CN114275674A - Multi freedom transfers appearance hoist device - Google Patents
Multi freedom transfers appearance hoist device Download PDFInfo
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- CN114275674A CN114275674A CN202111525863.7A CN202111525863A CN114275674A CN 114275674 A CN114275674 A CN 114275674A CN 202111525863 A CN202111525863 A CN 202111525863A CN 114275674 A CN114275674 A CN 114275674A
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Abstract
The invention discloses a multi-degree-of-freedom posture-adjusting hoisting device, and belongs to the technical field of hoisting equipment. The device comprises a lifting appliance, a posture adjusting cloud platform and an inclination angle adjusting component, wherein one end of the posture adjusting cloud platform is connected with the lifting appliance, and the inclination angle adjusting component is movably connected with one end, far away from the lifting appliance, of the posture adjusting cloud platform. The inclination angles of the attitude adjusting cloud platform and the lifting appliance are adjusted through the inclination angle adjusting assembly so as to meet the lifting requirements of the cylinder bombs with different inclination angles, and the spatial pose angles of the lifting appliance are adjusted through the attitude adjusting cloud platform, so that the lifting device can still normally and efficiently lift the cylinder bombs under the complex environmental conditions. The longitudinal platform roll motion and the lower platform pitching motion are used for finely adjusting the longitudinal pose and the transverse pose of the lifting appliance so that the clamping mechanism can rapidly clamp a cylinder bullet lifting lug, and adjusting each space pose angle of the lifting appliance in the lifting process so that the cylinder bullet is always parallel to the ground in the lifting process, the risk that the cylinder bullet collides other objects is reduced, and meanwhile the lifting safety of the cylinder bullet is improved.
Description
Technical Field
The invention relates to a multi-degree-of-freedom posture-adjusting hoisting device, and belongs to the technical field of hoisting equipment.
Background
Between airports, docks, warehouses and transportation vehicles, it is often necessary to load, unload, transfer and reload goods. At present, the loading and unloading operation of goods is mainly realized on a freight wharf through large-scale hoisting machinery such as a bridge crane, a tower crane and the like; the loading and unloading and the transfer of the loaded goods are realized mainly through a special carrying platform and a carrying vehicle in an airport; the warehouse is generally internally provided with traveling cranes and stacking equipment for loading, stacking and warehousing operations of goods; the cargo loading, unloading and transferring among the cargo distribution points mainly adopts a vehicle-mounted hoisting system, and the vehicle-mounted hoisting system is an integrated system integrating a crane on an automobile, and is called a vehicle-mounted crane for short. As the crane has the characteristics of flexible and simple use and the like, the crane is widely applied to loading and unloading of missiles (cartridge ammunition), plays an important role in the process of guaranteeing a weapon system, and is mainly a hydraulic crane at the present stage. Along with the stricter and stricter requirements of missile weaponry on combat response and combat preparation time, the requirements on speed and accuracy for supporting and guaranteeing the equipment work are higher and higher, and the inherent defects of dead zones, large temperature change of control linearity, complex hydraulic station structure, easy leakage of hydraulic oil and the like of the traditional hydraulically-driven crane can not meet the requirements of warfare gradually.
Chinese patent document CN113716444A, the disclosure of the present applicant discloses a four-axis synchronous lifting lightweight multifunctional lifting appliance, which comprises a top cover, a guiding and limiting mechanism, an anti-dropping mechanism, an upper frame body, a synchronous lifting mechanism, an electrical control cabinet, an image collecting system, a lower frame body, a position sensor, a synchronous telescopic grabbing mechanism, two top covers are symmetrically arranged, one end of the guiding and limiting mechanism is connected with the upper frame body, the other end of the guiding and limiting mechanism is connected with the lower frame body, the anti-dropping mechanism, the synchronous lifting mechanism is equally divided into an upper frame body and a lower frame body, the upper frame body and the lower frame body are both provided with the guiding and limiting mechanism and the anti-dropping mechanism, the position sensor is symmetrically arranged at the top of the upper frame body, the image collecting system is arranged at the middle part of the lower frame body, and the synchronous telescopic grabbing mechanism is symmetrically arranged in the two sides of the lower frame body. How this hoist can judge hoist and jack catch need remove automatically, snatch the object automatically again, has still realized the synchronous lift of four-axis simultaneously for can steady lift after snatching the object.
However, the placing direction and the angle of the cartridge bomb are not kept unchanged, when the central axis of the cartridge bomb inclines relative to the horizontal plane, the lifting device is difficult to adjust the clamping jaws to be aligned with the lifting lugs on the cartridge bomb, so that the lifting efficiency is greatly reduced, and therefore the lifting device is difficult to meet the lifting requirement of the cartridge bomb under the complex environment condition.
