CN117657960A - Multi-degree-of-freedom posture stepless adjusting device - Google Patents
Multi-degree-of-freedom posture stepless adjusting device Download PDFInfo
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- CN117657960A CN117657960A CN202311599242.2A CN202311599242A CN117657960A CN 117657960 A CN117657960 A CN 117657960A CN 202311599242 A CN202311599242 A CN 202311599242A CN 117657960 A CN117657960 A CN 117657960A
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- 238000005096 rolling process Methods 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 239000003921 oil Substances 0.000 claims description 38
- 239000010731 rolling oil Substances 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 10
- 230000008602 contraction Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 description 21
- 230000008569 process Effects 0.000 description 17
- 230000007246 mechanism Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-degree-of-freedom posture stepless adjusting device, which belongs to the technical field of hoisting of large equipment and comprises an adapter, wherein a rolling angle encoder and an inclination sensor are respectively arranged at two ends of the adapter; the other end of the rotating body is connected with a pitching oil cylinder, the pitching oil cylinder is connected with the rotary seat through a connecting rod, and the lower part of the rotating body is also connected with the rotary seat through a connecting bracket. The device realizes the adjustment of the gesture of a larger load, realizes the accurate control and adjustment of the position of the large load through the driving of the hydraulic cylinder and the hydraulic motor, detects and feeds back the gesture information of the load through detection elements such as a rotary encoder, a level sensor, a hysteresis displacement sensor and the like, and completes the automatic control of the load through an upper computer.
Description
Technical Field
The invention belongs to the technical field of large-scale equipment hoisting, and particularly relates to a multi-degree-of-freedom posture stepless adjusting device.
Background
Along with the continuous development of modern science and technology, the hoisting transfer of a lot of large-scale army, civilian equipment has put forward requirements such as quick high efficiency, automation, universalization, however, the hoisting equipment that current is commonly used adopts hoisting equipment + flexible suspender to hoist and transfer, because equipment weight is big, hoist and mount stable form requirement is high, and require hoist and mount fast, and adopt flexible suspender or wire rope to receive load inertia and outside wind load influence sensitivity in hoist and mount in-process, need the manual intervention in the hoist and mount in-process, degree of automation is low, and the butt joint precision is low, can not satisfy equipment hoist and mount requirement.
Automatic quick hoisting and transferring are required to solve the following technical problems: a) The bearing requirement is high, and the method is mainly aimed at large-scale important equipment in general; b) The adjustment of multiple degrees of freedom is required to be realized, and in order to ensure stable equipment connection, hoisting and parking processes, high-precision adjustment and precise control are required to be carried out on each degree of freedom of the load in the whole hoisting process; c) The stepless regulation is needed, and because the hoisting process is dynamic, the load is in a horizontal state at any time, and the stepless regulation is needed to be carried out so as to ensure that the load posture is kept unchanged in the hoisting process; d) The automatic adjustment and adaptation of the load posture can be realized in the load hoisting process through a control system; e) The modular design can be realized, and the same series of products can be used only by carrying out adaptive replacement.
The Chinese patent with publication number of CN113753599B discloses a multi-degree-of-freedom stepless regulating mechanism which is used for assisting in loading a large load into a box and comprises a translation frame, a height regulating device, a supporting device and a carriage, wherein the carriage is slidably arranged on the translation frame and is controlled to slide along the direction vertical to the pushing of the load by a transverse movement control mechanism; the height adjusting device is arranged on the carriage, the supporting device is arranged on the height adjusting device, the supporting device is controlled to move along the vertical direction through the inclined wedge structure, the supporting device comprises a lifting plate, a base and a cam, the yaw device is rotatably arranged on the base, and the yaw device is driven by the transmission mechanism to rotate around the load pushing direction. The invention provides a multi-degree-of-freedom stepless regulating mechanism which has strong bearing capacity and stable loading and unloading process and can finish loading of more than 1500kg of load. Three axial adjusting functions in a three-dimensional rectangular coordinate system are realized, the posture angle adjusting function in the pushing direction is realized through the yaw device, and the adjusting precision is smaller than 0.1mm. However, the automation degree of the device is not high enough and the applicability is weak.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a multi-degree-of-freedom posture stepless adjusting device.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a multi-degree-of-freedom posture stepless adjusting device comprises an adapter, wherein a rolling angle encoder and an inclination sensor are respectively arranged at two ends of the adapter, and one end of the adapter, which is connected with the inclination sensor, is also connected with a deflection cylinder, a rolling cylinder and a rotator; the other end of the rotating body is connected with a pitching oil cylinder, the pitching oil cylinder is connected with a rotary seat through a connecting rod, the lower part of the rotating body is also connected with the rotary seat through a connecting bracket, and the rotary seat) is arranged on the rotary driving device and a rotary motor is arranged at the side end of the rotary driving device.
