CN212423419U - Robot cooperation winding and unwinding devices - Google Patents
Robot cooperation winding and unwinding devices Download PDFInfo
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- CN212423419U CN212423419U CN202021080353.4U CN202021080353U CN212423419U CN 212423419 U CN212423419 U CN 212423419U CN 202021080353 U CN202021080353 U CN 202021080353U CN 212423419 U CN212423419 U CN 212423419U
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- 238000004804 winding Methods 0.000 title claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- 238000005096 rolling process Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 230000003139 buffering effect Effects 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 abstract 2
- 238000011084 recovery Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
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Abstract
The utility model discloses a robot cooperation winding and unwinding devices, it relates to boats and ships technical field. Its hanger component plays a supporting role; the rolling compensation device is a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged, so that the rolling compensation of the ship body is realized; the heave compensation device is a heave compensation winch and realizes heave compensation on the ship body; the pitching compensation device is a first servo hydraulic cylinder and a second servo hydraulic cylinder, and pitching compensation of the ship body is realized; the mechanical arm winding and unwinding device is provided with a visual servo mechanical arm, a hanging hook of a mooring rope is in butt joint with the unmanned submersible vehicle or in butt joint with a hanging ring, an anti-collision bottom plate is arranged at the bottom of the device, and an elastic buffer device is arranged above the anti-collision bottom plate to prevent the unmanned submersible vehicle from being damaged due to collision. The utility model has the advantages that: the unmanned submersible can be actively compensated for three degrees of freedom caused by stormy waves, and the mechanical arm is used for automatically completing hooking and hooking actions, so that the unmanned submersible is automatically and intelligently recycled with high safety and high efficiency.
Description
Technical Field
The utility model relates to a boats and ships technical field, concretely relates to robot cooperation winding and unwinding devices.
Background
Various deploying and retracting systems of marine ships are quite popular, but research on deploying and retracting systems of shipborne unmanned submersible vehicles is still in a starting stage, and the ship shaking caused by high sea conditions is more difficult to recover.
The existing unmanned submersible retraction device has single function, loose structure and large occupied deck area, only depends on a winch to retract the unmanned submersible during retraction, and is easy to cause collision between the unmanned submersible and a mother ship as well as between the unmanned submersible and the retraction device under the condition of no wave compensation, thereby causing damage to the unmanned submersible, the retraction device and the mother ship and further influencing the retraction efficiency of the unmanned submersible; most of the existing unmanned submersible retraction devices depend on manual work to hang cables on the unmanned submersible, so that workers are in dangerous environments, and a small part of retraction devices are assisted by mechanical arms, but depend on manual operation, so that the operation difficulty is high, the workers are in the dangerous environments, and improper positions can influence the recovery of the unmanned submersible.
The prior art discloses a crane device with three-degree-of-freedom active heave compensation function and a compensation method thereof, wherein the crane device with three-degree-of-freedom active heave compensation function and the compensation method thereof realize real-time compensation of rolling and pitching of a ship through three servo cylinders, and realize real-time compensation of heave through a hydraulic motor, but the crane device only uses a plurality of hydraulic cylinders for compensation, the compensation of the degree of freedom in the heave direction is repeated with the heave compensation of a winch, interference exists during use, and a mooring rope is hung on an unmanned submersible by manpower, the operation difficulty is high, the mooring rope can swing greatly in the recovery process, the collision of the unmanned submersible can cause damage, and the recovery process is unsafe.
Therefore, it is necessary to research an intelligent retraction device having an active wave compensation function with multiple degrees of freedom and cooperating with a robot to efficiently and safely retrieve the unmanned submersible.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a collaborative winding and unwinding devices of robot can rely on the arm to independently accomplish the couple and get the hook action when the compensation is accomplished to the three degree of freedom of heaving, rolling, pitching that unrestrained arouses automatically, initiative, realizes automatic, intelligent, high security, high efficiency ground and retrieves unmanned underwater vehicle.
