hydraulic cylinders. The included angle between the pair of lifting hydraulic cylinders is called as the supporting angle of the stable adjusting mechanism, and the distance from the top end of the push rod of the hydraulic cylinder to the bottom of the cylinder body becomes the expansion and contraction amount of the stable adjusting mechanism.
The wheel consists of 4 guide wheels, a sliding block, an oil cylinder support, a fixing bolt and a thrust bearing. The guide wheel axle is fixed on the slide block, and the outer edge of the guide wheel axle is in tangential contact with the circular arc guide rail and is used for guiding the movement direction of the wheel. The sliding block is hinged with the oil cylinder support through a fixed bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with the cylinder body of the lifting hydraulic oil cylinder.
The duplex universal joint consists of a hinge link and two fixing joints. Two ends of the hinge link are respectively hinged with two lifting hydraulic cylinders, and the outer sides of the two ends are hinged with two fixed joints and are connected to the crane boom through the fixed joints.
The electric cylinder mainly comprises a motor, a speed reducer, a cylinder body and a push rod. The motor rotates to adjust the elongation of the push rod, and the speed reducer has a self-locking function. The cylinder body and the push rod of the electric cylinder are respectively hinged with the cylinder bodies of the two lifting hydraulic cylinders.
The adjustment method for the foregoing preferred embodiment is as follows:
before the robot lifting operation, the electric cylinder stretches out and draws back to move, corresponds to the lifting hydraulic cylinder and stretches out and draws back to adjust the supporting angle between the corresponding hydraulic cylinders, through the auto-lock of reduction gear, play the effect of steady support.
According to different task demands such as lifting, rotation and luffing movement of a lifting robot, the working condition mode of the stable adjusting mechanism is as follows:
1. the robot rotary motion comprises the following steps:
1. the speed reducer of the telescopic electric cylinder is unlocked.
2. The suspension arm rotates, the wheels move along the guide rail along with the suspension arm, and the electric cylinder stretches and contracts. In this process, if the boom moves from the center of the rail to both ends, the electric cylinder shortens. If the boom moves from the two ends of the guide rail to the center, the electric cylinder is extended.
3. The suspension arm rotates to a designated position, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
2. The robot amplitude-variable movement comprises the following steps:
1. the speed reducer of the telescopic electric cylinder is unlocked.
2.2 jack-up pneumatic cylinder flexible volume changes, and the electronic jar is flexible simultaneously, and support angle changes, and the wheel moves along the guide rail.
3. The suspension arm is lifted to the designated height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
Compared with the prior art, the invention has the advantages that:
1. the invention is used for enhancing the stability of the lifting robot, and can prevent the lifting robot from side turning in addition to enhancing the bearing capacity during lifting movement.
2. The stable adjusting mechanism provided by the invention has a plurality of degrees of freedom, can meet the requirements of different tasks such as lifting, rotating and luffing movements of the lifting robot, and has the function of enhancing stability in the process of executing different tasks.
3. The circle center of the arc guide rail of the stable adjusting mechanism is not coincident with the rotation center of the suspension arm, and the telescopic electric cylinder has a self-locking function. The electric cylinder is self-locking, so that the whole mechanism is fixed, and the safety of lifting movement is enhanced.
4. The stable adjusting mechanism provided by the invention can adopt a double-rail double-wheel structure and a double-rail three-wheel structure, so that the stability of lifting motion and rotation motion is respectively improved.
Drawings
FIG. 1 is a block diagram of a monorail dual wheel of the present invention.
Fig. 2 is a cross-sectional view of the wheel of fig. 1.
Fig. 3 is a structural view of the duplex joint of fig. 1.
FIG. 4 is a schematic diagram of the adjusting method of the present invention.
Fig. 5 is a schematic view of the present invention employing dual rail dual wheels (inside-out).
Fig. 6 is a schematic view of the structure of the present invention using a double-rail three-wheel (inner one and outer two).
Fig. 7 is a schematic view of another construction of the present invention using a dual rail three wheel (inner and outer).
