CN102718153A - Flexible-cable parallel-configuration equipment for cooperatively large-scale heavy-load hoisting within six degrees of spatial freedom - Google Patents

Abstract

Flexible-cable parallel-configuration equipment for cooperatively large-scale heavy-load hoisting within six degrees of spatial freedom comprises three hoisting devices for hoisting a heavy object. The three hoisting devices with identical structures are triangularly distributed, each hoisting device mainly comprises a luffing device, a rotating device and a winch device, each luffing device consists of a luffing oil cylinder and a corresponding hydraulic circuit, each rotating device consists of a rotating hydraulic motor, a rotating speed reducer and a corresponding hydraulic circuit,each winch device consists of a winch hydraulic motor, a winding drum, a winch speed reducer, the corresponding flexible cable, a hanger, a pulley block, pulley supports and a corresponding hydraulic circuit, one end of each flexible cable is connected with the corresponding hanger, and the other end of each flexible cable is wound on the corresponding winding drum via the corresponding pulley block. The three hoisting devices are connected with the heavy object by the hangers and cooperatively match with each other by means of controlling the respective luffing devices, the rotating devices and the winch devices, so that the heavy object is hoisted. The flexible-cable parallel-configuration equipment for cooperatively large-scale heavy-load hoisting within six degrees of spatial freedom is simple in structure, large in working space, high in loading capacity, good in dynamic performance and easy to control.

Description

The gentle Suo Binglian configuration equipment of space six degree of freedom large-scale heavy duty hoisting and hanging cooperation

Technical field

The present invention relates to the gentle Suo Binglian configuration equipment of a kind of large-scale heavy duty hoisting and hanging cooperation, the gentle Suo Binglian configuration equipment of the large-scale heavy duty hoisting and hanging cooperation of especially a kind of implementation space six degree of freedom.

Background technology

Crane hoisting equipment is the important tool that factory, railway, harbour and other departments realize material handling mechanization.Increased fast and the world commerce ripple effect by world economy, be handled upside down the material device towards scale, heavily loaded large scale development, the lifting environment is abominable day by day, complicated, and is also increasingly high to the requirement of hoisting and hanging technology and hanging device simultaneously.Yet owing to receive the restriction of aspects such as the coordination ability and load-carrying capacity, the separate unit weight-lifting equipment can not satisfy current requirement fully.

Flexible cable parallel mechanism has that rigidity is big, load-carrying capacity is strong, tractive performance is good, be easy to series of advantages such as control; Application in the engineering field in recent years constantly enlarges; This also has higher requirement to gentle rope parallel robot; Not only require high precision, high efficiency, the running of heavy load ground, and require to have bigger flexibility output, can change the output movement rule rapidly, easily.Yet traditional flexible cable parallel mechanism generally adopts driven by servomotor, and moment of torsion is less, therefore at present also not towards the gentle Suo Binglian configuration equipment of the cooperation of large-scale heavy duty hoisting and hanging.

Summary of the invention

Technical matters: the objective of the invention is to the problem of depositing in the prior art, a kind of simple in structure, hydraulic-driven is provided, can accomplishes the steadily gentle Suo Binglian configuration equipment of space six degree of freedom large-scale heavy duty hoisting and hanging cooperation of safety carrying of large-scale material.

Technical scheme: the gentle Suo Binglian configuration equipment of space of the present invention six degree of freedom large-scale heavy duty hoisting and hanging cooperation; Three crane hoisting equipments that structure is identical that comprise the hoisting heavy that is in triangular distribution; Every crane hoisting equipment includes luffing device, turning gear and winding plant; Described luffing device comprises base, is located at the turntable on the base; Turntable is provided with arm and the amplitude oil cylinder that changes the arm elevation angle, and the piston rod of amplitude oil cylinder is hinged through amplitude oil cylinder connecting panel and arm, and amplitude oil cylinder is hinged on the turntable; Described turning gear comprises and is located at driven gear, rotary fluid motor and the rotary reducer that links to each other with turntable on the base; Rotary fluid motor links to each other with rotary reducer through coupler, and the rotary reducer output shaft is provided with the driving gear that is meshed with driven gear; Described winding plant comprises elevator HM Hydraulic Motor, elevator retarder, reel, gentle rope, suspension hook, assembly pulley, pulley bracket; Described elevator retarder is installed in a side of reel; The elevator HM Hydraulic Motor links to each other with the elevator retarder through coupler, and assembly pulley is installed on the pulley bracket, and pulley bracket is located at the top of arm; Gentle Suo Yiduan is connected with suspension hook, and the other end is wrapped on the reel through assembly pulley.Three crane hoisting equipments link to each other with weight through suspension hook, through controlling luffing, revolution, elevator cooperate separately, accomplish the lifting of weight; One end of the said gentle rope that links to each other with weight is provided with suspension hook.