Disclosure of Invention
In order to solve the technical problem, the invention provides a multi-degree-of-freedom posture-adjusting hoisting device.
The invention is realized by the following technical scheme:
the multi-degree-of-freedom posture adjusting hoisting device comprises a hoisting tool, a posture adjusting cloud platform and an inclination angle adjusting assembly, wherein one end of the posture adjusting cloud platform is connected with the hoisting tool, and the inclination angle adjusting assembly is movably connected with one end, far away from the hoisting tool, of the posture adjusting cloud platform.
The inclination angle adjusting component comprises a variable-amplitude electric cylinder and an upright post assembly, one end of the upright post assembly and one end of the electric cylinder are respectively rotatably connected with the attitude adjusting holder, and the upright post assembly is rotatably connected with the middle part of the variable-amplitude electric cylinder through two connecting plates.
The posture adjusting cradle head comprises a lifting platform, a transverse platform, a longitudinal platform and a lower platform which are sequentially arranged from top to bottom, wherein the transverse platform is connected with the bottom of the lifting platform through a rotary mechanism, the longitudinal platform is movably connected with the bottom of the transverse platform and is connected with the transverse platform through a spiral lifter B, and the lower platform is movably connected with the bottom of the longitudinal platform and is connected with the longitudinal platform through a spiral lifter A.
The slewing mechanism comprises an outer-tooth type worm gear turntable bearing and a direct current motor A, the inner ring of the outer-tooth type worm gear turntable bearing is connected with the lifting platform, the outer ring of the outer-tooth type worm gear turntable bearing is connected with the transverse platform, and the direct current motor A is arranged on the outer-tooth type worm gear turntable bearing and is connected with the worm input end in the outer-tooth type worm gear turntable bearing.
The lifting platform is rotatably connected with the inclination angle adjusting assembly through a pin shaft A and a pin shaft B, the longitudinal platform is rotatably connected with the transverse platform through a pin shaft C, the lower platform is rotatably connected with the longitudinal platform through a pin shaft D, and the pin shaft A, the pin shaft B and the pin shaft D are arranged in parallel and are perpendicular to the pin shaft C.
The lifting appliance comprises a mounting platform and a fixing frame, the fixing frame is located below the mounting platform, the fixing frame is connected with the mounting platform through a lifting driving mechanism and movably connected with the bottom of the mounting platform through a plurality of anti-falling assemblies, and clamping mechanisms are arranged at two ends of the fixing frame
The lifting driving mechanism comprises a worm and gear speed reducer B and two sets of synchronous reversing assemblies, the worm and gear speed reducer B is arranged at the top of the mounting platform, a synchronous lifting motor is arranged on the worm and gear speed reducer B, the two sets of synchronous reversing assemblies are arranged on the mounting platform side by side, the two sets of synchronous reversing assemblies are connected with the two ends of an output shaft of the worm and gear speed reducer B in a one-to-one correspondence mode, the two ends of each synchronous reversing assembly are connected with the fixing frame through ropes, and the ropes are wound around fixed pulleys arranged on the mounting platform.
The synchronous reversing assembly comprises a gear reverser, one end of an output shaft of the gear reverser is provided with a left-handed trapezoidal screw rod, the other end of the output shaft of the gear reverser is provided with a right-handed trapezoidal screw rod, screw nuts are sleeved on the left-handed trapezoidal screw rod and the right-handed trapezoidal screw rod respectively, and the screw nuts are connected with the mounting platform in a sliding manner and connected with the fixing frame through ropes.
The anti-falling component comprises an anti-falling rod and a limiting rod, one end of the anti-falling rod is movably connected with the bottom of the mounting platform through a ball head, the other end of the anti-falling rod penetrates through the fixing frame, the anti-falling rod is provided with a slotted hole, the limiting rod is positioned at the inner side of the slotted hole, and both ends of the limiting rod are connected with the fixing frame,
clamping mechanism includes support frame and speed reducer, and the speed reducer is established on the support frame, is equipped with direct current motor B on the speed reducer, and the one end of speed reducer output shaft is equipped with the left-handed screw rod, and the other end is equipped with the dextrorotation screw rod, all overlaps on left-handed screw rod and the dextrorotation screw rod and is equipped with the jack catch, and jack catch and support frame sliding connection.