In order to solve the technical problem, the utility model adopts the technical scheme that: the device comprises a hanger component, a rolling compensation device, a heave compensation device, a pitching compensation device and a mechanical arm retracting device;
the hanger component comprises a first cross beam and a second cross beam, and the first cross beam is fixedly arranged in the second cross beam in a penetrating mode;
the rolling compensation device is a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged, the first swing oil cylinder and the second swing oil cylinder penetrate through a mounting plate, the mounting plate is fixed at the bottom of the second cross beam, the outer end parts of the first swing oil cylinder and the second swing oil cylinder are respectively connected with a winch support through bolts, and the bottom of the winch support is provided with a middle platform;
the heave compensation device is a heave compensation winch which is arranged on a middle platform of the winch support, and a hanging joint is arranged below the winch support;
the pitching compensation device is a first servo hydraulic cylinder and a second servo hydraulic cylinder, the first servo hydraulic cylinder and the second servo hydraulic cylinder are obliquely arranged between the winch support and the hoisting joint, the first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively connected with the winch support and the hoisting joint through pin shafts, two extending connecting plates extend below the winch support, the two extending connecting plates are connected with the hoisting joint through pin shafts, a first linear displacement sensor and a second linear displacement sensor are respectively arranged on the first servo hydraulic cylinder and the second servo hydraulic cylinder, the first linear displacement sensor and the second linear displacement sensor are connected with the motion controller, a pose measuring sensor is arranged on one side above the hoisting joint, and the pose measuring sensor is connected with the motion controller through signal wires;
the mechanical arm retracting device is provided with a visual servo mechanical arm, the visual servo mechanical arm is arranged on the side edge of the hoisting joint, a hanging ring is arranged on the other side above the hoisting joint, a hook is hooked on the hanging ring, the tail end of the hook is connected with a cable, and the hanging ring and the visual servo mechanical arm are arranged on the same side of the hoisting joint;
the hanging head guide support is installed at the middle position below the hanging connector, the anti-collision bottom plate is arranged below the hanging head guide support, four elastic buffering devices which are symmetrically arranged are connected between the anti-collision bottom plate and the hanging connector, and the four elastic buffering devices are distributed on the outer side of the hanging head guide support.
Furthermore, the winch support is provided with a side frame and a middle platform, the side frame of the winch support is connected with the first swing oil cylinder and the second swing oil cylinder, a first reinforcing rib plate is connected between the side frame and the middle platform, and a cable through hole is formed in the middle of the middle platform of the winch support; and a plurality of second reinforcing rib plates are symmetrically arranged on the hoisting joint.
Further, two connecting points of the first servo hydraulic cylinder and the second servo hydraulic cylinder connected with the winch support are located on the circumference with the radius of R1, two connecting points of the first servo hydraulic cylinder and the second servo hydraulic cylinder connected with the hoisting joint are located on the circumference with the radius of R2, the first servo hydraulic cylinder and the second servo hydraulic cylinder are symmetrically arranged, and R2 is smaller than R1.
Furthermore, the elastic buffer device is composed of a central support column, a spring, an upper shell of the elastic buffer device and a lower shell of the elastic buffer device, wherein the top of the central support column is connected with the suspension joint through a bolt, the spring is sleeved outside a cylinder below the central support column, the upper shell of the elastic buffer device and the lower shell of the elastic buffer device are buckled through a boss, the central support column and the spring extend into the upper shell of the elastic buffer device and the lower shell of the elastic buffer device, and the lower shell of the elastic buffer device is fixed on an anti-collision bottom plate below the elastic buffer device.
Further, hang first guide bracket by installing support, a pair of transverse guide pulley, a pair of avris guide pulley and constitute, the installing support installation is fixed in the bottom that hangs the joint, is equipped with the bracing piece on the installing support, and on the bracing piece was located to the horizontal cover of a pair of transverse guide pulley, a pair of avris guide pulley was installed on hanging first guide bracket through the bracing piece respectively, and the below both sides of a pair of transverse guide pulley are located respectively to a pair of avris guide pulley.
