CN116835466A - Sea and land dual-purpose multifunctional hoisting equipment with modularized end effector - Google Patents

Abstract

The invention provides marine and land dual-purpose multifunctional hoisting equipment with a modularized end effector, which relates to the technical field of marine cranes and comprises a hoisting equipment body, a cross wheel type hoisting head, a parallel flexible rope mechanism, an intelligent grabbing mechanism and the modularized end effector; the constant-angle telescopic cross wheel type crane head mechanism comprises an auxiliary crane arm, the other end of the auxiliary crane arm is connected with a crane arm head, a turntable moment motor and a lifting steel wire rope tension sensor are arranged on the auxiliary crane arm, the crane arm head is of an outer eight-prismatic ring structure, and four side short arms of the crane arm head are respectively provided with an anti-falling rope type double-layer guide wheel group mechanism; the lower part of the suspension arm head is sequentially connected with a cross wheel type suspension arm head, an intelligent grabbing mechanism and a modularized end effector; the device adopts an intelligent grabbing mechanism to realize efficient, safe and intelligent grabbing of the heavy objects, and adopts a parallel flexible rope mechanism to utilize four stable hoisting steel wire ropes to stabilize the hoisting and transporting process.

Description

Sea and land dual-purpose multifunctional hoisting equipment with modularized end effector

Technical Field

The invention relates to the technical field of offshore cranes, in particular to a marine and land dual-purpose multifunctional hoisting device with a modularized end effector.

Background

The marine crane is a special crane for carrying out transportation operation in an offshore environment, and belongs to one of core technical equipment in the fields of ships and ocean engineering. With the rapid growth of global economy and further demands for marine resource exploration, marine cranes are widely used to perform important tasks such as transportation and transfer of goods, offshore replenishment, and release and recovery of underwater operation equipment. In recent years, various trade and installation operations on the sea are emerging and prosperous, and cargo transferring operations between ships are performed more frequently on the sea surface, which further increases the demand of the marine crane and puts higher demands on the safety performance, lifting capacity and operation intellectualization thereof.

However, on the one hand, the use of a ship crane for transferring ship load is challenging in severe sea conditions, and the ship crane can generate larger swinging due to inertia and external disturbance of the crane during operation, and the swinging not only seriously hinders the improvement of the working efficiency, but also can seriously affect surrounding people or cargoes; on the other hand, the crane belongs to intermittent operation equipment and mainly comprises three operation mechanisms of lifting, rotating and luffing, and the crane can be operated singly or jointly during working, and any one operation comprises acceleration, deceleration and braking processes, so that the crane swings.

When the current crane carries out transfer operation, external natural factors such as wind force or misoperation of operators can cause the crane to shake again, and the crane weight swinging in the transfer process is reduced by arranging an anti-swing auxiliary arm at the tail end of the crane arm, installing a lifting appliance anti-swing buffer device, arranging a gravity center lifting type crane anti-swing device and the like. In the prior art, the hoisting and transferring process is swayed due to the influence of the lifting and amplitude-changing actions of the crane, and the control mode of the crane for realizing the stabilization is complex. Personnel are needed to assist in grabbing and transferring operation, and grabbing and transferring efficiency and automation degree are low. Aiming at the problems of the prior art, a lifting and transferring device which is applicable to different working scenes and has high working efficiency is to be designed.

Disclosure of Invention

According to the technical problems of low transfer efficiency, complex control and poor anti-rolling effect of the existing crane, the marine and land dual-purpose multifunctional hoisting equipment with the modularized end effector is provided. The invention mainly utilizes the constant-angle telescopic cross wheel type crane head mechanism to ensure the stability of the crane weight when the crane performs lifting and amplitude-changing actions. The telescopic mechanical arm is adopted to carry out real-time length self-adaptive adjustment according to the lifting height and the actual swinging angle so as to achieve the best anti-rolling effect. Four stable hoisting steel wires of the parallel flexible rope mechanism are utilized to stabilize the hoisting and transporting process, and the intelligent grabbing mechanism is adopted to realize the high automation of the grabbing and transporting process of the heavy objects.

The invention adopts the following technical means:

a marine and land dual-purpose multifunctional hoisting device with a modularized end effector comprises a hoisting device body, a cross wheel type hoisting head, a parallel flexible rope mechanism, an intelligent grabbing mechanism and the modularized end effector;

the hoisting equipment body comprises an equipment base, a slewing mechanism and a cab are sequentially arranged above the equipment base, and the upper part of the cab is connected with one end of the main boom and is provided with an amplitude angle sensor at the joint; two hydraulic cylinder amplitude changing mechanisms which have the same parameters and synchronously move are symmetrically arranged on two sides of the cab, two ends of the hydraulic cylinder amplitude changing mechanisms are respectively connected with the slewing mechanism and the main suspension arm, and an anti-falling rope type guide wheel set mechanism is arranged at the top end of the cab;

the auxiliary boom is connected with one end of the main boom, a feedback angle sensor is arranged at the joint, the other end of the auxiliary boom is connected with a boom head, a turntable torque motor and a lifting steel wire tension sensor are arranged on the auxiliary boom, the boom head is of an outer eight-prismatic-ring structure, and four lateral short arms of the boom head are respectively provided with an anti-rope-falling double-layer guide wheel group mechanism;

The lower part of the suspension arm head is sequentially connected with a cross wheel type suspension arm head, an intelligent grabbing mechanism and a modularized end effector;

the rotatable stable lifting hook is internally provided with a gesture sensor, gesture signals of the intelligent grabbing mechanism and the modularized end effector are measured in real time by the gesture sensor and fed back to the control system, the rotatable stable lifting hook drives the double-layer rotary disc and the lower structure of the double-layer rotary disc to rotate, and the lifting wire rope is fixed at the upper end of the rotatable stable lifting hook through a central hole of the rotatable stable lifting hook.