The yaw oil cylinder completes the transverse translation adjustment of the adjusting device through the oil cylinder expansion and contraction, the roll oil cylinder completes the roll gesture adjustment of the adjusting device along the course through the oil cylinder expansion and contraction, and the pitch oil cylinder completes the pitch angle adjustment of the adjusting device through the oil cylinder expansion and contraction;
the automatic control device is characterized in that a horizontal sensor is arranged in the rotary seat, rotary encoders are arranged on the rotary body and the rotary driving device, hysteresis displacement sensors are arranged in the yaw cylinder and the pitch cylinder, load posture information is detected and fed back through detection elements such as the rotary encoders, the horizontal sensor and the hysteresis displacement sensors, the detection information is transmitted to an upper computer, and automatic control of the load is completed through the upper computer.
Preferably, the adapter is a support carrier of the whole adjusting device, a welding frame structure is adopted, a circular cavity structure is arranged inside the adapter, the appearance of the adapter is adaptively designed with the tail end structure of the telescopic boom of the lifting equipment, and the adapter is connected with the tail end of the telescopic boom of the lifting equipment through bolts.
Preferably, the deflection cylinder adopts a double-acting hydraulic cylinder, the cylinder body of the double-acting hydraulic cylinder is connected with the adapter seat, and the piston rod of the double-acting hydraulic cylinder is connected with the rotator through the deflection connecting rod.
Preferably, the rolling oil cylinder adopts a double-acting hydraulic cylinder, a cylinder body of the double-acting hydraulic cylinder is connected with the adapter, and a piston rod of the double-acting hydraulic cylinder is connected with the rotating body through a connecting rod.
Preferably, the rotor is of a welded structure, a rotating shaft of the rotor is connected with the adapter seat through a sliding bearing, a connecting bracket is welded below the rotor, a central shaft in the rotor is installed in a rotor frame through a bearing, and a rotary encoder is installed right below the central rotating shaft.
Preferably, the pitching oil cylinder is a double-acting hydraulic cylinder, a hysteresis displacement sensor is installed in the double-acting hydraulic cylinder, a cylinder body of the double-acting hydraulic cylinder is installed at the tail end of the rotating body, and a piston rod of the double-acting hydraulic cylinder is connected with the rotary seat through a first pitching connecting rod and a second pitching connecting rod.
Preferably, the rotary seat is installed with the connecting bracket through a pin shaft, the lower end of the rotary seat is connected with the rotary driving device through a bolt, a horizontal sensor is installed on the rotary seat, and the rotary seat is adjusted to be parallel to the adapter seat through the pitching oil cylinder.
Preferably, the rotary driving device is of a 360-degree full-rotary structure, is driven to rotate by a motor, adopts a worm gear reducer structure, and is provided with a rotary encoder.
Preferably, the lower part of the slewing drive device is rigidly connected with the load through an adapter.
Compared with the prior art, the invention has the following advantages:
1. the bearing capacity is strong: through structural design, the attitude adjustment of the load of more than 10 tons can be completed;
2. the degree of freedom of regulation is many, and the precision is high: the position adjustment of the X axis, the Y axis and the Z axis and the attitude adjustment of the rolling angle can be completed, and the adjustment precision is less than 0.2mm;
3. can realize stepless adjustment: the hydraulic cylinder and the hydraulic motor adjust the respective degrees of freedom, so that the adjustment and locking of any position can be realized;
4. the operation is convenient: the adjusting device is hydraulically driven, and shares a hydraulic system with the hoisting equipment, and the hoisting process is controlled by the handheld controller, so that stable turning of a large load can be realized without additional manual assistance;
5. the degree of automation is high: the adjustment of each degree of freedom of the adjusting device is automatically controlled, and full-automatic control can be realized after automatic track planning is performed through control software;
6. the modular design is easy to realize: the same series of loads or loads with similar structures can be used only by carrying out adaptive replacement.