The utility model has the advantages that: the double-swing oil cylinder is adopted to drive the retracting device, the rolling motion can be compensated, the double-servo hydraulic cylinder is used to compensate the pitching motion, the heave compensation winch adopts constant tension to retract and compensate the heave motion, the freedom degree is fully utilized, the compensation is safer and more reliable without repeated compensation, the compensation position of the freedom degree is dispersed, the interference is avoided during the use, and the unmanned submersible can be safely, flexibly, efficiently and intelligently hoisted under the condition of unstable swinging of the ship body under severe sea conditions;
the visual servo mechanical arm is used for cooperatively retracting, so that the actions of hooking and hooking are automatically and intelligently completed, and the recovery process is more efficient;
the structure overall arrangement is compact, and the function is diversified, intelligent, and wherein hang first guide bracket and can prevent that the hawser from swinging by a wide margin, the collision between elastic buffer device and the anticollision base can effectively be avoided unmanned underwater vehicle and the winding and unwinding devices for the recovery process is safer.
Drawings
Fig. 1-3 are schematic structural views of a robot-assisted retracting device according to the present invention;
fig. 4 is a schematic structural view of the elastic buffer device of the present invention;
fig. 5 is a schematic structural view of a hanging head guide bracket of the present invention;
fig. 6 is a schematic diagram of the active heave compensation control of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the following detailed description. The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the scope of the present invention.
The specific implementation mode adopts the following technical scheme:
as shown in figures 1-3, a hanger component is arranged above a robot cooperation winding and unwinding device, the hanger component comprises a first beam 1 and a second beam 2, the first beam 1 is arranged inside the second beam 2 in a penetrating way and fixed, a mounting plate is fixed below the second beam 2, a first swing oil cylinder 3 and a second swing oil cylinder 4 are arranged on the mounting plate in a penetrating way, the first swing oil cylinder 3 and the second swing oil cylinder 4 form a roll compensation device, the outer end parts of the first swing oil cylinder 3 and the second swing oil cylinder 4 are respectively connected with a winch bracket 5 through bolts, a cable through hole 18 is arranged in the middle of the winch bracket 5, a middle platform is arranged at the bottom of the winch bracket 5, a first reinforcing rib plate 7 is connected between a side frame of the winch bracket 5 and the middle platform, a heave compensation device is arranged on the middle platform, the heave compensation device is a heave compensation winch 6, two extending connecting plates 16 are arranged below the winch bracket 5, a lifting joint 12 is arranged below a winch support 5, two extension connecting plates 16 are connected with the lifting joint 12 through a pin shaft, a pitching compensation device is obliquely arranged between the winch support 5 and the lifting joint 12, the pitching compensation device is a first servo hydraulic cylinder 10 and a second servo hydraulic cylinder 11, a pose measuring sensor 14 is arranged on one side above the lifting joint 12, a lifting ring 13 is arranged on the other side, a cable through hole 18 is formed in the middle of the lifting joint 12, a plurality of second reinforcing rib plates 22 are symmetrically arranged on the lifting joint 12, a lifting head guide support 17 is arranged at the center below the lifting joint 12, a mechanical arm retracting device is arranged on the side edge of the lifting joint 12, the mechanical arm retracting device is a visual servo mechanical arm 15, an anti-collision bottom plate 20 is arranged below the lifting joint 12, and four elastic buffer devices 19 are arranged between the anti-collision bottom plate.
The winch comprises a winch support, a first cross beam 1, a second cross beam 2, a first swing oil cylinder 3, a second swing oil cylinder 4, angle sensors, a first swing oil cylinder 3, a second swing oil cylinder 4, a second swing oil cylinder 3, a second swing oil cylinder 4, a first swing oil cylinder 3, a second swing oil cylinder 4 and a winch support 5, wherein the first cross beam 1 is of a portal structure and plays a supporting role of the whole winding and unwinding device, the symmetrical installation plate structure is designed below the second cross beam 2, through holes are formed in the installation plates on two sides of the installation plates and used for installing the first swing oil cylinder 3 and the second swing oil.