The lifting appliance further comprises a plurality of positioning guide mechanisms, each positioning guide mechanism comprises a barrel body, a sliding block and a guide groove block, one end of each barrel body is connected with the bottom of the mounting platform through a cushion block B, a cushion block A is connected with the bottom of the mounting platform, the sliding block is located on the inner side of the barrel body and is in sliding connection with the barrel body, one end of the sliding block is connected with the cushion block B through a spring, the other end of the sliding block is detachably connected with a conical guide head, the guide groove blocks are arranged at the top of the fixing frame, the top of each guide groove block is provided with a conical guide groove, the conical guide grooves and the conical guide head are coaxially arranged, a plurality of buffering support rods are arranged at the positions corresponding to the mounting platform at the top of the fixing frame, and a machine vision system is arranged on the fixing frame.
The invention has the beneficial effects that:
1. the inclination angles of the attitude adjusting cloud platform and the lifting appliance are adjusted through the inclination angle adjusting assembly so as to meet the lifting requirements of the cylinder bombs with different inclination angles, and the spatial pose angles of the lifting appliance are adjusted through the attitude adjusting cloud platform, so that the lifting device can still normally and efficiently lift the cylinder bombs under the complex environmental conditions.
2. The longitudinal platform transverse rolling motion and the lower platform pitching motion are used for finely adjusting the longitudinal pose and the transverse pose of the lifting appliance to enable the clamping jaws to be quickly aligned with the lifting lugs on the cartridge bomb, so that the clamping mechanism can quickly clamp the cartridge bomb lifting lugs, and adjusting each space pose angle of the lifting appliance in the lifting process to realize that the lower platform is always parallel to the ground in the lifting process, namely the cartridge bomb is parallel to the ground, so that the risk that the cartridge bomb collides with other objects is reduced, and the lifting safety of the cartridge bomb is improved.
3. The spiral lifter is adopted to adjust the rotation angles of the longitudinal platform and the lower platform, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of the screw rod is utilized to ensure the angle adjustment precision; in addition, the pose of the lifting appliance and the cartridge is adjusted through the pose adjusting cradle head, so that the cartridge can be aligned with the loading position on the carrier, and the lifting efficiency of the cartridge is greatly improved.
4. The transverse platform can realize 360-degree rotation, firstly, the lifting appliance can lift the cartridge bomb placed in each direction, secondly, the platform is longitudinally and always kept consistent with the cartridge bomb longitudinally in the lifting process, the integral gravity center position is basically kept unchanged, and the lifting stability is improved.
5. The direct current motor B drives the left-handed screw and the right-handed screw to synchronously rotate forwards or reversely through the speed reducer, so that the two clamping jaws move towards the directions close to or away from each other at the same time to lock or loosen the cylinder elastic lifting lug, the thread has a self-locking function, and the clamping jaws can reliably clamp the lifting lug.
6. The planetary roller screw pair is adopted as the electric cylinder of the transmission element, so that a plurality of complicated mechanical structures are saved, and the transmission efficiency is greatly improved; the transmission efficiency can reach more than 90%, and the transmission efficiency of the hydraulic cylinder and the air cylinder does not exceed 50% generally.
7. The electric cylinder is driven by the servo motor, so that the control precision of hoisting operation is greatly improved, and the hoisting operation requirements of weapons such as a cartridge and the like are met.
8. The anticreep subassembly can ensure under the cracked condition of rope that the mount still can reliably be connected with mounting platform, prevents to appear mount and section of thick bamboo bullet and drop subaerial dangerous condition because of the rope fracture.
9. The lifting appliance has a rigid-flexible conversion function, and during flexible connection, the posture of the lifting appliance is conveniently adjusted by the posture adjusting holder so that the clamping mechanism clamps the lifting lugs on the drum bullets; the cylinder bomb can be prevented from shaking greatly in the hoisting moving process during rigid connection, so that safe hoisting is realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a front view of the attitude adjusting head according to the present invention;
FIG. 3 is a schematic top view of the structure of FIG. 2;
FIG. 4 is a left side view of the structure of FIG. 2;
FIG. 5 is a schematic structural diagram of an external gear type worm and gear turntable bearing according to the present invention;
fig. 6 is a schematic front view of the spreader of the present invention;
FIG. 7 is a schematic top view of the structure of FIG. 6;
FIG. 8 is a left side view of the structure of FIG. 6;
FIG. 9 is an enlarged partial schematic view of FIG. 6 at I;
FIG. 10 is a schematic view of the internal structure of the clamping mechanism of the present invention;
fig. 11 is a schematic top view of fig. 10.