Drawings
In order to more clearly illustrate the technical solutions of specific embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is an assembly relationship diagram of a multi-degree-of-freedom posture stepless adjusting device in the invention;
FIG. 2 is an assembled top view of the multi-degree-of-freedom attitude stepless adjusting device of the invention;
FIG. 3 is an isometric view of an assembly of the multi-degree-of-freedom attitude stepless adjustment device of the invention;
FIG. 4 is a block diagram of an adaptor in a multiple degree of freedom attitude stepless adjustment device according to the present invention;
FIG. 5 is a diagram of a rotor structure in a multi-degree-of-freedom attitude stepless adjustment device according to the present invention;
FIG. 6 is a diagram of the structure of the rotary base and the rotary driving device in the multi-degree-of-freedom posture stepless adjusting device of the invention;
in the figure, a 1-roll angle encoder; 2-a adapter; 3-a deflection oil cylinder; 4-an inclination sensor; 5-a rolling oil cylinder; 6-a deflection connecting rod; 7-a rotor; 8, a pitching oil cylinder; 9-connecting a bracket; 10-pitch link 1; 11-a rotary seat; 12-a level detector; 13-a slewing drive device; 14-pitch links; 15-a rotary motor.
Detailed Description
The present invention will be further described with reference to the drawings and the specific embodiments, but it should not be construed that the scope of the subject matter of the present invention is limited to the following embodiments, and various modifications, substitutions and alterations made according to the ordinary skill and familiar means of the art to which this invention pertains are included within the scope of the present invention without departing from the above technical idea of the invention.
The device realizes the position adjustment and the attitude adjustment of the roll angle of a load X, Y, Z shaft through the hydraulic cylinder and the hydraulic motor, utilizes the characteristics of a hydraulic system, realizes that smaller power generates larger driving force, realizes the load attitude adjustment of which the weight is more than 10 tons, realizes closed-loop control on each adjusting mechanism through the arrangement of a sensor, meets the automatic requirement of the hoisting process, and simultaneously realizes generalization through the interface adaptation of a load connecting end.
Referring to fig. 1-3, a multi-degree-of-freedom posture stepless adjusting device mainly comprises a rolling angle encoder 1, a transfer seat 2, a deflection oil cylinder 3, an inclination angle sensor 4, a rolling oil cylinder 5, a deflection connecting rod 6, a rotator 7, a pitching oil cylinder 8, a connecting bracket 9, a first pitching connecting rod 10, a rotary seat 11, a level detector 12, a rotary driving device 13, a second pitching connecting rod 14 and a rotary motor 15,
the adapter seat 2 is used as a mounting foundation of the adjusting device and is used for being connected with a folding arm crane or other lifting equipment, and is an important stress part of the adjusting device; the device comprises a folding arm hanging end angle detection sensor 4, a rotating body 7 for realizing the rolling adjustment of an adjusting device along a gamma angle, a rolling oil cylinder 5, a deflection oil cylinder 3 and the like, wherein the tail part of a switching seat 2 is provided with a rolling angle encoder 1 for measuring the rolling angle and outputting a control signal to control the rolling oil cylinder 5 to adjust the action; the cylinder body of the rolling cylinder 5 is connected with the adapter seat 2, a piston rod is connected with the rotating body 7 through a connecting rod, and the rolling posture adjustment of the adjusting device along the course is completed through the expansion and contraction of the cylinder; the cylinder body of the deflection cylinder 3 is connected with the adapter seat 2, a piston rod is connected with the rotator 7 through a deflection connecting rod 6, and the transverse translation adjustment of the adjusting device is completed through the expansion and contraction of the cylinder, so that the control precision of the adjusting device is improved; the rotating body 7 is of a welding structure and is an important stressed part of the adjusting device, a rotating shaft at one end of the rotating body is connected with the adapter seat 2 through a sliding bearing, and a connecting bracket 9 is welded below the rotating body.