Further, the parallel flexible rope mechanism comprises a flexible steel wire rope and a lifting steel wire rope, one end of the flexible steel wire rope is connected with a driving device arranged in the equipment base, and the other end of the flexible steel wire rope is sequentially connected with the periphery of the rotatable stable lifting hook after passing through the anti-falling rope type guide wheel set mechanism, the stable lifting steel wire rope tension sensor and the anti-falling rope type double-layer guide wheel mechanism; one end of the lifting wire rope is connected with a lifting wire rope motor group arranged in the equipment base, and the other end of the lifting wire rope is fixedly connected with the top end of the rotatable stable lifting hook after sequentially passing through an anti-falling rope type guide wheel group mechanism, a lifting wire rope tension sensor, a lifting wire rope guide wheel and a crisscross four-axis limiter.

Further, the parallel flexible cable mechanism comprises a lifting steel wire and four stable lifting steel wire, and the stable lifting steel wire is symmetrically distributed on the inner side and the outer side by taking the lifting steel wire as the center; the two outer stable hoisting steel wires are connected with the inner end guide wheel of the suspension arm head; the two stable hoisting steel wires on the inner side are connected with the outer end guide wheel of the suspension arm head.

Further, the amplitude variation angle sensor feeds back an amplitude variation signal to the control system, the control system synchronously controls the turntable torque motor to rotate according to the amplitude variation signal, so that the auxiliary boom is parallel to the reference surface of the base, the feedback angle sensor measures the angle of the auxiliary boom in real time and feeds back the angle to the control system, the control system calculates the difference value between the amplitude variation angle fed back to the control system by the amplitude variation angle sensor and the angle of the auxiliary boom measured by the feedback angle sensor, and further controls the rotation of the auxiliary boom, so that the rotation angle of the auxiliary boom is equal to the rotation angle of the main boom in opposite directions, and the auxiliary boom is always guaranteed to be parallel to the reference surface of the base, so that the control loop forms closed-loop control.

Further, be provided with two inner guide pulleys of davit head and two outer guide pulleys of davit head on the davit head upper surface, the one end that the davit head is close to vice davit is provided with combination formula guide stopper, be provided with the fixed plate in the middle of the combination formula guide stopper, the fixed plate top is provided with the anticreep rope guide pulley, be provided with first rope guide hole on the fixed plate, the fixed plate below is provided with the strengthening rib, and the below of combination formula guide stopper is provided with the crossed four-axis stopper, the crossed four-axis stopper of crossing comprises four pivot symmetry.

Further, the rope-releasing-preventing double-layer guide wheel mechanism comprises two guide wheels connected through a middle partition board, second rope guide holes are formed in two sides of the partition board, rope-releasing-preventing pulleys are arranged on the outer edges of the guide wheels, two bearings inside the rope-releasing-preventing pulleys are distributed coaxially and symmetrically, and the two guide wheels are arranged in the same plane and share a base for supporting.

Further, the cross wheel type lifting head comprises a square frame, a fixing support extends inwards at the centers of four sides of the frame, the other end of the fixing support is connected with a round hole type outer eight-prismatic ring arranged at the center of the frame, a round hole ring is arranged at the lower end of the round hole type outer eight-prismatic ring, the diameter of the round hole ring is equal to that of the bottom end of the rotatable stable lifting hook, four telescopic mechanical arms are led out from the side edges of the round hole type outer eight-prismatic ring to the diagonal line on the bottom surface of the cross wheel type lifting head, each telescopic mechanical arm comprises an outer arm and an inner arm which are connected, the inner arm is telescopic, and an anti-falling rope type double-layer guide wheel mechanism is arranged at the outermost end of the inner wall; the middle part of the upper surface of the telescopic mechanical arm is provided with a stable hoisting steel wire rope tension sensor, and a flange plate at the upper end of the cross wheel type lifting head is fixedly connected with the telescopic mechanical arm through an inclined fixing arm; the inclined fixing arm is provided with a guide wheel.

Further, the intelligent grabbing mechanism comprises a double-layer rotary disc connected with the rotatable stable lifting hook, the double-layer rotary disc is in a reverse truncated cone shape, the outer diameter of the bottom edge of the upper layer of the double-layer rotary disc is larger than that of the bottom edge of the lower layer of the double-layer rotary disc, the upper layer of the double-layer rotary disc is connected with the rotatable stable lifting hook through a slewing bearing, the double-layer rotary disc is fixedly connected with a circular groove type sliding rail structure, and the rotary limiting clamping hook is matched with a hole of a fixed connecting piece at the upper end of the square fixing frame through a rotating shaft mechanism to realize rotation; the width of the intermediate shaft of the rotary limiting hook is equal to the width of the gap of the coaxial fixed connecting piece, the front end of the rotary limiting hook is a right-angle hook, and the rotary limiting hook is fixed with the limiting clamping groove at the outer edge of the cylinder type secondary slideway after rotating downwards to the angle set by the control system; the rotary limiting hook realizes the rotation when moving downwards through the rotating shaft mechanism, and the upper section of the circular groove type sliding rail is provided with a circular groove hole.

Further, the round slot type sliding rail is in a three-section type, the upper section of the round slot type sliding rail is fixedly connected with the lower layer of the double-layer rotary disc, four pairs of round slot holes are uniformly formed in the periphery of the upper section of the round slot type sliding rail, the round slot holes provide a tail end translation sliding rail for the rotary limiting hooks in the downward moving and transferring process, and the upper section of the round slot type sliding rail limits the upper limit of the displacement of the square fixing frame;

Four corners of the middle section of the round groove type sliding rail are provided with four round groove structures, and the square body fixing frame is matched with the round groove structures to form a sliding rail mechanism so as to realize vertical up-and-down sliding;

the outer diameter of the lower section of the circular groove type sliding rail is smaller than the outer diameter of the outline of the cylinder type secondary sliding rail, an upward groove structure is formed in the middle of the bottom surface of the lower section of the circular groove type sliding rail, and the groove structure is in butt joint fit with the modularized end effector;

a round hole is formed in the lower plane of the square fixing frame, and the round hole in the lower plane of the square fixing frame is equal to the outer diameter of a groove structure in the bottom surface of the lower section of the circular groove type sliding rail; the four corners of the lower plane of the square body fixing frame are provided with sliding column structures which are tightly matched with the four round groove structures in the middle section of the round groove type sliding rail in a sliding manner; the lower plane protruding structure of the square fixing frame can slide up and down in the middle section circular groove structure of the circular groove type sliding rail.