The reference numerals in the figures are: 1-wheel a; 2-lifting hydraulic cylinder A; 3-a telescopic electric cylinder; 4-duplex universal joint; 5-a lifting hydraulic cylinder B; 6-wheel B; 7-arc guide rails; 8-wheels; c9-a lifting hydraulic cylinder C; 101-a guide wheel; 102-a slider; 103-supporting an oil cylinder; 104-fixing bolts; 105-thrust bearing; 401-fixed knot; 402-articulation links; 8-wheels C; 9-lifting hydraulic cylinder C.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, 5, 6 and 7, a stable adjustment mechanism for a parallel-connected flexible-cable lifting robot is provided with an auxiliary support mechanism on a boom of the lifting robot.
When the hoisting robot lifts by crane and places the motion, the telescopic electric cylinder and the hydraulic cylinder of the auxiliary supporting mechanism are locked, and the auxiliary supporting mechanism provides supporting force for the suspension arm and plays a role in stabilizing.
When the heavy robot rotates, the speed reducer of the telescopic electric cylinder is unlocked, the wheels move along the guide rail along with the suspension arm, and meanwhile, the electric cylinder stretches. When the suspension arm rotates to a designated position, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
When the heavy robot moves in a variable amplitude mode, the speed reducer of the telescopic electric cylinder is unlocked, the telescopic amount of the 2 lifting hydraulic cylinders is changed, meanwhile, the electric cylinders are telescopic, the supporting angle is changed, and the wheels move along the guide rail. When the suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
Further, a guide rail 7 is provided on the foundation of the hoisting robot. The guide rail 7 is an arc or a closed loop. The closed loop is an elliptical loop or a circular loop.
Wheels, a lifting hydraulic cylinder and universal joints are arranged on the lifting robot. Wherein:
the wheels are engaged with the guide rail and move upward.
The upper ends of the wheels are hinged with the cylinder body of the lifting hydraulic cylinder.
The upper end of the universal joint is connected with the crane boom, and the lower end of the universal joint is hinged with the push rod of the lifting hydraulic oil cylinder so as to transmit force and motion between the crane and the stable adjusting mechanism.
Referring to fig. 5, 6 and 7, further, the number of guide rails 7 is 2, which are sequentially called an inner side rail and an outer side rail. A wheel is arranged on each of the inner side rail and the outer side rail. Each wheel is provided with a lifting hydraulic cylinder. The push rod of each lifting hydraulic cylinder is connected with the crane boom through a universal joint.
Referring to fig. 6 and 7, further, the number of guide rails 7 is 2, which are sequentially called an inner side rail and an outer side rail. The wheels on the inner and outer side rails are arranged in one of the following ways:
a. there are 1 wheel on the inner side rail and 2 wheels on the outer side rail, as shown in fig. 6.
b. There are 2 wheels on the inner side rail and 1 wheel on the outer side rail as shown in fig. 7.
Each wheel is provided with a lifting hydraulic cylinder.
When 2 wheels are provided on the inner side rail and 1 wheel is provided on the outer side rail: the pushing rods of the 2 lifting hydraulic cylinders positioned on the inner side rail are connected with the crane boom through the duplex universal joint. The push rod of the lifting hydraulic cylinder positioned on the outer side rail is movably connected with the cross rod or the universal joint.
When 2 wheels are provided on the outer side rail and 1 wheel is provided on the inner side rail: the pushing rods of the 2 lifting hydraulic cylinders positioned on the outer side rail are connected with the crane boom through the duplex universal joint. The push rod of the lifting hydraulic cylinder positioned on the inner side rail is movably connected with the cross rod or the universal joint.
Referring to fig. 1, further, there are 1 guide rails 7. The guide rail 7 is provided with 2 wheels. Each wheel is provided with a lifting hydraulic cylinder. The universal joint is a duplex universal joint. The cross rod is a telescopic electric cylinder.
Further, there are 2 wheels, 1 pair of lifting hydraulic cylinders and 1 universal joint.
Each wheel cooperates with the guide rail and moves upward.