In the figure: 1-an inclination angle adjusting component, 100-an upright post assembly, 101-a connecting plate, 2-an attitude adjusting holder, 20-a lifting platform, 21-an external tooth type worm and gear turntable bearing, 22-a direct current motor A, 23-a longitudinal platform, 24-a lower platform, 25-a spiral elevator A, 26-a transverse platform, 27-a spiral elevator B, 3-an electric control system, 4-a lifting appliance, 5-a manipulator, 6-a mounting platform, 7-a lifting driving mechanism, 70-a synchronous lifting motor, 71-a synchronous reversing component, 72-a rope, 73-a fixed pulley, 8-a clamping mechanism, 80-a supporting frame, 81-a left-handed screw, 82-a speed reducer, 83-a right-handed screw, 84-a jaw, 85-a direct current motor B, 9-a fixed frame, 10-an anti-falling assembly, 11-a machine vision system, 12-a buffer supporting rod, 13-a positioning guide mechanism, 130-a cushion block A, 131-a cushion block B, 132-a spring, 133-a cylinder body, 134-a sliding block, 135-a conical guide head and 136-a guide groove block.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1 to 11, the multi-degree-of-freedom posture adjustment hoisting device provided by the invention comprises a hoisting tool 4, a posture adjustment cradle head 2 and an inclination angle adjusting assembly 1, wherein one end of the posture adjustment cradle head 2 is connected with the hoisting tool 4, and the inclination angle adjusting assembly 1 is movably connected with one end, far away from the hoisting tool 4, of the posture adjustment cradle head 2. When the device is used, the inclination angles of the posture-adjusting cradle head 2 and the lifting appliance 4 are adjusted through the inclination angle adjusting component 1 so as to meet the lifting requirements of the cylinder bombs with different inclination angles, and the space pose angles of the lifting appliance 4 are adjusted through the posture-adjusting cradle head 2, so that the lifting device can still normally and efficiently lift the cylinder bombs under the complex environment condition.
The inclination angle adjusting component 1 comprises an amplitude-variable electric cylinder and an upright post assembly 100, one end of the upright post assembly 100 and one end of the electric cylinder are respectively rotatably connected with the attitude adjusting holder 2, and the upright post assembly 100 is rotatably connected with the middle part of the amplitude-variable electric cylinder through two connecting plates 101. As shown in fig. 1, the column assembly 100 is fixedly connected to the actuating end of the robot 5, and the robot 5 drives the whole apparatus to move.
The posture adjusting holder 2 comprises a lifting platform 20, a transverse platform 26, a longitudinal platform 23 and a lower platform 24 which are sequentially arranged from top to bottom, wherein the transverse platform 26 is connected with the bottom of the lifting platform 20 through a swing mechanism, the longitudinal platform 23 is movably connected with the bottom of the transverse platform 26 and is connected with the transverse platform 26 through a spiral lifter B27, and the lower platform 24 is movably connected with the bottom of the longitudinal platform 23 and is connected with the longitudinal platform 23 through a spiral lifter A25. In use, screw elevator a25 and screw elevator B27 are both driven by dc motors. The longitudinal platform 23 is driven to rotate around the pin shaft C by the spiral lifter B27, namely, the transverse rolling motion is carried out, and the transverse rolling angle is +/-3 degrees; the platform 24 is driven to rotate around the pin shaft D by the spiral lifter a25, namely, the platform performs pitching motion, and the pitching angle is +/-3 degrees. The transverse rolling motion of the longitudinal platform 23 and the pitching motion of the lower platform 24 are used for finely adjusting the longitudinal pose and the transverse pose of the lifting appliance 4, so that the clamping claws 84 can be quickly aligned with the lifting lugs on the cartridge bomb, the clamping mechanisms 8 can quickly clamp the lifting lugs of the cartridge bomb, and the spatial pose angles of the lifting appliance 4 are adjusted in the lifting process, so that the lower platform 24 is always parallel to the ground in the lifting process, namely the cartridge bomb is parallel to the ground, the risk that the cartridge bomb collides other objects is reduced, and the lifting safety of the cartridge bomb is improved. The rotation angles of the longitudinal platform 23 and the lower platform 24 are adjusted by adopting a spiral lifter, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of the screw rod is utilized to ensure the angle adjustment precision. In addition, the pose of the lifting appliance 4 and the cartridge bomb is adjusted through the pose adjusting holder 2, so that the cartridge bomb can be aligned with the loading position on a carrier (such as an automobile), and the lifting efficiency of the cartridge bomb is greatly improved.
The slewing mechanism comprises an outer-tooth-type worm and gear turntable bearing 21 and a direct current motor A22, the inner ring of the outer-tooth-type worm and gear turntable bearing 21 is connected with the hoisting platform 20, the outer ring of the outer-tooth-type worm and gear turntable bearing 21 is connected with the transverse platform 26, and the direct current motor A22 is arranged on the outer-tooth-type worm and gear turntable bearing 21 and is connected with the input end of a worm in the outer-tooth-type worm and gear turntable bearing 21. Under the driving of the direct current motor A22, the transverse platform 26 can realize 360-degree rotation, firstly, the lifting appliance 4 can lift the cartridge ammunition placed in each direction, secondly, the lower platform 24 is vertically and always kept consistent with the cartridge ammunition longitudinally in the lifting process, the integral gravity center position is basically kept unchanged, and the lifting stability is improved.