Further, the modular end effector comprises a cylinder-type secondary slideway and an intelligent lifting hook which are connected; the intelligent lifting hook is automatically opened and closed through a steering engine control claw hook;

the cylinder type secondary slide way comprises a first movement stage and a second movement stage, wherein the first stage is that the bottom surface of the lower section of the circular groove type slide rail freely falls down to the middle limit baffle after entering a cylinder; the second stage is that the peripheral sliding columns move downwards to the middle limit baffle along the inner sliding rail of the cylinder and are contacted with the upper end connecting plate of the intelligent lifting hook; the lower surface of the circumferential outline of the upper end of the cylinder type secondary slideway is provided with limit clamping grooves with the same number as the rotary limit clamping hooks; the limiting clamping groove is mechanically limited and fixed with the rotary limiting clamping hook; the outer diameter of the profile of the upper end of the cylinder type secondary slide rail is larger than that of the profile of the bottom surface of the lower section of the circular groove type slide rail; the bottom surface of the lower section of the circular groove type sliding rail freely falls down at the upper end of the cylinder type secondary sliding rail; a limit baffle is arranged in the middle of the cylinder type secondary slideway, and sliding columns are arranged around the lower part of the limit baffle and are matched with the sliding rails of the modularized end effector;

The upper surface of the sliding rail of the modularized end effector is provided with a boss protruding upwards; the boss is equal with the external diameter of the lower section bottom surface groove structure of the circular groove type sliding rail, and the boss is matched with the groove structure.

Compared with the prior art, the invention has the following advantages:

the traditional lifting device crane boom head is directly connected with the lifting hook through the rope to operate, so that the safety and the working efficiency are difficult to guarantee. The device adopts an intelligent grabbing mechanism to realize efficient, safe and intelligent grabbing of the heavy objects, and adopts a parallel flexible rope mechanism to utilize four stable hoisting steel wire ropes to stabilize the hoisting and transporting process.

The intelligent grabbing mechanism of the device can realize automatic unhooking of the hanging weight only in a zero gravity state. When the hoisting equipment works, the motor is synchronously controlled to rotate according to the amplitude variation signal fed back by the amplitude variation angle sensor, so that the constant-angle telescopic cross wheel type hoisting head mechanism is always parallel to the reference surface of the hoisting equipment base. The feedback angle sensor measures the angle of the auxiliary boom in real time and feeds back the angle to the control system to form closed loop control.

In the constant-angle telescopic cross wheel type hanging head mechanism, four stable hanging steel wire ropes are uniformly and symmetrically distributed on the inner side and the outer side, and are respectively and symmetrically distributed with a cross wheel type hanging head in a cross way through an inner side guide wheel and an outer side guide wheel. The lifting steel wire rope passes through the combined guide limiting block at the position of the boom head to realize rope falling prevention and friction prevention. The device can replace other modularized end effectors according to actual operation requirements and operation scenes to flexibly and efficiently work.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

Fig. 1 is an overall construction diagram of the present invention.

Fig. 2 is a schematic view of a boom head according to the present invention.

Fig. 3 is a schematic view of a cross-wheel hoist of the present invention.

Fig. 4 is a schematic view of a combined guide and stopper according to the present invention.

FIG. 5 is a schematic diagram of an anti-rope-disengagement double-layer guide wheel mechanism of the invention.

Fig. 6 is a front view of the intelligent grabbing mechanism of the present invention.

Fig. 7 is a bottom view of the intelligent gripping mechanism of the present invention.

Fig. 8 is a positional relationship diagram of the intelligent grabbing mechanism of the present invention.

In the figure: 1. an equipment base; 2. a slewing mechanism; 3. hoisting the equipment body; 4. a cab; 5. a hydraulic cylinder amplitude variation mechanism; 6. a luffing angle sensor; 7. an anti-falling rope guide wheel set mechanism; 8. a main boom; 9. a feedback angle sensor; 10. a turntable torque motor; 11. an auxiliary boom; 1101. an inner end guide wheel; 1102. an outer end guide wheel; 12. a hoisting wire rope tension sensor; 13. a combined guide limiting block; 1301. a crisscross four-axis limiter; 1302. an anti-rope-falling guide wheel; 1303. a rotating shaft; 1304. reinforcing ribs; 1305. a fixing plate; 14. a boom head; 15. an anti-rope-falling type double-layer guide wheel group mechanism; 1501. the first guide wheel; 1502. a second rope guide hole; 1503. a middle partition plate; 1504. a base support; 1505. an anti-falling rope pulley; 16. cross wheel type hanging head; 1601. a frame; 1602. a fixed bracket; 1603. a circular hole type outer eight prismatic ring; 1604. a circular hole ring; 1605. a flange plate; 1606. a tilt fixing arm; 1607. the second guide wheel; 17. a retractable mechanical arm; 18. a parallel flexible cable mechanism; 19. a rotatable stabilizing hook; 20. an intelligent grabbing mechanism; 2001. a double-layer rotary disc; 2002. round groove type slide rail; 2003. a square body fixing frame; 2004. a rotary limiting clamping hook; 2005. a boss; 2006. a circular slot; 2007. a round groove structure; 2008. a cylinder type secondary slideway; 2009. a groove structure; 2010. fixing the connecting piece; 2011. a limit baffle; 2012. a limit clamping groove; 21. a modular end effector; 2101. an intelligent lifting hook; 2102. steering engine; 2103. a control claw hook; 22. stably hoisting the wire rope tension sensor; 23. and lifting the steel wire rope guide wheel.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

As shown in fig. 1-8, the invention provides a marine and land dual-purpose multifunctional hoisting device with a modularized end effector, which comprises a hoisting device base 1, a cab 4 and a main boom 8. The lifting device is characterized in that a driving device of a slewing mechanism 2 is arranged in the lifting device base, the slewing mechanism 2 is arranged above the lifting device base 1, and a cab 4 is arranged on a machine body above the slewing mechanism 2.