The heave compensation winch 6 is installed on the middle platform of the winch support 5, the heave compensation winch 6 is used for winding and unwinding cables to complete the lifting operation of the submersible in the vertical direction, the heave compensation winch 6 is driven by a hydraulic motor, an encoder is arranged in the heave compensation winch, the heave compensation winch has a heave compensation function, can compensate the additional relative motion of the mother ship and the submersible, reduces the dynamic load and avoids the situation that the cables are stressed suddenly.
Two extending connecting plates 16 extend below the winch bracket 5, the two extending connecting plates 16 are symmetrical to the cable through hole 18, the two extending connecting plates 16 are connected with the hoisting joint 12 through pin shafts to play roles in connecting and bearing tension, so that the force borne by the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 is reduced, the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are protected, the compensation effect of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 is more efficient and accurate, the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are obliquely arranged between the winch bracket 5 and the hoisting joint 12, the upper ends of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are connected with the winch bracket 5 through pin shafts, the two connecting points are positioned on the circumference with the radius of R1, the lower ends of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are connected with the hoisting joint 12 through pin shafts, the two connecting points are located on the circumference with the radius of R2, R2 is R1, a first linear displacement sensor 8 and a second linear displacement sensor 9 are respectively arranged on the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11, the first linear displacement sensor 8 and the second linear displacement sensor 9 are connected with a motion controller, and the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are symmetrically arranged in the cable through hole 18 to play a role in pitching compensation.
A position and posture measuring sensor 14 is arranged on one side above a hoisting joint 12 and can measure the motion posture values of rolling, pitching and heaving of a ship body, the position and posture measuring sensor 14 is connected with a motion controller through a signal line, a hoisting ring 13 is arranged on the other side above the hoisting joint 12 and is used for placing a hook, a hoisting head guide support 17 is arranged below a cable through hole 18 in the middle of the hoisting joint 12, a winch cable penetrates through the middle of the hoisting head guide support 17, and the hoisting head guide support 17 can prevent the cable from swinging greatly due to an accident condition.
Referring to fig. 4 again, fig. 4 is a schematic structural diagram of the elastic buffer device 19, the elastic buffer device 19 is composed of a central supporting column 23, a spring 24, an upper shell 25 of the elastic buffer device and a lower shell 26 of the elastic buffer device, wherein the top of the central supporting column 23 is connected with the suspension joint 12 through a bolt, the spring 24 is sleeved outside a cylinder below the central supporting column 23, the upper shell 25 of the elastic buffer device and the lower shell 26 of the elastic buffer device are fastened through bosses to prevent the upper shell 25 and the lower shell 26 of the elastic buffer device from falling off, the central supporting column 23 and the spring 24 extend into the upper shell 25 of the elastic buffer device and the lower shell 26 of the elastic buffer device, the lower shell 26 of the elastic buffer device is fixed on the anti-collision bottom plate 20 below, the spring 24 is in a compressed state.
Referring to fig. 5 again, fig. 5 is a schematic structural diagram of the hanging head guide bracket 17, the hanging head guide bracket 17 is composed of a mounting bracket, a pair of transverse guide wheels 27 and a pair of side guide wheels 28, the mounting bracket is fixedly mounted at the bottom of the hanging head 12, a support rod is arranged on the mounting bracket, the pair of transverse guide wheels 27 are transversely sleeved on the support rod, the pair of side guide wheels 28 are respectively mounted on the hanging head guide bracket 17 through the support rod, the pair of side guide wheels 28 are respectively arranged at two sides below the pair of transverse guide wheels 27, the cable passes through the pair of transverse guide wheels 27, and the offset of the cable can be limited by the pair of side guide wheels 28, so that the compensation of the whole.