The lifting platform 20 is rotatably connected with the inclination angle adjusting assembly 1 through a pin shaft A and a pin shaft B, the longitudinal platform 23 is rotatably connected with the transverse platform 26 through a pin shaft C, the lower platform 24 is rotatably connected with the longitudinal platform 23 through a pin shaft D, and the pin shaft A, the pin shaft B and the pin shaft D are arranged in parallel and are perpendicular to the pin shaft C.
The lifting appliance 4 comprises a mounting platform 6 and a fixing frame 9, the fixing frame 9 is located below the mounting platform 6, the fixing frame 9 is connected with the mounting platform 6 through a lifting driving mechanism 7 and is movably connected with the bottom of the mounting platform 6 through a plurality of anti-falling assemblies 10, and clamping mechanisms 8 are arranged at two ends of the fixing frame 9. In use, the mounting platform 6 is attached to the bottom of the lower platform 24.
The lifting driving mechanism 7 comprises a worm and gear speed reducer B and two sets of synchronous reversing assemblies 71, the worm and gear speed reducer B is arranged at the top of the mounting platform 6, a synchronous lifting motor 70 is arranged on the worm and gear speed reducer B, the two sets of synchronous reversing assemblies 71 are arranged on the mounting platform 6 side by side and are connected with two ends of an output shaft of the worm and gear speed reducer B in a one-to-one correspondence mode, two ends of each synchronous reversing assembly 71 are connected with the fixing frame 9 through ropes 72, and the ropes 72 bypass fixed pulleys 73 arranged on the mounting platform 6.
The synchronous reversing assembly 71 comprises a gear reverser, one end of an output shaft of the gear reverser is provided with a left-handed trapezoidal screw rod, the other end of the output shaft of the gear reverser is provided with a right-handed trapezoidal screw rod, screw nuts are sleeved on the left-handed trapezoidal screw rod and the right-handed trapezoidal screw rod, and the screw nuts are connected with the mounting platform 6 in a sliding manner and are connected with the fixing frame 9 through ropes 72. When the gear reverser is used, a pair of mutually meshed bevel gears is installed in the gear reverser, one bevel gear is sleeved in the middle of the output shaft, the other bevel gear is sleeved on the input shaft, and the input shaft is connected with the end part of the output shaft of the worm gear reducer B through a coupler; the synchronous lifting motor 70 drives the left-handed trapezoidal screw and the right-handed trapezoidal screw to synchronously rotate forwards or reversely through the worm gear speed reducer B and the synchronous reversing assembly 71, so that two screw nuts in the same synchronous reversing assembly 71 move towards or away from each other at the same time, and the fixing frame 9 and the clamping mechanism 8 are driven to move up and down through the rope 72.
The anti-falling assembly 10 comprises an anti-falling rod and a limiting rod, one end of the anti-falling rod is movably connected with the bottom of the mounting platform 6 through a ball head, the other end of the anti-falling rod penetrates through the fixing frame 9, an elongated hole is formed in the anti-falling rod, the limiting rod is located on the inner side of the elongated hole, and two ends of the limiting rod are connected with the fixing frame 9; when using, the equipartition has four anticreep subassemblies 10 between mounting platform 6 and the mount 9, and anticreep subassembly 10 can ensure that mount 9 still can reliably be connected with mounting platform 6 under the cracked condition of rope 72, prevents to appear mount 9 and a section of thick bamboo bullet because of rope 72 fracture and drop subaerial dangerous condition.
The clamping mechanism 8 comprises a support frame 80 and a speed reducer 82, the speed reducer 82 is arranged on the support frame 80, a direct current motor B85 is arranged on the speed reducer 82, a left-handed screw 81 is arranged at one end of an output shaft of the speed reducer 82, a right-handed screw 83 is arranged at the other end of the output shaft of the speed reducer 82, clamping jaws 84 are sleeved on the left-handed screw 81 and the right-handed screw 83, and the clamping jaws 84 are connected with the support frame 80 in a sliding mode. When the clamping mechanism is used, the two clamping claws 84 in the clamping mechanism 8 are symmetrically arranged, the direct current motor B85 drives the left-handed screw 81 and the right-handed screw 83 to synchronously rotate forwards or reversely through the speed reducer 82, so that the two clamping claws 84 simultaneously move towards the directions close to or away from each other to lock or loosen the cylinder elastic lifting lug, the threads have a self-locking function, and the clamping claws 84 can reliably clamp the lifting lug. The jaws 84 are J-shaped, and the two jaws 84 in the same clamping mechanism 8 are symmetrically arranged.