Two hydraulic cylinder amplitude changing mechanisms 5 which have the same parameters and synchronously move are symmetrically arranged on two sides of the cab 4; further, a power device for driving the hydraulic cylinder luffing mechanism 5 is positioned in the hoisting device base 1.

And a driving device matched with the number of the flexible steel wire ropes in the parallel flexible rope mechanism 18 is arranged in the hoisting equipment base 1. The top of the cab 4 is provided with an anti-falling rope type guide wheel set mechanism 7, and one end of the parallel flexible steel wire rope is connected with the output end of a driving device arranged in the hoisting device base 1. The other ends of the four stable hoisting steel wire ropes sequentially pass through the anti-falling rope type guide wheel group mechanism 7, the stable hoisting steel wire rope tension sensor 22 and the anti-falling rope type double-layer guide wheel mechanism 15 and are connected with the periphery of the rotatable stable lifting hook 19;

One end of the lifting wire rope is connected with the output end of a lifting wire rope motor group arranged in the lifting equipment base 1, and the other end of the lifting wire rope is fixedly connected with the top end of the rotatable stable lifting hook 19 after sequentially passing through the anti-falling rope guide wheel group mechanism 7, the lifting wire rope tension sensor 12, the lifting wire rope guide wheel 23 and the crossed four-axis limiter 1301;

the parallel flexible cable mechanism 18 includes five flexible wires, including one lifting wire and four stable lifting wires. The five parallel flexible steel wire ropes are symmetrically distributed on the inner side and the outer side by taking the lifting steel wire rope as the center; the two outer stable hoisting steel wires are connected with the guide wheel at the inner end of the suspension arm head 14; the two inner stable hoisting steel wires are connected with the guide wheel at the outer end of the suspension arm head 14. The five flexible steel wires are in a parallel mechanism configuration.

The front end and the rear end of the main boom 8 are provided with rope-falling prevention guide wheel group mechanisms 7 for guiding the directions of the lifting steel wire and the four stable lifting steel wire, and the tail end of the main boom is provided with a luffing angle sensor 6 for measuring luffing angle of lifting equipment.

The constant-angle telescopic cross wheel suspension head mechanism comprises an auxiliary suspension arm 11, a cross wheel suspension head 16, a turntable torque motor 10, a feedback angle sensor 9 and a lifting wire rope tension sensor 12.

A feedback angle sensor 9 is arranged on the rotary shaft at the tail end of the auxiliary boom 11; the rotary shaft at the tail end of the auxiliary boom 11 is provided with a rotary table torque motor 10. When the marine and land dual-purpose multifunctional hoisting equipment and the modularized end effector thereof perform amplitude-variable operation, the control system synchronously controls the turntable torque motor 10 to rotate according to the amplitude-variable signal fed back by the amplitude-variable angle sensor 6, so that the auxiliary boom 11 is always parallel to the reference surface of the hoisting equipment base 1. The feedback angle sensor 9 measures the angle of the auxiliary boom 11 in real time and feeds back to the control system to form closed loop control.

And a lifting wire tension sensor 12 is arranged in the middle of the auxiliary suspension arm 11 to measure the tension of the lifting wire. The front end and the rear end of the auxiliary suspension arm 11 are provided with an anti-falling rope type guide wheel set mechanism 7.

The boom head 14 adopts an outer eight-prismatic ring structure. Further, the four lateral short arms of the outer eight-prism ring are respectively provided with an anti-falling rope type double-layer guide wheel set mechanism 15. The four telescopic mechanical arms 17 of the cross wheel type crane head 16 and the four lateral short arms of the crane head 14 are respectively in the same vertical plane. The central planes of the eight guide wheel group mechanisms of the cross wheel type hanging head 16 are in the same plane.

The bottom flange of the outer octagon prism ring of the suspension arm head 14 is fixedly connected with the upper flange of the cross wheel type suspension head 16. Further, two boom head inner end guide wheels 1101 and two boom head outer end guide wheels 1102 which are symmetrically distributed on the inner side and the outer side are arranged at the upper end of the outer eight-prismatic ring of the boom head 14; further, a combined guide limiting block 13 is arranged at one end of the outer eight-prismatic ring, which is close to the auxiliary suspension arm; a fixed plate 1305 is arranged in the middle of the combined guiding and limiting block 13, and a single rope-falling preventing guide wheel 1302 is arranged above the fixed plate. The fixed plate 1305 is provided with a first rope guide hole; further, a reinforcing rib 1304 is installed below the fixing plate 1305 to share the stress of the end of the fixing plate 1305.

The crossed four-axis limiter 1301 is located below the combined guide limiting block 13, and the crossed four-axis limiter 1301 is formed by symmetrically crossing four rotating shafts 1303 to realize rope falling prevention and friction prevention.

The rope-releasing-preventing double-layer guide wheel mechanism 15 is connected by two first guide wheels 1501 through a middle partition 1503, and two sides of the partition 1503 are provided with second rope guide holes 1502. The outer edge of the guide wheel is provided with an anti-falling rope pulley 1505; further, the two bearings inside the rope-releasing preventing pulley are coaxially and symmetrically distributed. The second rope guiding hole 1502 and the rope releasing preventing pulley 1505 both function as rope releasing preventing. The two first guide wheels 1501 are in the same plane and share a base support 1504.