The pitching oil cylinder 8 is arranged at the tail end of the rotating body 7, so that the load is adjusted at a pitching angle by the adjusting device; the central shaft in the rotating body 7 is arranged in the rotating body frame through a bearing, a rotary encoder is arranged below the central shaft to measure the deflection angle of the rotating body, angle information is output to an upper computer, and the transverse translation distance of the adjusting device is calculated through the deflection angle; the pitching cylinder 8 is arranged on the rotating body 7, a piston rod is connected with the rotary seat 11 through a first pitching connecting rod 10 and a second pitching connecting rod 14, and the pitching angle of the adjusting device is adjusted through the telescoping of the cylinder; the rotary seat 11 is installed with the connecting bracket 9 through a pin shaft, the lower end of the rotary seat is connected with the rotary driving device 13, the rotary seat is an important stress part of the adjusting device, and a horizontal sensor is installed on the rotary seat and used for detecting the horizontal angle of a load; the rotary driving device 13 is driven by the rotary motor 15 to adjust the rotary angle of the load, and the lower part of the rotary driving device is rigidly connected with the load by an adapter, so that the stability in the load transferring process is improved, and the load is adjusted in any posture and automatically transferred.
Referring to fig. 4 and 6, the adaptor base 2 adopts a welded frame structure, the shape of the adaptor base is adaptively designed with the tail end structure of the telescopic arm of the lifting equipment, and the adaptor base is connected with the lifting equipment bracket by bolts, so that the damage to the strength of the equipment is avoided, and the adaptor base is convenient to assemble and disassemble; the inside of the adapter is a circular cavity structure, is matched with a connecting shaft of the rotating body 7, is provided with a sliding bearing to reduce friction, and is provided with a rolling angle encoder 1 at the rear end of the adapter to realize the measurement and control of the rolling adjustment angle of the rotating body;
the deflection oil 3 adopts a double-acting hydraulic cylinder, is driven by a hydraulic system, realizes that smaller power generates larger thrust, and completes the adjustment of the translation distance of the adjusting device with load; a hysteresis displacement sensor is arranged in the deflection oil cylinder to accurately measure the displacement of the oil cylinder, so that the accurate control of the displacement of the end load is realized; the rolling oil cylinder 5 is used for keeping the load in a horizontal state all the time, and adopts a double-acting hydraulic cylinder; the action of the oil cylinder is controlled by the detection value of the rolling angle encoder 1; the pitching oil cylinder 8 is a double-acting hydraulic cylinder, and is driven by a hydraulic system to realize pitching angle adjustment of a large load, so that the load is always kept horizontal in the hoisting and transferring processes; the hysteresis displacement sensor is arranged in the pitching oil cylinder, so that accurate measurement of the displacement of the oil cylinder can be realized, and accurate control of the horizontal angle of the tail end load can be realized through the control system.
Referring to fig. 5, a rotor 7 is a welded structure, which is an important stress component of the adjusting device, a rotating shaft at one end of the rotor is connected with an adapter seat 2 through a sliding bearing, adjustment of the rolling degree of freedom is achieved, a central rotating shaft is mounted on a rotor frame through a bearing, adjustment of the horizontal translational degree of freedom of the rotor is achieved, a rotary encoder is mounted right below the central rotating shaft, so that the deflection angle of the rotor is collected, the horizontal translational distance of the rotor is calculated through a control system, a connecting bracket 9 is welded below the rotor, and connection with the rotary seat is achieved.
The rotary seat is installed with the connecting bracket 9 through a pin shaft, is connected with the rotary driving device 13 through a bolt, is an important stress part of the adjusting device, and is provided with a horizontal sensor for detecting the horizontal angle of the load; the pitching oil cylinder 8 completes the adjustment of the pitching angle of the rotary seat through the connecting rod mechanism, so that the load is kept horizontal, and meanwhile, the rotary seat can be adjusted to be parallel to the adapter seat through the pitching oil cylinder, so that the folding of the adjusting device is facilitated; the rotary driving device 13 is of a 360-degree full-rotary structure, is driven to rotate by a motor, adopts a worm gear reducer structure, and has the characteristics of large output torque, large reducer ratio and the like. The rotary encoder is arranged on the rotary driving device and used for detecting the rotation angle of the motor, and the control system is used for accurately controlling the rotation angle of the rotary driving device; the lower part of the rotary driving device is rigidly connected with the load through the adapter, so that the stability of the load in the process of transferring is improved, and the adjustment of any posture and automatic transfer of the load are realized.