The upper end of each wheel is hinged with the cylinder body of one lifting hydraulic cylinder.
The push rods of the lifting hydraulic cylinders are hinged with the lower ends of the upper ends of the duplex universal joints, and the upper ends of the duplex universal joints are connected with the crane boom to transfer force and motion between the crane and the stable adjusting mechanism.
Further, the cross rod is the telescopic electric cylinder. Namely, a telescopic electric cylinder is arranged between the lifting hydraulic cylinders.
Further, a telescopic electric cylinder is provided. The two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two lifting hydraulic cylinders. The included angle between the pair of lifting hydraulic cylinders is called as the supporting angle of the stable adjusting mechanism, the supporting angle is changed to be 20-50 degrees, the distance from the top end of the push rod of the hydraulic cylinder to the bottom of the cylinder body is the expansion and contraction amount of the stable adjusting mechanism, and the expansion and contraction amount is changed to be 3.5-5 m.
Further, the wheel is composed of a guide wheel, a sliding block, an oil cylinder support, a fixing bolt and a thrust bearing. The guide wheel axle is fixed on the slide block, and the outer edge of the guide wheel axle is in tangential contact with the circular arc guide rail and is used for guiding the movement direction of the wheel. The sliding block is hinged with the oil cylinder support through a fixed bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with the cylinder body of the lifting hydraulic oil cylinder.
Referring to fig. 1 and 5, the adjustment method of the stable adjustment mechanism is performed as follows: the drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with a computer. The operating state of the stable adjusting mechanism is known by reading the reading of the encoder. In the case of a single track dual wheel or dual track dual wheel, both wheels, and the corresponding lift cylinders, are distinguished by a and B.
a. When the hoisting robot is in hoisting/placing, the hoisting robot is adjusted as follows:
the speed reducer of the telescopic electric cylinder 3 is self-locked, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is unchanged. The lifting motor drives the rope to ascend/descend to complete the lifting/placing movement of the lifting robot.
b. When the hoisting robot rotates, the hoisting robot is adjusted according to the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The boom rotates, the wheels A1 and B6 move along the guide rail 7 along with the boom, and meanwhile the electric cylinder 3 stretches and contracts, and the stretching range of the electric cylinder is 1-1.6m.
3. The suspension arm rotates to a designated position, the reducer of the electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged.
c. When the robot moves in a variable amplitude mode, the robot is adjusted according to the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The telescopic quantity of the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is changed, the telescopic quantity is changed to be 3.5m-5m, the electric cylinder 3 is telescopic, the telescopic range of the electric cylinder is 1-1.6m, the supporting angle is changed to be 20-50 degrees, and the wheel A1 and the wheel B6 move along the circular arc or circular guide rail 7.
3. The suspension arm is lifted to the designated height, the reducer of the electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged.
The duplex universal joint consists of a hinge link and two fixing joints. The hinge link is hinged with the lifting hydraulic cylinder, and the outer sides of the two ends of the hinge link are hinged with the two fixed links and are connected to the crane boom through the fixed links.
The electric cylinder comprises an electric motor, a speed reducer, a cylinder body, a push rod and the like. The extension of the push rod is regulated by the rotation of the motor, and the speed reducer has a self-locking function. The cylinder body and the push rod of the electric cylinder are respectively hinged with the cylinder body of the adjacent lifting hydraulic cylinder.
Referring to fig. 6 and 7, when three wheels are employed, the control method is as follows:
three wheels and corresponding lifting hydraulic cylinders are distinguished by A, B and C. The drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with a computer. The operating state of the stable adjusting mechanism is known by reading the reading of the encoder. The following control is performed by a computer:
a. when the hoisting robot is in hoisting/placing, the hoisting robot is adjusted as follows:
the speed reducer of the telescopic electric cylinder 3 is self-locked, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is unchanged. The lifting motor drives the rope to ascend/descend to complete the lifting/placing movement of the lifting robot.
b. When the hoisting robot rotates, the hoisting robot is adjusted according to the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The suspension arm rotates, the wheel A1, the wheel B6 and the wheel C8 move along the guide rail 7 along with the suspension arm, and meanwhile, the electric cylinder 3 stretches and contracts, and the stretching range of the electric cylinder is 1-1.6m.