The cross wheel type hanging head 16 is connected with a rotatable stable hanging hook 19 through a parallel flexible rope mechanism 18 to form an inverted cubic cone configuration.

The upper end of the inverted square cone is provided with a cross wheel type hanging head 16, a frame 1601 is arranged around the bottom surface of the cross wheel type hanging head, and a fixed bracket 1602 is arranged inwards in the middle of the periphery of the bottom edge. Further, a circular hole type outer octagon ring 1603 is connected to the fixed bracket 1602 inward.

The lower end of the circular hole type outer eight-prismatic ring 1603 is provided with a circular hole ring 1604, and the diameter of the circular hole is equal to the diameter of the bottom end of the rotatable stable lifting hook 19.

Four telescopic mechanical arms 17 are led out from the bottom surface of the cross wheel type hanging head 16 from the side edge of the round hole type outer eight-prismatic ring 1603 to the diagonal line; the telescopic mechanical arm is divided into an outer arm and an inner arm, and the telescopic part is the inner arm. The telescopic mechanical arm 17 performs real-time length self-adaptive adjustment according to the lifting height and the actual swinging effect. A driving device is arranged in the telescopic mechanical arm 17 to control the length of the telescopic mechanical arm. Further, an anti-falling rope type double-layer guide wheel mechanism 15 is arranged on the outer side of the telescopic mechanical arm and fixedly connected with the telescopic mechanical inner arm.

The middle part of the upper end of the telescopic mechanical arm 17 is respectively provided with a stable hoisting steel wire rope tension sensor 22, and a flange 1605 at the upper end of the cross wheel type lifting head 16 is fixedly connected with the telescopic mechanical arm 17 through an inclined fixed arm 1606; the tilt fixing arm 1606 is mounted with a single second guide pulley 1607 to change the direction of the cable.

An attitude sensor is installed in the rotatable stable lifting hook 19, and attitude signals of the intelligent grabbing mechanism 20 and the modularized end effector 21 are measured in real time and fed back to a control system. The rotatable stable lifting hook 19 is internally provided with a driving device which can drive the double-layer rotary disc 2001 and the lower structure thereof to rotate. The lifting wire rope is fixed at the upper end of the rotatable stable lifting hook through a central hole of the rotatable stable lifting hook 19; further, four parallel flexible wire ropes are fixed at equal intervals around the rotatable stabilizing hook 19.

The intelligent grabbing mechanism 20 comprises a double-layer rotary disc 2001, a square fixing frame 2003, a rotary limiting hook 2004 and a round groove type sliding rail 2002 which are connected with a rotatable stable lifting hook 19.

The outer diameter of the bottom edge of the upper layer of the double-layer rotary disc 2001 is larger than that of the bottom edge of the lower layer, and the double-layer rotary disc is inverted round; the upper layer of the double-layer rotary disc 2001 is connected with a rotatable stable lifting hook 19 through a slewing bearing; the double-layer rotary disc 2001 is fixedly connected with the circular groove type sliding rail 2002 structure.

The round slot type slide rail 2002 is in a three-section type, the upper section is fixedly connected with the lower layer of the double-layer rotary disc 2001, four pairs of round slot holes 2006 are uniformly formed in the periphery of the upper section, the round slot holes 2006 provide a tail end translation slide way for the rotary limiting hooks 2004 in the downward moving and rotating process, and the upper section of the round slot type slide rail 2002 limits the upper limit of the displacement of the square fixing frame 2003;

further, four corners of the middle section of the circular groove type sliding rail 2002 are provided with four circular groove structures 2007, and the square fixing frame 2003 and the circular groove structures 2007 are matched to form a sliding rail mechanism so as to realize vertical up-and-down sliding;

the outer diameter of the lower section of the circular groove type slide rail 2002 is smaller than the outer diameter of the outline of the cylinder type secondary slide rail 2008, and the circular groove type slide rail can move in the slide rail without friction resistance. Further, an upward groove structure 2009 is provided at the middle position of the bottom surface of the lower section of the circular groove type slide rail 2002 to be in precise butt fit with the modularized end effector 21.

A round hole is formed in the lower plane of the square fixing frame 2003, and the round hole in the lower plane of the square fixing frame 2003 is equal to the outer diameter of a groove structure 2009 in the bottom of the lower section of the circular groove type sliding rail; the four corners of the lower plane of the square body fixing frame 2003 are provided with sliding column structures which are tightly matched with four round groove structures 2007 in the middle section of the round groove type sliding rail 2002. Further, the lower planar convex structure of the square fixing frame 2003 slides up and down in the middle circular groove structure 2007 of the circular groove type slide rail 2002.

The rotary limiting hook 2004 is matched with a hole of a fixed connecting piece 2010 at the upper end of the square body fixing frame 2003 through a rotating shaft mechanism to realize rotation. The width of the intermediate shaft of the rotary limiting hook 2004 is equal to the width of the gap of the coaxial fixed connector 2010. The front end of the rotary limiting hook 2004 is a right angle hook, and the rotary limiting hook 2004 is mechanically limited and fixed with the limiting slot 2012 at the outer edge of the cylinder type secondary slideway 2008 after rotating downwards to the angle set by the system. The rotation of the rotary limiting hook 2004 during downward movement is realized through the rotating shaft mechanism, and a circular groove hole 2006 formed in the upper section of the circular groove type sliding rail 2002 meets the requirement that the tail end of the rotary limiting hook 2004 moves horizontally along with the rotation of the square fixing frame 2003.

The modular end effector 21 is comprised of a cylinder-type secondary slide 2008 and an intelligent hook 2101 attached thereto. The intelligent lifting hook 2101 is automatically opened and closed by controlling the claw hook 2103 through the steering engine 2102, and the intelligent lifting hook 2101 can be replaced by other modularized end effectors according to actual operation requirements and operation scenes.