A visual servo mechanical arm 15 is arranged on the side edge of the lifting joint 12, P represents a coordinate system of the position of the lifting ring 13, U represents a space reference coordinate system, R represents a coordinate system of the visual servo mechanical arm 15, a base of which is fixed on the lifting joint 12, H represents a coordinate system of an end effector of the visual servo mechanical arm 15, and E represents a coordinate system of a lifting lug of the unmanned submersible vehicle. Through a binocular camera arranged on a mother ship, the circular characteristics of a hanging ring 13 of a retraction device and a lifting lug of an unmanned submersible are identified, and the position P of the hanging ring 13 is measured1Lifting lug position E of unmanned submersible1The base position R of the visual servo mechanical arm 15 and the tail end position H of the visual servo mechanical arm 15 are used for obtaining a change matrix of the lifting ring 13 and the lifting lug of the unmanned submersible vehicle
Is obtained as follows
Calculating the distance s between the two and the clamping jaw at the tail end of the visual servo mechanical arm 151、s2Inverse solution change matrix
The rotation angles of six joints of the vision servo mechanical arm 15 are obtained, the motion controller controls the vision servo mechanical arm 15 to take off the hook from the hanging ring 13 and then hook on the lifting lug of the unmanned submersible, then the vision servo mechanical arm returns to the side position to avoid influencing the retraction of the unmanned submersible, and after the retraction of the unmanned submersible is completed, the position P of the hanging ring 13 is measured by the binocular camera11Lifting lug position E of unmanned submersible11Calculating the distance s between the two and the clamping jaw at the end of the visual servo mechanical arm 1511、s22And reversely solving the six joint rotation angles of the visual servo mechanical arm 15, controlling the visual servo mechanical arm 15 to take down the hook on the lifting lug of the unmanned submersible vehicle to be hung on the lifting ring 13, and finishing the whole retraction and release process after returning to the original position.
The base mounting position of the visual servo mechanical arm 15 is offset, and the height h1Lower than the height h of the elastic buffer 192So that the visual servo mechanical arm 15 can complete the self function and does not influence the retraction of the retraction deviceThe unmanned underwater vehicle collision prevention device has the functions of avoiding collision with the unmanned underwater vehicle when the unmanned underwater vehicle is retracted to the upper part, four elastic buffering devices 19 are arranged below the hoisting connector 12, the four elastic buffering devices 19 are symmetrically arranged relative to the mooring rope through hole 18, an anti-collision bottom plate 20 is arranged below the elastic buffering devices 19, and the anti-collision bottom plate 20 is wrapped by elastic materials and is prevented from colliding with the main structure of a retraction device when the unmanned underwater vehicle is retracted.
Referring to fig. 6 again, fig. 6 is an active heave compensation control schematic diagram, the output end of the pose measurement sensor 14 is connected to the motion controller, the output end of the motion controller is respectively connected to the corresponding first swing cylinder 3 and second swing cylinder 4, the first servo hydraulic cylinder 10, second servo hydraulic cylinder 11 and the hydraulic motor of the heave compensation winch 6 through the corresponding five D/a converters, five power amplifiers and five electro-hydraulic servo valves A, B, C, D, E, the motion controller respectively controls the motions of the first swing cylinder 3 and second swing cylinder 4, the first servo hydraulic cylinder 10, second servo hydraulic cylinder 11 and the hydraulic motor of the heave compensation winch 6 through different ports, the pose change measured by the pose measurement sensor 14 is converted into the rotation angle of the first swing cylinder 3 and second swing cylinder 4 and the compensation speed of the heave compensation winch 6 after being solved by a computer, the output ends of the first linear displacement sensor 8 and the second linear displacement sensor 9 are respectively connected with the corresponding input ends of the motion controller through the corresponding two A/D converters, and the first linear displacement sensor 8 and the second linear displacement sensor 9 input the detected telescopic quantities of the corresponding first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 into the motion controller.