3. The suspension arm rotates to a designated position, the reducer of the electric cylinder 3 is self-locked, the wheels A1, B6 and C8 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged. The lifting hydraulic cylinder C9 adjusts the supporting angle and the telescopic quantity of the lifting hydraulic cylinder with the change of the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5.
c. The variable amplitude motion of the robot is regulated according to the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The telescopic quantity of the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is changed, the telescopic quantity is changed to be 3.5m-5m, the electric cylinder 3 is telescopic, the telescopic range of the electric cylinder is 1-1.6m, the supporting angle is changed to be 20-50 degrees, and the wheel A1, the wheel B6 and the wheel C8 move along the guide rail 7.
3. The suspension arm is lifted to the designated height, the reducer of the electric cylinder 3 is self-locked, the wheels A1, B6 and C8 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged. The lifting hydraulic cylinder C9 is unchanged.
Further explanation of the preferred embodiment is as follows:
as shown in fig. 1, the stable adjustment mechanism of the parallel flexible cable hoisting robot comprises a wheel A1. And a lifting hydraulic cylinder A2. And a telescopic electric cylinder 3. And a duplex universal joint 4. And a lifting hydraulic cylinder B5. And a wheel B6. And a circular arc guide rail 7. Wherein:
the wheels A1 and B6 move on the circular arc guide rail 7 to adjust the space state of the stable adjusting mechanism so as to meet the requirements of different working modes of the hoisting robot. The upper ends of the wheels A1 and B6 are respectively hinged with the cylinder bodies of the lifting hydraulic cylinders A2 and B5 and bear the supporting force of the hydraulic cylinders.
The upper end of the duplex universal joint 4 is connected to the suspension arm, and two sides of the lower end of the duplex universal joint are hinged with push rods of the lifting hydraulic oil cylinder A2 and the lifting hydraulic oil cylinder B5 respectively.
The push rod of the telescopic electric cylinder 3 is hinged with the cylinder body of the lifting hydraulic cylinder A2, and the cylinder body of the telescopic electric cylinder 3 is hinged with the cylinder body of the lifting hydraulic cylinder B5.
As shown in fig. 2, the wheel is composed of a guide wheel 101, a slider 102, an oil cylinder support 103, a fixing bolt 104, and a thrust bearing 105. The wheel axle of the guide wheel 101 is fixed on the slide block 102, and the outer edge of the wheel axle is in tangential contact with the circular arc guide rail 7 for guiding the movement direction of the wheel. The sliding block 102 is hinged with the oil cylinder support 103 through a fixed bolt and a 104 thrust bearing 105, and the upper end of the oil cylinder support 103 is hinged with the body of the lifting hydraulic oil cylinder.
As shown in fig. 3, the duplex universal joint is composed of a fixed joint 401 and a hinge joint 402. The two ends of the hinge link 402 are respectively hinged with two lifting hydraulic cylinders, and the outer sides of the two ends are further hinged with two fixed joints 401 and are connected to the crane boom through the fixed joints 401.
As shown in fig. 4, the stable adjusting mechanism for the parallel flexible cable lifting robot comprises two variables during adjustment, wherein the included angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is called the supporting angle of the stable adjusting mechanism, and the distance from the top end of a push rod of the lifting hydraulic cylinder to the bottom of a cylinder body becomes the expansion and contraction amount of the stable adjusting mechanism.
The working condition modes of the stable adjusting mechanism are as follows, which are described by combining different tasks such as lifting, turning and luffing motions of the lifting robot:
1. the robot rotary motion comprises the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The boom rotates, the wheels A1 and B6 follow the boom to move along the guide rail 7, and the electric cylinder 3 stretches and contracts.
3. The suspension arm rotates to a designated position, the reducer of the electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged.