Examples: fig. 1 is an assembly diagram of a multi-degree-of-freedom posture stepless adjusting device, wherein an adapter seat 2 is used as a supporting carrier of the whole adjusting device, a bolt is adopted to be connected with the tail end of a telescopic arm of hoisting equipment, a circular cavity structure is arranged inside the adapter seat 2, the adapter seat is matched with a connecting shaft of a rotating body 7, a sliding bearing is arranged to reduce friction, a rolling angle encoder 1 is arranged at the rear end of the adapter seat 2, and the measurement and control of the rolling adjustment angle of the rotating body 7 are realized;
the rotating body 7 is of a welding structure, a rotating shaft at one end of the rotating body is connected with the adapter seat 2 through a sliding bearing to realize the adjustment of the rolling degree of freedom, a central rotating shaft is arranged on a rotating body frame through a bearing to realize the adjustment of the horizontal translation degree of freedom of the rotating body 7, a rotary encoder is arranged right below the central rotating shaft to acquire the deflection angle of the rotating body, the horizontal translation distance of the rotating body is calculated through a control system, and a connecting bracket 9 is welded below the rotating body 7 to realize the connection with the rotary seat 11;
the deflection cylinder 3 realizes that the rotator 7 translates along the X axis of the horizontal plane with load, the translation distance is +/-150 mm, and measurement and control are completed through a hysteresis expansion displacement sensor arranged in the cylinder; the rolling oil cylinder 5 realizes load rolling angle adjustment, the rotation angle is +/-5 degrees, and the rotation angle is detected by a rolling angle sensor; because part of the hoisting equipment is of an eccentric structure, the radial deflection along the telescopic boom is easy to occur when the load is hoisted, and meanwhile, the condition of gravity center deflection exists in the load to be hoisted, and the load is always kept in a horizontal state when being hoisted by virtue of the adjustment of the rolling oil cylinder 5; the pitching cylinder 8 is arranged on the rotating body 7, a piston rod is connected with the rotary seat 11 through the pitching connecting rod 1 and the pitching connecting rod 2, and the pitching angle of the adjusting device is adjusted through the telescoping of the cylinder.
The load rotation action in the lifting process of the gesture adjusting device is completed through a rotation driving device, the rotation driving device is of a worm gear reducer structure, 360-degree full rotation can be achieved, and the rotation angle of the rotation driving device is detected through a rotary encoder. The lower end of the slewing drive device is directly connected with a hoisting load, and universal hoisting can be realized by adding an adapter according to different load interface forms.
The specific working process is as follows:
the first step: the lifting equipment carries the adjusting device to move above the load, and the lower plane of the rotary driving device 13 on the adjusting device is parallel to the load mounting surface through adjustment of each moving mechanism of the adjusting device; the lifting equipment is adjusted to do linear motion along the vertical direction, and the connection of the load and the adjusting device is completed;
and a second step of: adjusting the lifting equipment to move upwards, calculating the adjustment quantity of each movement mechanism of the adjusting device through the control system according to the detection value of the horizontal sensor on the rotary seat 11 in the movement process, and adjusting the load levelness; meanwhile, each motion mechanism is compensated in the load transferring process, so that the load is always kept in a horizontal state;
and a third step of: after the load is turned to a designated position, the lifting equipment and the adjusting mechanism are adjusted to enable the load mounting surface to be parallel to the placing surface, the load is stably lowered in place, and the lifting operation is completed.
The invention relates to a multi-degree-of-freedom posture stepless adjusting device which is particularly suitable for large hoisting equipment with high adjusting precision requirement and hoisting stability requirement and needing multi-degree-of-freedom stepless adjustment, realizes accurate and stable control on large load grabbing and hoisting processes, ensures stable hoisting processes, and can realize hoisting automation operation by controlling each actuating mechanism in a closed loop mode through a control system.
The invention provides a multi-degree-of-freedom posture stepless adjusting device, which is described in detail above, and specific examples are applied to illustrate the structure and the working principle of the invention, and the description of the above embodiments is only used for helping to understand the method and the core idea of the invention. It should be noted that it will be apparent to those skilled in the art that various improvements and modifications can be made to the present invention without departing from the principles of the invention, and such improvements and modifications fall within the scope of the appended claims.
Claims (9)
1. A multi-degree-of-freedom posture stepless adjusting device is characterized in that: the device comprises an adapter seat (2), wherein a rolling angle encoder (1) and an inclination angle sensor (4) are respectively arranged at two ends of the adapter seat (2), and one end, connected with the inclination angle sensor (4), of the adapter seat (2) is also connected with a deflection oil cylinder (3), a rolling oil cylinder (5) and a rotating body (7); the other end of the rotating body (7) is connected with a pitching oil cylinder (8), the pitching oil cylinder (8) is connected with a rotary seat (11) through a connecting rod, the lower part of the rotating body (7) is also connected with the rotary seat (11) through a connecting bracket (9), the rotary seat (11) is arranged on a rotary driving device (13), and a rotary motor (15) is arranged at the side end of the rotary driving device (13).