The cylinder type secondary slide 2008 is divided into two steps, wherein the first step is that the bottom surface of the lower section of the circular groove type slide 2002 enters the cylinder to freely fall and move to a middle limit baffle 2011; further, in the second stage of the cylinder type secondary slide 2008, the peripheral slide column moves down to the middle limit baffle 2011 along the cylinder inner slide rail to contact with the upper end connecting plate of the intelligent lifting hook 2101. The lower surface of the circumferential outline of the upper end of the cylinder type secondary slideway 2008 is provided with limit clamping grooves 2012 the number of which is equal to that of the rotary limit clamping hooks 2004. Further, the limit slot 2012 is mechanically fixed to the rotational limit hook 2004. The outline outer diameter of the upper end of the cylinder type secondary slideway 2008 is larger than that of the lower section of the circular groove type slideway 2002; the bottom surface of the lower section of the circular groove type slide rail 2002 freely falls off without friction resistance at the upper end of the cylinder type secondary slide rail 2008. A limit baffle 2011 is arranged in the middle of the cylinder type secondary slideway 2008, and sliding columns are arranged around the lower part of the cylinder limit baffle 2011 and are tightly matched with the sliding rails of the modularized end effector 21 to realize up-down translational sliding.

The upper surface of the sliding rail of the modular end effector 21 is provided with an upward protruding boss 2005. The outer diameter of the boss 2005 is equal to that of the bottom surface groove structure 2009 of the lower section of the circular groove type slide rail 2002; further, the boss 2005 is aligned with the recess structure 2009.

The working flow of the invention is as follows:

the lifting device base 1 is internally provided with a driving device of the slewing mechanism 2, and the slewing mechanism 2 is controlled to perform slewing motion of the lifting device.

The hoisting equipment body 3 is provided with two hydraulic cylinder amplitude changing mechanisms 5 with the same working parameters, and the cab 4 controls the two hydraulic cylinders to work simultaneously to perform amplitude changing movement of the main boom 8. The tail end connecting shaft of the main suspension arm 8 and the tail end connecting shaft of the auxiliary suspension arm 11 are respectively provided with a luffing angle sensor 6 and a feedback angle sensor 9, and when luffing operation is carried out, the control system synchronously controls the turntable torque motor 10 to rotate when obtaining luffing signals fed back by the luffing angle sensor 6, so that the auxiliary suspension arm 11 is always parallel to the reference surface of the lifting device base 1. The feedback angle sensor 9 measures the angle of the auxiliary boom 11 in real time and feeds back to the control system to form closed loop control.

The parallel flexible cable mechanism 18 comprises a lifting steel wire rope, and five flexible steel wire ropes are all four stable lifting steel wire ropes. The lifting rope is driven by a lifting motion driving device in the lifting equipment base 1 to perform lifting motion, and the other end of the lifting wire rope sequentially passes through the anti-falling rope guide wheel set mechanism 7, the lifting wire rope tension sensor 12, the lifting wire rope guide wheel 23 and the crisscross four-axis limiter 1301 and then is fixedly connected with the top end of the rotatable stable lifting hook 19. When the external force is too large in the lifting process, if the lifting steel wire rope is deviated, the cross type four-axis limiter 1301 can be touched, and the cross type four-axis limiter 1301 plays roles of rope falling prevention and friction prevention. When the lifting wire rope is lifted to the uppermost end, the upper end of the flange 1605 is clamped with the round hole ring 1604 at the lower end of the outer eight-prismatic ring, and the round hole ring 1604 at the lower end of the outer eight-prismatic ring plays a role in limiting and fixing.

One end of the stable hoisting wire rope is connected with the output end of a driving device which is arranged in the hoisting equipment base 1 and is matched with the stable hoisting wire rope in the parallel flexible rope mechanism 18. The other end of the stable hoisting wire rope sequentially passes through the anti-falling rope type guide wheel set mechanism 7, the stable hoisting wire rope tension sensor 22 and the anti-falling rope type double-layer guide wheel mechanism 15 and is fixedly connected with the circumference of the bottom surface edge of the rotatable stable lifting hook 19 at equal intervals, and the four parallel flexible stable hoisting wire ropes share the tension of part of the hoisting wire rope while playing a role in stabilizing the swing. The telescopic mechanical arm 17 at the outer end of the cross wheel type lifting head 16 carries out real-time length self-adaptive adjustment according to the lifting height and the actual swinging effect, and the length of the telescopic mechanical arm is changed to achieve the best swinging effect.

When the steel wire rope connecting flange 1605 moves downwards, the round groove type slide rail 2002 moves into the cylinder type secondary slide rail 2008 in the first stage, and the round groove type slide rail 2002 can freely fall under the condition of no contact and no friction resistance in the cylinder because the outer diameter of the inner contour of the cylinder is larger than the outer diameter of the bottom contour of the lower section of the round groove type slide rail 2002.

When the bottom surface of the lower section of the circular groove type slide rail 2002 is contacted with the middle limit baffle 2011 in the cylinder type secondary slide way 2008. The second stage starts to move, the square fixing frame 2003 slides downwards along the circular groove type sliding rail 2002 and drives the rotary limiting hook 2004 to rotate, and the sliding columns around the cylinder move downwards along the inner cylinder sliding rail to the limiting baffle 2011 to touch the connecting piece at the upper end of the modularized end effector 21. At this time, as the pressure above increases, the rotary limiting hook 2004 rotates downward by 90 ° along its rotation axis mechanism, and mechanically limits and fixes with the edge clamping groove at the upper end of the cylinder secondary slideway 2008. The end shaft of the rotary limiting hook 2004 horizontally slides while rotating in the circular groove while the hook rotates 90 ° downward.