2. The robot amplitude-variable movement comprises the following steps:
1. the decelerator of the telescopic electric cylinder 3 is unlocked.
2. The telescopic amounts of the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 are changed, the electric cylinder 3 is telescopic, the supporting angle is changed, and the wheels A1 and the wheels B6 move along the arc guide rail 7.
3. The suspension arm is lifted to the designated height, the reducer of the electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the supporting angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the expansion and contraction amount of the cylinder are unchanged.
Claims (10)
1. Stability adjustment mechanism of parallelly connected hoisting robot of flexbile rope, its characterized in that: an auxiliary supporting mechanism is arranged on the suspension arm of the hoisting robot;
when the hoisting robot lifts and places and moves, the telescopic electric cylinder and the hydraulic cylinder of the auxiliary supporting mechanism are locked, and the auxiliary supporting mechanism provides supporting force for the suspension arm to play a role in stabilization;
when the heavy robot rotates, the speed reducer of the telescopic electric cylinder is unlocked, the wheels move along the guide rail along with the suspension arm, and meanwhile, the electric cylinder stretches. When the suspension arm rotates to a designated position, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged;
when the heavy robot moves in a variable amplitude mode, the speed reducer of the telescopic electric cylinder is unlocked, the telescopic amount of the 2 lifting hydraulic cylinders is changed, meanwhile, the electric cylinders are telescopic, the supporting angle is changed, and the wheels move along the guide rail. When the suspension arm is lifted to a specified height, the electric cylinder speed reducer is self-locked, the wheels stop moving, and the supporting angle between the lifting hydraulic cylinders and the expansion and contraction amount of the cylinders are unchanged.
2. The stable adjustment mechanism of a parallel flexible hoisting robot according to claim 1, wherein the hoisting robot is provided with a boom comprising a boom; the method is characterized in that: a guide rail (7) is arranged on the foundation of the hoisting robot; the guide rail (7) is an arc or a closed loop; the closed loop is an elliptical loop or a circular loop;
wheels, a lifting hydraulic cylinder and a universal joint are arranged on the lifting robot; wherein:
wheels are matched with the guide rail and move upwards;
the upper ends of the wheels are hinged with the cylinder body of the lifting hydraulic cylinder;
the upper end of the universal joint is connected with the crane boom, and the lower end of the universal joint is hinged with the push rod of the lifting hydraulic oil cylinder so as to transmit force and motion between the crane and the stable adjusting mechanism.
3. The stability adjustment mechanism of a parallel flexible cable hoist robot of claim 2, characterized in that: the number of the guide rails (7) is 2, which are sequentially called an inner side rail and an outer side rail; the inner side rail and the outer side rail are respectively provided with a wheel; each wheel is provided with a lifting hydraulic cylinder; the push rod of each lifting hydraulic cylinder is connected with the crane boom through a universal joint.
4. The stability adjustment mechanism of a parallel flexible cable hoist robot of claim 2, characterized in that: the number of the guide rails (7) is 2, which are sequentially called an inner side rail and an outer side rail; the wheels on the inner and outer side rails are arranged in one of the following ways:
a. the inner side rail is provided with 1 wheel, and the outer side rail is provided with 2 wheels;
b. the inner side rail is provided with 2 wheels, and the outer side rail is provided with 1 wheel;
each wheel is provided with a lifting hydraulic cylinder;
when 2 wheels are provided on the inner side rail and 1 wheel is provided on the outer side rail: the pushing rods of the 2 lifting hydraulic cylinders positioned on the inner side rail are connected with the crane boom through a duplex universal joint; a push rod of a lifting hydraulic cylinder positioned on the outer side rail is movably connected with the cross rod or the universal joint;
when 2 wheels are provided on the outer side rail and 1 wheel is provided on the inner side rail: the pushing rods of the 2 lifting hydraulic cylinders positioned on the outer side rail are connected with the crane boom through a duplex universal joint; the push rod of the lifting hydraulic cylinder positioned on the inner side rail is movably connected with the cross rod or the universal joint.