The lifting appliance 4 further comprises four groups of positioning guide mechanisms 13, each positioning guide mechanism 13 comprises a cylinder 133, a sliding block 134 and a guide groove block 136, one end of the cylinder 133 is connected with the bottom of the mounting platform 6 through a cushion block B131 and a cushion block A130, the sliding block 134 is located on the inner side of the cylinder 133 and is in sliding connection with the cylinder 133, one end of the sliding block 134 is connected with the cushion block B131 through a spring 132, the other end of the sliding block is detachably connected with a conical guide head 135, the guide groove block 136 is arranged at the top of the fixing frame 9, the top of the guide groove block 136 is provided with a conical guide groove, the conical guide groove and the conical guide head 135 are coaxially arranged, the top of the fixing frame 9 is provided with a plurality of buffer support rods 12 at positions corresponding to the mounting platform 6, and the fixing frame 9 is provided with a machine vision system 11. When the conical guide mechanism is used, the shape and the size of the conical guide groove are matched with those of the conical guide head 135, the positioning guide mechanism 13 has a positioning guide effect on the fixed frame 9, and when the conical guide head 135 is in contact with the cylinder 133, the positioning guide mechanism 13 also has a limiting effect on the fixed frame 9, so that the fixed frame 9 is prevented from rotating relative to the mounting platform 6 on a horizontal plane. The buffer support rod 12 can be made of elastic materials such as rubber, and the buffer support rod 12 has mechanical limiting and buffering functions in the ascending process of the fixing frame 9. The machine vision system 11 converts the object to be shot into image signals through a machine vision product (namely, an image shooting device which is divided into a CMOS (complementary metal oxide semiconductor) and a CCD (charge coupled device), transmits the image signals to a special image processing system to obtain the form information of the object to be shot, and converts the form information into digital signals according to the information of pixel distribution, brightness, color and the like; the image system performs various operations on the signals to extract the features of the target, and then controls the on-site device action according to the result of the discrimination, and the machine vision system 11 is the prior art and is not described herein again. The lifting appliance 4 has a rigid-flexible conversion function, when the conical guide head 135 is positioned above the cylinder body 133, the fixed frame 9 is movable relative to the mounting platform 6, namely the fixed frame 9 is flexibly connected with the mounting platform 6, so that the pose is conveniently adjusted to enable the clamping mechanism 8 to clamp a lifting lug on a cylinder bullet; when the conical guide head 135 contacts with the cylinder 133, the positioning guide mechanism 13 limits the fixed mount 9, so that the fixed mount and the mounting platform 6 are relatively fixed, the conversion from flexibility to rigidity is completed, and the cylinder bomb is prevented from greatly shaking in the hoisting moving process, so that safe hoisting is realized.
Specifically, the device further comprises an electric control system 3, and the electric control system 3 is mounted on the mounting platform 6 and used for carrying out overall control on the device.
The multi-degree-of-freedom posture-adjusting hoisting device disclosed by the invention has the following working principle or using process:
the pose scanning of the cartridge bomb to be hoisted is completed through a machine vision system 11 installed on the hoisting tool 4, the pose scanning is stored, then the electric control system 3 automatically plans the ascending, translating and descending paths of the mechanical arm 5 and the hoisting device according to the loading and unloading task setting, calculates the control quantity of each joint according to the inverse kinematics, controls the amplitude-variable electric cylinder, the slewing mechanism, the spiral elevator A25, the spiral elevator B27, the synchronous lifting motor 70, the direct current motor B and the like in the hoisting device, and automatically completes the operations of aligning, clamping, hoisting, placing and the like of the cartridge bomb.
The fully-electric high-precision crane provided by the invention has the beneficial effects that:
1. the inclination angles of the posture-adjusting cradle head 2 and the lifting appliance 4 are adjusted through the inclination angle adjusting component 1 so as to meet the lifting requirements of the cylinder bombs with different inclination angles, and the spatial pose angles of the lifting appliance 4 are adjusted through the posture-adjusting cradle head 2, so that the lifting appliance can still normally and efficiently lift the cylinder bombs under the complex environmental conditions.