The deflection oil cylinder (3) completes transverse translation adjustment of the adjusting device through oil cylinder expansion and contraction, the rolling oil cylinder (5) completes rolling gesture adjustment of the adjusting device along the course through oil cylinder expansion and contraction, and the pitching oil cylinder (8) completes pitching angle adjustment of the adjusting device through oil cylinder expansion and contraction;
the automatic control device is characterized in that a horizontal sensor is arranged in the rotary seat (11), rotary encoders are arranged on the rotary body (7) and the rotary driving device (13), hysteresis displacement sensors are arranged in the deflection oil cylinder (3) and the pitching oil cylinder (8), load posture information is detected and fed back through detection elements such as the rotary encoders, the horizontal sensor and the hysteresis displacement sensors, the detection information is transmitted to an upper computer, and automatic control of the load is completed through the upper computer.
2. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the adapter seat (2) is a supporting carrier of the whole adjusting device, adopts a welding frame structure, is internally of a circular cavity structure, is adaptively designed with the tail end structure of the telescopic boom of the lifting equipment, and is connected with the tail end of the telescopic boom of the lifting equipment through bolts.
3. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the deflection oil cylinder (3) adopts a double-acting hydraulic cylinder, the cylinder body of the double-acting hydraulic cylinder is connected with the adapter seat (2), and the piston rod of the double-acting hydraulic cylinder is connected with the rotating body (7) through the deflection connecting rod (6).
4. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the rolling oil cylinder (5) adopts a double-acting hydraulic cylinder, the cylinder body of the double-acting hydraulic cylinder is connected with the adapter seat (2), and the piston rod of the double-acting hydraulic cylinder is connected with the rotating body (7) through a connecting rod.
5. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the rotating body (7) is of a welding structure, a rotating shaft of the rotating body is connected with the adapter seat (2) through a sliding bearing, a connecting bracket (9) is welded below the rotating body (7), a central shaft in the rotating body (7) is installed in a rotating body frame through a bearing, and a rotary encoder is installed right below the central rotating shaft.
6. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the pitching oil cylinder (8) is a double-acting hydraulic cylinder, a hysteresis displacement sensor is arranged in the double-acting hydraulic cylinder, a cylinder body of the double-acting hydraulic cylinder is arranged at the tail end of the rotating body (7), and a piston rod of the double-acting hydraulic cylinder is connected with the rotary seat (11) through a first pitching connecting rod (10) and a second pitching connecting rod (14).
7. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the rotary seat (11) is installed with the connecting support (9) through a pin shaft, the lower end of the rotary seat is connected with the rotary driving device (13) through a bolt, a horizontal sensor is installed on the rotary seat, and the rotary seat (11) is adjusted to be parallel to the adapter seat (2) through the pitching oil cylinder (8).
8. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the rotary driving device (13) is of a 360-degree full-rotary structure, the rotary driving device is driven to rotate by a motor, the rotary driving device (13) adopts a worm gear reducer structure, and a rotary encoder is arranged on the rotary driving device (13).
9. The multi-degree of freedom attitude stepless adjustment device according to claim 1, wherein: the lower part of the slewing drive device (13) is rigidly connected with a load through an adapter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311599242.2A CN117657960A (en) | 2023-11-23 | 2023-11-23 | Multi-degree-of-freedom posture stepless adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311599242.2A CN117657960A (en) | 2023-11-23 | 2023-11-23 | Multi-degree-of-freedom posture stepless adjusting device |
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| Publication Number | Publication Date |
|---|---|
| CN117657960A true CN117657960A (en) | 2024-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311599242.2A Pending CN117657960A (en) | 2023-11-23 | 2023-11-23 | Multi-degree-of-freedom posture stepless adjusting device |
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| CN (1) | CN117657960A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275674A (en) * | 2021-12-14 | 2022-04-05 | 贵州航天特种车有限责任公司 | Multi freedom transfers appearance hoist device |
-
2023
- 2023-11-23 CN CN202311599242.2A patent/CN117657960A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275674A (en) * | 2021-12-14 | 2022-04-05 | 贵州航天特种车有限责任公司 | Multi freedom transfers appearance hoist device |
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