5. The stability adjustment mechanism of a parallel flexible cable hoist robot of claim 2, characterized in that: the number of the guide rails (7) is 1; 2 wheels are arranged on the guide rail (7); each wheel is provided with a lifting hydraulic cylinder.
6. The stability adjustment mechanism of a parallel flexible cable hoist robot of claim 2 or 5, characterized in that: the device is provided with 2 wheels, 1 pair of lifting hydraulic cylinders and 1 universal joint respectively;
each wheel is matched with the guide rail and moves upwards;
the upper end of each wheel is hinged with the cylinder body of one lifting hydraulic cylinder;
the push rods of the lifting hydraulic cylinders are hinged with the lower ends of the upper ends of the duplex universal joints, and the upper ends of the duplex universal joints are connected with the crane boom to transfer force and motion between the crane and the stable adjusting mechanism.
7. The stability adjustment mechanism of a parallel flexible cable hoisting robot according to claim 2 or 4, wherein: the cross rod is a telescopic electric cylinder; namely, a telescopic electric cylinder is arranged between the lifting hydraulic cylinders.
8. The stability adjustment mechanism of a parallel flexible cable hoist robot of claim 6, characterized in that: a telescopic electric cylinder is arranged; two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two lifting hydraulic cylinders; the included angle between the pair of lifting hydraulic cylinders is called a supporting angle of the stable adjusting mechanism, the supporting angle is changed to be 20-50 degrees, the distance from the top end of a push rod of the hydraulic cylinder to the bottom of the cylinder body is the expansion and contraction amount of the stable adjusting mechanism, and the expansion and contraction amount is changed to be 3.5-5 m.
9. The stability adjustment mechanism of a parallel flexible cable hoist robot of claim 2, characterized in that: the wheel consists of a guide wheel, a sliding block, an oil cylinder support, a fixed bolt and a thrust bearing; the guide wheel axle is fixed on the slide block, and the outer edge of the guide wheel axle is in tangential contact with the circular arc guide rail and is used for guiding the movement direction of the wheel; the sliding block is hinged with the oil cylinder support through a fixed bolt and a thrust bearing, and the upper end of the oil cylinder support is hinged with the cylinder body of the lifting hydraulic oil cylinder.
10. The adjustment method of any one of the stable adjustment mechanisms according to claims 1-9, characterized in that: the method comprises the following steps:
a) When the hoisting robot is in hoisting/placing, the hoisting robot is adjusted as follows:
the speed reducer of the telescopic electric cylinder (3) is self-locked, and the supporting angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the telescopic amount of the cylinder are unchanged. The lifting motor drives the rope to ascend/descend to finish the lifting/placing movement of the lifting robot;
b) When the hoisting robot rotates, the hoisting robot is adjusted according to the following steps:
1. unlocking a speed reducer of the telescopic electric cylinder 3;
2. the suspension arm rotates, the wheels A (1) and B (6) move along the guide rail (7) along with the suspension arm, and the electric cylinder (3) stretches;
3. the suspension arm rotates to a designated position, the reducer of the electric cylinder (3) is self-locked, the wheels A (1) and B (6) stop moving, and the supporting angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the expansion and contraction amount of the cylinder are unchanged;
c) When the robot moves in a variable amplitude mode, the robot is adjusted according to the following steps:
1. unlocking a speed reducer of the telescopic electric cylinder (3);
2. the telescopic quantity of the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) is changed, the telescopic quantity is changed to be 3.5m-5m, meanwhile, the electric cylinder (3) is telescopic, the telescopic range of the electric cylinder is 1-1.6m, the supporting angle is changed to be 20-50 degrees, and the wheels A1 and B6 move along an arc or circular guide rail (7);