Beneficial effect: the present invention utilizes that flexible cable parallel mechanism rigidity is big, load-carrying capacity is strong, tractive performance is good, be easy to advantages such as control; The rope parallel robot system that will soften is incorporated in traditional weight-lifting equipment; Thereby compatible conventional hydraulic drives the big advantage of weight-lifting equipment load-carrying capacity, has remedied traditional flexible cable parallel mechanism to servo-electric acc power and moment of torsion smaller defect; And big flexible output, the working space of having inherited flexible cable parallel mechanism be big, be easy to advantage such as control; Remedied that the separate unit weight-lifting equipment coordination ability is poor, load-carrying capacity is little, working space is little and defective such as tractive performance difference; Can accomplish the lifting of heavily loaded large-scale material preferably; Realize the steadily motion output of safety, it is simple in structure, working space is big, load-carrying capacity is strong, cost performance is higher, has practicality widely.

Description of drawings

Fig. 1 is a structural front view of the present invention;

Fig. 2 is a structure birds-eye view of the present invention;

Fig. 3 is a structure left view of the present invention.

Among the figure: 1-pulley bracket, 2-assembly pulley, the 3-rope that softens, 4-amplitude oil cylinder connecting panel, 5-suspension hook; The 6-amplitude oil cylinder, 7-reel, 8-elevator retarder, 9-elevator HM Hydraulic Motor; The 10-rotary fluid motor, 11-rotary reducer, 12-driven gear, 13-driving gear; The 14-arm, 15-turntable, 16-base, 17-weight.

The specific embodiment

Below in conjunction with accompanying drawing one embodiment of the present of invention are further described:

The gentle Suo Binglian configuration equipment of space of the present invention six degree of freedom large-scale heavy duty hoisting and hanging cooperation; Mainly three identical crane hoisting equipments of structure by the hoisting heavy 17 that is in triangular distribution constitute; Every crane hoisting equipment includes luffing device, turning gear and winding plant, and wherein, luffing device is made up of amplitude oil cylinder 6 and corresponding hydraulic circuit; Amplitude oil cylinder 6 upper ends are hinged through amplitude oil cylinder connecting panel 4 and arm 14, and amplitude oil cylinder 6 lower ends and turntable 15 are hinged; Turning gear is made up of rotary fluid motor 10, rotary reducer 11 and corresponding hydraulic circuit; Rotary fluid motor 10 links to each other with rotary reducer 11 through coupler; Be connected with driving gear 13 on rotary reducer 11 output shafts, driving gear 13 is meshed with driven gear 12 on the base 16; Winding plant comprises elevator HM Hydraulic Motor 9, elevator retarder 8, reel 7, gentle rope 3, suspension hook 5, assembly pulley 2, pulley bracket 1 and corresponding hydraulic circuit composition; Described elevator HM Hydraulic Motor 9 links to each other with the elevator retarder 8 that is installed in reel 7 one sides through coupler; Assembly pulley 2 is installed on the pulley bracket 1, and pulley bracket 1 is located at the top of arm 14, and gentle rope 3 one ends are connected with suspension hook 5; The other end is wrapped on the reel 7 through assembly pulley 2; Crane hoisting equipment links to each other with weight 17 through suspension hook 5, and described luffing device, turning gear and winding plant are installed on the turntable 15, and three crane hoisting equipments are through controlling luffing, revolution, winding plant separately; Realize the variation at the arm elevation angle separately, the variation of degreeof turn, the variation of gentle Suo Changdu, thereby cooperate is accomplished the lifting task of weight 17.