The method for calculating the compensation value by the motion controller according to the inverse solution algorithm comprises the following steps: according to the measured motion attitude value a1、a2、a3Respectively calculating the motion values of the first servo hydraulic cylinder 10, the second servo hydraulic cylinder 11, the first swing oil cylinder 3, the second swing oil cylinder 4 and the hydraulic motor, wherein the motion attitude value of the rolling is a1The value of the attitude of the pitch is a2The heave motion attitude value is a3The initial lengths of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are l1、l2In order to counteract the shipThe pitching motion generated under the action of wind waves needs to control the motion of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 to perform reverse compensation on the pitching motion of the ship body, and the motion controller calculates the final length l of the ship body after the compensation is performed on the ship body by the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 1111、l22The theoretical motion compensation value of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 is y1＝l1-l11、y2＝l2-l22Theoretical compensation value y1、y2The signals are transmitted to two electro-hydraulic servo valves C, D through servo amplifiers, the two electro-hydraulic servo valves output corresponding flow and pressure according to input analog signals, and the corresponding servo hydraulic cylinders are respectively controlled to move, so that pitching compensation of the ship body is realized;
the initial angle of the first swing oil cylinder 3 and the second swing oil cylinder 4 is 0 degree, in order to offset the rolling motion of the ship generated under the action of wind and waves, the motion of the first swing oil cylinder 3 and the second swing oil cylinder 4 needs to be controlled to carry out reverse compensation on the rolling motion of the ship body, the first swing oil cylinder 3 and the second swing oil cylinder 4 simultaneously move at the same angle, therefore, only one compensation angle needs to be calculated, according to the measured compensation value, the compensation angle is converted into the compensation rotation angle theta of the first swing oil cylinder 3 and the second swing oil cylinder 4 through an angle conversion formula, and the rolling compensation of the ship body is realized; the initial velocity of heave compensation winch 6 is v1In order to counteract the heaving movement of the ship generated under the action of wind and waves, the heaving compensation winch 6 needs to be controlled to perform reverse compensation on the heaving of the ship body, and the initial speed v is generated when the heaving compensation winch 6 works1On the basis of the measured compensation value, the compensation value is converted into the compensation speed v of the winch after settlement2Compensating the velocity v according to the difference of heave2Divided into positive and negative according to the direction, the controller changes the initial speed v1And the compensation velocity v2Adding to obtain a new velocity v3And the heave compensation of the ship body is realized.
The basic principles and main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A robot cooperation winding and unwinding devices which characterized in that: the device comprises a hanger component, a rolling compensation device, a heave compensation device, a pitching compensation device and a mechanical arm retracting device;
the hanger component comprises a first cross beam and a second cross beam, and the first cross beam is fixedly arranged in the second cross beam in a penetrating mode;
the rolling compensation device is a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged, the first swing oil cylinder and the second swing oil cylinder penetrate through a mounting plate, the mounting plate is fixed at the bottom of the second cross beam, the outer end parts of the first swing oil cylinder and the second swing oil cylinder are respectively connected with a winch support through bolts, and the bottom of the winch support is provided with a middle platform;
the heave compensation device is a heave compensation winch which is arranged on a middle platform of the winch support, and a hanging joint is arranged below the winch support;
the pitching compensation device is a first servo hydraulic cylinder and a second servo hydraulic cylinder, the first servo hydraulic cylinder and the second servo hydraulic cylinder are obliquely arranged between the winch support and the hoisting joint, the first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively connected with the winch support and the hoisting joint through pin shafts, two extending connecting plates extend below the winch support, the two extending connecting plates are connected with the hoisting joint through pin shafts, a first linear displacement sensor and a second linear displacement sensor are respectively arranged on the first servo hydraulic cylinder and the second servo hydraulic cylinder, the first linear displacement sensor and the second linear displacement sensor are connected with the motion controller, a pose measuring sensor is arranged on one side above the hoisting joint, and the pose measuring sensor is connected with the motion controller through signal wires;
the mechanical arm retracting device is provided with a visual servo mechanical arm, the visual servo mechanical arm is arranged on the side edge of the hoisting joint, a hanging ring is arranged on the other side above the hoisting joint, a hook is hooked on the hanging ring, the tail end of the hook is connected with a cable, and the hanging ring and the visual servo mechanical arm are arranged on the same side of the hoisting joint;
the hanging head guide support is installed at the middle position below the hanging connector, the anti-collision bottom plate is arranged below the hanging head guide support, four elastic buffering devices which are symmetrically arranged are connected between the anti-collision bottom plate and the hanging connector, and the four elastic buffering devices are distributed on the outer side of the hanging head guide support.