3. the suspension arm is lifted to a specified height, the reducer of the electric cylinder (3) is self-locked, the wheels A (1) and B (6) stop moving, and the supporting angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the expansion and contraction amount of the cylinder are unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310353050.7A CN116462109A (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method for flexible cable parallel hoisting robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310353050.7A CN116462109A (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method for flexible cable parallel hoisting robot |
| CN202010810843.3A CN111847285B (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010810843.3A Division CN111847285B (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116462109A true CN116462109A (en) | 2023-07-21 |
Family
ID=72968600
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010810843.3A Active CN111847285B (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot |
| CN202310353050.7A Pending CN116462109A (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method for flexible cable parallel hoisting robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010810843.3A Active CN111847285B (en) | 2020-08-13 | 2020-08-13 | Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111847285B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405502B (en) * | 2020-11-20 | 2022-02-18 | 哈尔滨工业大学（深圳） | Movable anchor point seat type rope-driven parallel robot |
| CN113879993A (en) * | 2021-09-14 | 2022-01-04 | 合肥工业大学 | Flexible cable parallel stabilizing mechanism for preventing automobile crane from side turning and adjusting method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005047745A1 (en) * | 2005-09-28 | 2007-03-29 | Terex-Demag Gmbh & Co. Kg | Movable crane e.g. crawler crane, for lifting load, has four supports, in which two supports are aligned longitudinal to driving direction within track of truck and other supports are aligned transverse to driving direction outside track |
| CN201284200Y (en) * | 2008-08-21 | 2009-08-05 | 徐州徐工随车起重机有限公司 | Eight shaped supporting leg of engineering machinery |
| CN201458598U (en) * | 2009-08-12 | 2010-05-12 | 于广普 | Automobile crane |
| CN204265262U (en) * | 2014-12-01 | 2015-04-15 | 河南省矿山起重机有限公司 | A kind of grade beam and use traveling gear, the hoisting crane of this walking grade beam of walking |
| CN108584697B (en) * | 2018-01-08 | 2019-11-05 | 上海工程技术大学 | It is a kind of to walk eccentric cam clamp system with self adaptive curved shape single track |
-
2020
- 2020-08-13 CN CN202010810843.3A patent/CN111847285B/en active Active
- 2020-08-13 CN CN202310353050.7A patent/CN116462109A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN111847285A (en) | 2020-10-30 |
| CN111847285B (en) | 2023-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111847285B (en) | Stable adjusting mechanism and adjusting method suitable for flexible cable parallel hoisting robot | |
| US3247974A (en) | Grab stabilizer for cranes | |
| CN107010550A (en) | A kind of counterweight can adjust cantilever type rotating crane | |
| CN109335999A (en) | Light-duty floor truck | |
| CN106270344A (en) | Heavy duty forging operation machine people | |
| CN108706433A (en) | Symmetrical displacement type doube bridge crane | |
| CN207932939U (en) | a kind of multifunctional crane | |
| CN108609197A (en) | A kind of ski type helicopter ground omnidirectional mobile device | |
| CN202296907U (en) | Suspension arm balanced movable arm tower crane capable of luffing based on steel rope traction | |
| CN202542723U (en) | Control cabin regulating mechanism and engineering machine | |
| CN2110010U (en) | Automatic flat-adjusting machanism for working terrace of high-altitude work vehicle | |
| CN116553372A (en) | Lifting equipment for bridge construction and bridge construction method | |
| CN103043536A (en) | Rigid four-bar balance crane | |
| CN116062632A (en) | Crane rollover prevention support | |
| CN216971234U (en) | Right-angle type stacker crane | |
| CN213976875U (en) | Straight arm double-rotation maintenance operation platform mechanism | |
| CN112723194B (en) | Stabilizing mechanical arm for offshore operation | |
| CN206427936U (en) | A kind of heavy crawler formula lifts transporter | |
| CN208731243U (en) | A kind of ski type helicopter ground omnidirectional mobile device | |
| CN109537433B (en) | All-directional automatic pushing platform for pontoon bridge | |
| CN101570305B (en) | Spatial multi-connecting bar forktruck lift guide mechanism | |
| CN216613822U (en) | Tire type portal crane device | |
| CN216406852U (en) | Large-diameter shield segment crane | |
| CN216553956U (en) | Trolley of multifunctional arch frame manipulator | |
| CN215202029U (en) | Truss manipulator |
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 |