When the weight leaves the ground, the rotary limiting hook 2004 is pressed downwards, and the rotary limiting hook mechanism 2008 is fixed in a limiting way; when the weight is on the ground and the modular end effector 21 is pressed above, the rotational limit catch 2004 is pulled upward and the catch mechanical limit is fixed. If and only if the weight is downwards placed, the clamping hook and the clamping groove are not stressed, namely, the modularized end effector 21 is separated from the rotary limiting clamping hook 2004 in a zero gravity state, and the intelligent grabbing mechanism 20 is separated from the modularized end effector 21.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. Sea and land dual-purpose multifunctional hoisting equipment with modularized end effector, its characterized in that: comprises a hoisting equipment body (3), a cross wheel type hoisting head (16), a parallel flexible rope mechanism (18), an intelligent grabbing mechanism (20) and a modularized end effector (21);

The hoisting equipment body (3) comprises an equipment base (1), a slewing mechanism (2) and a cab (4) are sequentially arranged above the equipment base (1), and the upper part of the cab (4) is connected with one end of a main suspension arm (8) and is provided with an amplitude angle sensor (6) at the joint; two hydraulic cylinder amplitude changing mechanisms (5) which have the same parameters and synchronously move are symmetrically arranged on two sides of the cab (4), two ends of each hydraulic cylinder amplitude changing mechanism (5) are respectively connected with the rotary mechanism (2) and the main suspension arm (8), and an anti-falling rope guide wheel group mechanism (7) is arranged at the top end of the cab (4);

the auxiliary boom (11) is connected with one end of the main boom (8) and is provided with a feedback angle sensor (9) at the joint, the other end of the auxiliary boom (11) is connected with a boom head (14), a turntable torque motor (10) and a lifting steel wire tension sensor (12) are arranged on the auxiliary boom (11), the boom head (14) is of an outer eight-prismatic ring structure, and four side short arms of the boom head (14) are respectively provided with an anti-falling rope type double-layer guide wheel group mechanism (15);

the lower part of the suspension arm head (14) is sequentially connected with a cross wheel type suspension head (16), an intelligent grabbing mechanism (20) and a modularized end effector (21);

the utility model discloses a rotatable stable lifting hook, including rotatable stable lifting hook (19), control system, rotatable stable lifting hook (19), hoisting wire rope, rotatable stable lifting hook (19) are provided with attitude sensor in rotatable stable lifting hook (19), attitude sensor real-time measurement intelligence snatchs the attitude signal of mechanism (20) and modularization end effector (21) and feeds back to control system, rotatable stable lifting hook (19) drive double-deck gyration dish (2001) and double-deck gyration dish (2001) substructure and rotate, it is fixed at rotatable stable lifting hook upper end through the centre bore of rotatable stable lifting hook (19).

2. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein the parallel flexible rope mechanism (18) comprises a flexible steel wire rope and a hoisting steel wire rope, one end of the flexible steel wire rope is connected with a driving device arranged in the device base (1), and the other end of the flexible steel wire rope is sequentially connected with the periphery of a rotatable stable lifting hook (19) after passing through an anti-falling rope type guide wheel group mechanism (7), a stable hoisting steel wire rope tension sensor (22) and an anti-falling rope type double-layer guide wheel mechanism (15); one end of the lifting wire rope is connected with a lifting wire rope motor group arranged in the equipment base (1), and the other end of the lifting wire rope is fixedly connected with the top end of the rotatable stable lifting hook (19) after sequentially passing through the anti-falling rope type guide wheel group mechanism (7), the lifting wire rope tension sensor (12), the lifting wire rope guide wheel (23) and the crisscross four-axis limiter (1301).

3. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein the parallel flexible cable mechanism (18) comprises one hoisting wire and four stable hoisting wires, and the stable hoisting wires are symmetrically distributed on the inner side and the outer side with the hoisting wire as a center; the two stable hoisting steel wires at the outer side are connected with the inner end guide wheel of the suspension arm head (14); the two inner stable hoisting steel wires are connected with the outer end guide wheel of the suspension arm head (14).

4. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein the amplitude-variable angle sensor (6) feeds back an amplitude-variable signal to the control system, the control system synchronously controls the turntable torque motor (10) to rotate according to the amplitude-variable signal, so that the auxiliary boom (11) is parallel to the base reference surface, the feedback angle sensor (9) measures the angle of the auxiliary boom (11) in real time and feeds back the angle to the control system, the control system calculates the difference value between the amplitude-variable angle fed back to the control system by the amplitude-variable angle sensor (6) and the angle measured by the feedback angle sensor (9), and further controls the rotation of the auxiliary boom, so that the rotation angle of the auxiliary boom is equal to the rotation angle of the main boom in opposite directions, and the auxiliary boom (11) is always parallel to the base reference surface, so that the control loop forms closed-loop control.

5. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein two boom head inner end guide wheels (1101) and two boom head outer end guide wheels (1102) are arranged on the upper surface of the boom head (14), a combined guide limiting block (13) is arranged at one end, close to the auxiliary boom (11), of the boom head (14), a fixing plate (1305) is arranged in the middle of the combined guide limiting block (13), an anti-falling rope guide wheel (1302) is arranged above the fixing plate (1305), a first rope guide hole is arranged on the fixing plate (1305), a reinforcing rib (1304) is arranged below the fixing plate (1305), a cross type four-axis limiting block (1301) is arranged below the combined guide limiting block (13), and the cross type four-axis limiting block (1301) is formed by symmetrically crossing four rotating shafts.

6. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein the rope-releasing prevention double-layer guide wheel mechanism (15) comprises two first guide wheels (1501) connected through a middle partition plate (1503), second rope guide holes (1502) are formed in two sides of the partition plate (1503), rope-releasing prevention pulleys (1505) are arranged on the outer edges of the first guide wheels (1501), and two bearings inside the rope-releasing prevention pulleys (1505) are distributed coaxially and symmetrically, and the two first guide wheels (1501) are in the same plane and share a base support (1504).

7. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein the cross wheel type hoisting head (16) comprises a square frame (1601), a fixing bracket (1602) extends inwards at the center of four sides of the frame (1601), the other end of the fixing bracket (1602) is connected with a round hole type outer eight-prism ring (1603) arranged at the center of the frame (1601), a round hole ring (1604) is arranged at the lower end of the round hole type outer eight-prism ring (1603), the diameter of the round hole ring (1604) is equal to the diameter of the bottom end of a rotatable stable hoisting hook (19), four telescopic mechanical arms (17) are led out from the side edge of the round hole type outer eight-prism ring (1603) to the diagonal line of the bottom surface of the cross wheel type hoisting head (16), the telescopic mechanical arms (17) comprise an outer arm and an inner arm which are connected, the outer end of the inner arm is telescopic, and the outermost end of the inner wall is provided with an anti-falling rope type double-layer guide wheel mechanism (15); the middle part of the upper surface of the telescopic mechanical arm (17) is provided with a stable hoisting wire rope tension sensor (22), and a flange plate (1605) at the upper end of the cross wheel type lifting head (16) is fixedly connected with the telescopic mechanical arm (17) through an inclined fixing arm (1606); the inclined fixed arm (1606) is provided with a second guide wheel (1607).

8. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 1, wherein the intelligent grabbing mechanism (20) comprises a double-layer rotary disc (2001) connected with a rotatable stable lifting hook (19), the double-layer rotary disc (2001) is in an inverted round table shape, the outer diameter of the bottom edge of the upper layer of the double-layer rotary disc (2001) is larger than that of the bottom edge of the lower layer, the upper layer of the double-layer rotary disc (2001) is connected with the rotatable stable lifting hook (19) through a slewing bearing, the double-layer rotary disc (2001) is fixedly connected with a round groove type sliding rail (2002) structure, and a rotary limiting clamping hook (2004) is matched with a hole of a fixed connecting piece (2010) at the upper end of a square body fixing frame (2003) through a rotating shaft mechanism to realize rotation; the width of the intermediate shaft of the rotary limiting hook (2004) is equal to the width of the gap of the coaxial fixed connecting piece (2010), the front end of the rotary limiting hook (2004) is a right-angle hook, and the rotary limiting hook (2004) rotates downwards to a preset angle of the control system and is limited and fixed with a limiting clamping groove (2012) at the outer edge of the cylinder type secondary slideway (2008); the rotary limiting hook (2004) rotates when moving downwards through the rotating shaft mechanism, and a circular slot hole (2006) is formed in the upper section of the circular slot type sliding rail (2002).

9. The marine and land dual-purpose multifunctional hoisting device with the modularized end effector according to claim 8, wherein the circular groove type sliding rail (2002) is in a three-section type, the upper section of the circular groove type sliding rail (2002) is fixedly connected with the lower layer of the double-layer rotary disc (2001), four pairs of circular groove holes (2006) are uniformly formed in the periphery of the upper section of the circular groove type sliding rail (2002), the circular groove holes (2006) provide end translation sliding ways for the rotary limiting hooks (2004) in the downward movement and rotation process, and the upper section of the circular groove type sliding rail (2002) limits the upper limit of the displacement of the square fixing frame (2003);

four corners of the middle section of the round groove type sliding rail (2002) are provided with four round groove structures (2007), and a square fixing frame (2003) is matched with the round groove structures (2007) to form a sliding rail mechanism so as to realize vertical up-and-down sliding;

the outer diameter of the lower section of the circular groove type sliding rail (2002) is smaller than the outer diameter of the outline of the cylinder type secondary sliding rail (2008), an upward groove structure (2009) is formed in the middle of the bottom surface of the lower section of the circular groove type sliding rail (2002), and the groove structure (2009) is in butt joint fit with the modularized end effector (21);

a round hole is formed in the lower plane of the square fixing frame (2003), and the round hole in the lower plane of the square fixing frame (2003) is equal to the outer diameter of a groove structure (2009) in the bottom of the lower section of the circular groove type sliding rail; a sliding column structure which is tightly matched with four round groove structures (2007) in the middle section of the round groove type sliding rail (2002) to slide is arranged at four corners of the lower plane of the square body fixing frame (2003); the lower plane protruding structure of the square fixing frame (2003) can slide up and down in the middle section circular groove structure (2007) of the circular groove type sliding rail (2002).

10. The marine and land dual purpose multi-purpose hoisting device with modular end effector of claim 1, wherein the modular end effector (21) comprises a cylinder secondary slideway (2008) and an intelligent hook (2101) connected; the intelligent lifting hook (2101) controls the claw hook (210) to open and close automatically through the steering engine (2102);

the cylinder type secondary slide way (2008) comprises a first movement stage and a second movement stage, wherein the first stage is that the bottom surface of the lower section of the circular groove type slide way (2002) freely falls down to the middle limit baffle (2011) after entering a cylinder; the second stage is that the peripheral sliding columns move downwards to the middle limit baffle (2011) along the inner sliding rail in the cylinder and are contacted with the upper end connecting plate of the intelligent lifting hook (2101); limiting clamping grooves (2012) with the same number as the rotating limiting hooks (2004) are formed in the lower surface of the circumferential outline of the upper end of the cylinder type secondary slideway (2008); the limiting clamping groove (2012) is mechanically limited and fixed with the rotary limiting clamping hook (2004); the outer diameter of the profile of the upper end of the cylinder type secondary slide rail (2008) is larger than the outer diameter of the profile of the bottom surface of the lower section of the circular groove type slide rail (2002); the bottom surface of the lower section of the circular groove type sliding rail (2002) freely falls down at the upper end of the cylinder type secondary sliding rail (2008); a limit baffle (2011) is arranged in the middle of the cylinder type secondary slideway (2008), and sliding columns are arranged around the lower part of the limit baffle (2011) and are matched with sliding rails of the modularized end effector (21);

The upper surface of the sliding rail of the modularized end effector (21) is provided with a boss (2005) protruding upwards; the boss (2005) is equal to the outer diameter of a lower section bottom surface groove structure (2009) of the round groove type sliding rail (2002), and the boss (2005) is matched with the groove structure (2009).