Principle of work and working process: three identical crane hoisting equipments of structure are in triangular distribution in the periphery of weight 17, are connected on the weight 17 through gentle rope 3 terminal suspension hooks 5, as shown in Figure 2; Through each hydraulic circuit that links to each other with hydraulic power unit, for the gentle Suo Binglian configuration equipment of space six degree of freedom large-scale heavy duty hoisting and hanging cooperation provides power.In the luffing device, the lower end of amplitude oil cylinder 6 is hinged on the turntable 15, and the upper end is hinged through amplitude oil cylinder connecting panel 4 and arm 14, thereby the luffing of separate unit crane hoisting equipment is realized at the elevation angle of the flexible change arm 14 through amplitude oil cylinder 6 oil cylinders; Rotary fluid motor 10 in the turning gear links to each other with rotary reducer 11 through coupler; Be meshed with driven gear 12 on the base 16 through the driving gear 13 that is connected on rotary reducer 11 output shafts again, thereby and then the degreeof turn that changes turntable 15 of the engagement through driving gear 13 and driven gear 12 realize the revolution action of separate unit crane hoisting equipment; Elevator HM Hydraulic Motor 9 in the winding plant links to each other with the elevator retarder 8 that is installed in reel 7 one sides through coupler; Gentle rope 3 one ends are connected with suspension hook 5; The other end is wrapped on the reel 7 through assembly pulley 2; Crane hoisting equipment links to each other with weight 17 through suspension hook 5, thereby changes the action that hoists of the length realization separate unit crane hoisting equipment of gentle rope 3 through rotating drum 7.Three crane hoisting equipments are realized luffing, the action of turning round and hoist separately through controlling luffing, revolution, winding plant separately, thereby cooperate is accomplished the lifting task of weight 17.Every crane hoisting equipment totally 3 mobilities that have luffing, turn round and hoist, the gentle Suo Binglian configuration equipment of therefore whole large-scale heavy duty hoisting and hanging cooperation has 9 mobilities altogether, through the motion of gentle rope 3 traction weights 17 implementation space 6DOFs.

Claims (2)

1. the gentle Suo Binglian configuration of space six degree of freedom large-scale heavy duty hoisting and hanging cooperation is equipped; It is characterized in that: three crane hoisting equipments that structure is identical that comprise the hoisting heavy that is in triangular distribution; Every crane hoisting equipment includes luffing device, turning gear and winding plant; Described luffing device comprises base (16), is located at the turntable (15) on the base (16); Turntable (15) is provided with arm (14) and changes the amplitude oil cylinder (6) at arm (14) elevation angle, and the piston rod of amplitude oil cylinder (6) is hinged through amplitude oil cylinder connecting panel (4) and arm (14), and amplitude oil cylinder (6) is hinged on the turntable (15); Described turning gear comprises that being located at base (16) goes up driven gear (12), rotary fluid motor (10) and the rotary reducer (11) that links to each other with turntable (15); Rotary fluid motor (10) links to each other with rotary reducer (11) through coupler, and rotary reducer (11) output shaft is provided with the driving gear (13) that is meshed with driven gear (12); Described winding plant comprises elevator HM Hydraulic Motor (9), elevator retarder (8), reel (7), gentle rope (3), suspension hook (5), assembly pulley (2), pulley bracket (1); Described elevator retarder (8) is installed in a side of reel (7); Elevator HM Hydraulic Motor (9) links to each other with elevator retarder (8) through coupler; Assembly pulley (2) is installed on the pulley bracket (1), and pulley bracket (1) is located at the top of arm (14), and gentle rope (3) one ends are connected with suspension hook (5); The other end is wrapped on the reel (7) through assembly pulley (2); Three crane hoisting equipments link to each other with weight (17) through suspension hook (5), and luffing, revolution, winding plant are realized cooperate, the lifting of completion weight separately through controlling.

2. six degree of freedom large-scale heavy duty hoisting and hanging cooperation gentle Suo Binglian configuration equipment in space according to claim 1 is characterized in that: the gentle rope (3) of a said end that links to each other with weight (17) is provided with suspension hook (5).

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