2. The transverse rolling motion of the longitudinal platform 23 and the pitching motion of the lower platform 24 are used for finely adjusting the longitudinal pose and the transverse pose of the lifting appliance 4, so that the clamping claws 84 can be quickly aligned with the lifting lugs on the cartridge bomb, the clamping mechanisms 8 can quickly clamp the lifting lugs of the cartridge bomb, and the spatial pose angles of the lifting appliance 4 are adjusted in the lifting process, so that the lower platform 24 is always parallel to the ground in the lifting process, namely the cartridge bomb is parallel to the ground, the risk that the cartridge bomb collides other objects is reduced, and the lifting safety of the cartridge bomb is improved.
3. The rotation angles of the longitudinal platform 23 and the lower platform 24 are adjusted by adopting a spiral lifter, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of a screw rod is utilized to ensure the angle adjustment precision; in addition, the pose of the lifting appliance 4 and the cartridge bomb is adjusted through the pose adjusting cloud platform 2, so that the cartridge bomb can be aligned with the loading position on the carrier, and the lifting efficiency of the cartridge bomb is greatly improved.
4. The transverse platform 26 can rotate 360 degrees, so that the lifting appliance 4 can lift the cartridge bomb placed in each direction, and the lower platform 24 is longitudinally and always kept consistent with the cartridge bomb longitudinally in the lifting process, so that the overall gravity center position is basically kept unchanged, and the lifting stability is improved.
5. The direct current motor B85 drives the left-handed screw 81 and the right-handed screw 83 to synchronously rotate forwards or reversely through the speed reducer 82, so that the two claws 84 move towards the direction close to or away from each other at the same time to lock or loosen the cylinder elastic lifting lug, the threads have a self-locking function, and the claws 84 can reliably clamp the lifting lug.
6. The planetary roller screw pair is adopted as the electric cylinder of the transmission element, so that a plurality of complicated mechanical structures are saved, and the transmission efficiency is greatly improved; the transmission efficiency can reach more than 90%, and the transmission efficiency of the hydraulic cylinder and the air cylinder does not exceed 50% generally.
7. The electric cylinder is driven by the servo motor, so that the control precision of hoisting operation is greatly improved, and the hoisting operation requirements of weapons such as a cartridge and the like are met.
8. The anti-dropping assembly 10 can ensure that the fixing frame 9 can still be reliably connected with the mounting platform 6 under the condition that the rope 72 is broken, and the dangerous condition that the fixing frame 9 and the cylinder bomb fall onto the ground due to the breakage of the rope 72 is prevented.
9. The lifting appliance 4 has a rigid-flexible conversion function, and the position and the posture of the lifting appliance can be conveniently adjusted by the posture adjusting holder 2 during flexible connection so that the clamping mechanism 8 clamps a lifting lug on the barrel bullet; the cylinder bomb can be prevented from shaking greatly in the hoisting moving process during rigid connection, so that safe hoisting is realized.
Claims (10)
1. The utility model provides a multi freedom transfers appearance hoist device which characterized in that: the device comprises a lifting appliance (4), a posture adjusting cloud platform (2) and an inclination angle adjusting component (1), wherein one end of the posture adjusting cloud platform (2) is connected with the lifting appliance (4), and the inclination angle adjusting component (1) is movably connected with one end of the posture adjusting cloud platform (2), which is far away from the lifting appliance (4).
2. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 1, characterized in that: the inclination angle adjusting assembly (1) comprises an amplitude-variable electric cylinder and an upright post assembly (100), one end of the upright post assembly (100) and one end of the electric cylinder are respectively rotatably connected with the attitude adjusting holder (2), and the upright post assembly (100) is rotatably connected with the middle part of the amplitude-variable electric cylinder through two connecting plates (101).
3. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 1, characterized in that: transfer appearance cloud platform (2) including in proper order from last lift by crane platform (20) to arranging down, horizontal platform (26), vertical platform (23) and lower platform (24), horizontal platform (26) are connected with the bottom of lifting by crane platform (20) through rotation mechanism, the bottom swing joint of vertical platform (23) and horizontal platform (26), and be connected with horizontal platform (26) through spiral lift B (27), the bottom swing joint of lower platform (24) and vertical platform (23), and be connected with vertical platform (23) through spiral lift A (25).
4. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 3, characterized in that: the slewing mechanism comprises an outer-tooth-type worm and gear turntable bearing (21) and a direct current motor A (22), wherein the inner ring of the outer-tooth-type worm and gear turntable bearing (21) is connected with a hoisting platform (20), the outer ring of the outer-tooth-type worm and gear turntable bearing is connected with a transverse platform (26), and the direct current motor A (22) is arranged on the outer-tooth-type worm and gear turntable bearing (21) and is connected with the worm input end in the outer-tooth-type worm and gear turntable bearing (21).
5. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 3, characterized in that: the lifting platform (20) is rotatably connected with the inclination angle adjusting assembly (1) through a pin shaft A and a pin shaft B, the longitudinal platform (23) is rotatably connected with the transverse platform (26) through a pin shaft C, the lower platform (24) is rotatably connected with the longitudinal platform (23) through a pin shaft D, and the pin shaft A, the pin shaft B and the pin shaft D are arranged in parallel and are perpendicular to the pin shaft C.
6. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 1, characterized in that: the lifting appliance (4) comprises an installation platform (6) and a fixing frame (9), the fixing frame (9) is located below the installation platform (6), the fixing frame (9) is connected with the installation platform (6) through a lifting driving mechanism (7) and is movably connected with the bottom of the installation platform (6) through a plurality of anti-falling assemblies (10), and clamping mechanisms (8) are arranged at two ends of the fixing frame (9).
7. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 6, characterized in that: lifting drive mechanism (7) include worm gear speed reducer B and two sets of synchronous switching-over subassemblies (71), worm gear speed reducer B establishes the top at mounting platform (6), be equipped with synchronous elevator motor (70) on worm gear speed reducer B, establish side by side on mounting platform (6) two sets of synchronous switching-over subassemblies (71), and the one-to-one is connected with the both ends of worm gear speed reducer B output shaft, the both ends of synchronous switching-over subassembly (71) are all connected with mount (9) through rope (72), and rope (72) are walked around fixed pulley (73) of establishing on mounting platform (6).
8. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 7, characterized in that: the synchronous reversing assembly (71) comprises a gear reverser, one end of an output shaft of the gear reverser is provided with a left-handed trapezoidal screw rod, the other end of the output shaft of the gear reverser is provided with a right-handed trapezoidal screw rod, screw nuts are sleeved on the left-handed trapezoidal screw rod and the right-handed trapezoidal screw rod, and the screw nuts are connected with the mounting platform (6) in a sliding manner and connected with the fixing frame (9) through ropes (72).
9. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 6, characterized in that: the anti-falling component (10) comprises an anti-falling rod and a limiting rod, one end of the anti-falling rod is movably connected with the bottom of the mounting platform (6) through a ball head, the other end of the anti-falling rod penetrates through the fixing frame (9), an elongated hole is formed in the anti-falling rod, the limiting rod is located on the inner side of the elongated hole, and two ends of the limiting rod are connected with the fixing frame (9);
clamping mechanism (8) are including support frame (80) and speed reducer (82), and establish on support frame (80) speed reducer (82), are equipped with direct current motor B (85) on speed reducer (82), and the one end of speed reducer (82) output shaft is equipped with left-handed screw rod (81), and the other end is equipped with dextrorotation screw rod (83), all overlaps on left-handed screw rod (81) and dextrorotation screw rod (83) and is equipped with jack catch (84), and jack catch (84) and support frame (80) sliding connection.
10. The multi-degree-of-freedom posture-adjusting hoisting device according to claim 6, characterized in that: the lifting appliance (4) further comprises a plurality of positioning guide mechanisms (13), each positioning guide mechanism (13) comprises a cylinder body (133), a sliding block (134) and a guide groove block (136), one end of each cylinder body (133) is connected with the bottom of the mounting platform (6) through a cushion block B (131) and a cushion block A (130), each sliding block (134) is located on the inner side of each cylinder body (133) and is in sliding connection with the corresponding cylinder body (133), one end of each sliding block (134) is connected with the corresponding cushion block B (131) through a spring (132), the other end of each sliding block is detachably connected with a conical guide head (135), each guide groove block (136) is arranged at the top of the corresponding fixing frame (9), each conical guide groove is formed in the top of each guide groove block (136), and the conical guide grooves and the conical guide heads (135) are coaxially arranged; the top of the fixed frame (9) is provided with a plurality of buffer supporting rods (12) at the positions corresponding to the mounting platform (6); the fixed frame (9) is provided with a machine vision system (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525863.7A CN114275674A (en) | 2021-12-14 | 2021-12-14 | Multi freedom transfers appearance hoist device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525863.7A CN114275674A (en) | 2021-12-14 | 2021-12-14 | Multi freedom transfers appearance hoist device |
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| CN114275674A true CN114275674A (en) | 2022-04-05 |
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| CN202111525863.7A Pending CN114275674A (en) | 2021-12-14 | 2021-12-14 | Multi freedom transfers appearance hoist device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114275689A (en) * | 2021-12-14 | 2022-04-05 | 贵州航天特种车有限责任公司 | Full-electric high-precision crane |
| CN116652860A (en) * | 2023-07-27 | 2023-08-29 | 华翔(洪洞)智能科技有限公司 | Compressor cylinder processing attitude adjusting device and adjusting method thereof |
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