2. A robotic collaborative retraction device according to claim 1, characterized in that: the winch support is provided with a side frame and a middle platform, the side frame of the winch support is connected with the first swing oil cylinder and the second swing oil cylinder, a first reinforcing rib plate is connected between the side frame and the middle platform, and a cable through hole is formed in the middle of the middle platform of the winch support; and a plurality of second reinforcing rib plates are symmetrically arranged on the hoisting joint.
3. A robotic collaborative retraction device according to claim 1, characterized in that: two connecting points of the first servo hydraulic cylinder and the second servo hydraulic cylinder, which are connected with the winch support, are positioned on the circumference with the radius of R1, two connecting points of the first servo hydraulic cylinder and the second servo hydraulic cylinder, which are connected with the hoisting joint, are positioned on the circumference with the radius of R2, the first servo hydraulic cylinder and the second servo hydraulic cylinder are symmetrically arranged, and R2 is less than R1.
4. A robotic collaborative retraction device according to claim 1, characterized in that: the elastic buffer device is composed of a central support column, a spring, an upper elastic buffer device shell and a lower elastic buffer device shell, wherein the top of the central support column is connected with a hanging joint through a bolt, the spring is sleeved outside a cylinder below the central support column, the upper elastic buffer device shell and the lower elastic buffer device shell are buckled through bosses, the central support column and the spring extend into the upper elastic buffer device shell and the lower elastic buffer device shell, and the lower elastic buffer device shell is fixed on an anti-collision bottom plate below the central support column and the spring.
5. A robotic collaborative retraction device according to claim 1, characterized in that: the lifting head guide bracket comprises a mounting bracket, a pair of transverse guide wheels and a pair of side guide wheels, the mounting bracket is fixedly mounted at the bottom of the lifting head, a support rod is arranged on the mounting bracket, the pair of transverse guide wheels are transversely sleeved on the support rod, the pair of side guide wheels are respectively mounted on the lifting head guide bracket through the support rod, and the two sides below the pair of transverse guide wheels are respectively arranged on the pair of side guide wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021080353.4U CN212423419U (en) | 2020-06-12 | 2020-06-12 | Robot cooperation winding and unwinding devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021080353.4U CN212423419U (en) | 2020-06-12 | 2020-06-12 | Robot cooperation winding and unwinding devices |
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| Publication Number | Publication Date |
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| CN212423419U true CN212423419U (en) | 2021-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021080353.4U Withdrawn - After Issue CN212423419U (en) | 2020-06-12 | 2020-06-12 | Robot cooperation winding and unwinding devices |
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| Country | Link |
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| CN (1) | CN212423419U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111559480A (en) * | 2020-06-12 | 2020-08-21 | 江苏科技大学 | Robot cooperation collecting and releasing device and method |
-
2020
- 2020-06-12 CN CN202021080353.4U patent/CN212423419U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111559480A (en) * | 2020-06-12 | 2020-08-21 | 江苏科技大学 | Robot cooperation collecting and releasing device and method |
| CN111559480B (en) * | 2020-06-12 | 2023-10-27 | 江苏科技大学 | Robot cooperation retraction device and method |
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