CN202643150U - Space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device - Google Patents
Space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device Download PDFInfo
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- CN202643150U CN202643150U CN 201220284607 CN201220284607U CN202643150U CN 202643150 U CN202643150 U CN 202643150U CN 201220284607 CN201220284607 CN 201220284607 CN 201220284607 U CN201220284607 U CN 201220284607U CN 202643150 U CN202643150 U CN 202643150U
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- flexible cable
- soft cable
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- 238000004804 winding Methods 0.000 claims abstract description 23
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 14
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- 239000012530 fluid Substances 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
A space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device comprises three hoisting devices which are in the same structures, used for hoisting heavy loads and are in triangular distribution. Each hoisting device mainly comprises a variable amplitude device, a slewing device and a hoist device, wherein each variable amplitude device is formed by a variable amplitude oil cylinder and a corresponding hydraulic circuit; each slewing device is formed by a slewing hydraulic motor, a slewing reducer, and a corresponding hydraulic circuit; and the hoist device is formed by a hoist hydraulic motor, a winding drum, a hoist reducer, a soft cable, a lifting hook, a pulley group, a pulley support and a corresponding circuit, one end of the soft cable is connected with the lifting hook, and the other end of the soft cable is wound on the winding drum through the pulley group. The three hoisting devices are connected with the heavy loads through the lifting hooks, by means of control of the variable amplitude device, the slewing device and the hoist device of each hoisting device, cooperation is achieved, and hoisting of the heavy loads is achieved. The space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device is simple in structure, large in work space, strong in load capacity, good in power performance and easy to control.
Description
Technical field
The utility model relates to a kind of large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment, the large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment 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 carrying machine.Be subjected in recent years world economy rapid growth and world commerce ripple effect, be handled upside down the material device towards scale, heavily loaded large scale development, the lifting environment is increasingly abominable, complicated, also more and more higher to the requirement of hoisting and hanging technology and hanging device simultaneously.Yet owing to being subject to the restriction of the 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 large, load-carrying capacity is strong, tractive performance is good, be easy to the series of advantages such as control, the in recent years application at engineering field constantly enlarges, this also has higher requirement to the flexible cable parallel robot, not only require high precision, high efficiency, the running of heavy load ground, and require to have larger flexibility output, can change rapidly, easily the output movement rule.Yet traditional flexible cable parallel mechanism generally adopts driven by servomotor, and moment of torsion is less, does not therefore also equip towards the cooperation flexible cable parallel architecture of large-scale heavy duty hoisting and hanging at present.
The utility model content
Technical matters: the purpose of this utility model is for the problem of depositing in the prior art, a kind of simple in structure, hydraulic-driven is provided, can finishes the steadily space six degree of freedom large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment of safety carrying of large-scale material.
Technical scheme: space of the present utility model six degree of freedom large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment, 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 changes the amplitude oil cylinder at the arm elevation angle, the piston rod of amplitude oil cylinder is hinged by 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 by 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, winding speed reducing, reel, flexible cable, suspension hook, assembly pulley, pulley bracket, described winding speed reducing is installed in a side of reel, the elevator HM Hydraulic Motor links to each other with winding speed reducing through coupler, assembly pulley is installed on the pulley bracket, pulley bracket is located at the top of arm, flexible cable one end is connected with suspension hook, the other end is wrapped on the reel through assembly pulley, three crane hoisting equipments link to each other with weight by suspension hook, luffing, revolution, elevator cooperation cooperate by controlling separately, finish the lifting of weight.
Beneficial effect: the utility model utilizes that flexible cable parallel mechanism rigidity is large, load-carrying capacity is strong, tractive performance is good, be easy to the advantages such as control, the flexible cable parallel robot system is incorporated in traditional weight-lifting equipment, thereby compatible conventional hydraulic drives the large advantage of weight-lifting equipment load-carrying capacity, has remedied traditional flexible cable parallel mechanism to servo-electric acc power and the less defective of moment of torsion; And large flexible output, the working space of having inherited flexible cable parallel mechanism be large, be easy to the 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 the defective such as tractive performance is poor, can finish preferably the lifting of heavily loaded large-scale material, realize the steadily movement output of safety, it is simple in structure, working space is large, load-carrying capacity is strong, cost performance is higher, has widely practicality.
Description of drawings
Fig. 1 is structural front view of the present utility model;
Fig. 2 is structure birds-eye view of the present utility model;
Fig. 3 is structure left view of the present utility model.
Among the figure: 1-pulley bracket, 2-assembly pulley, 3-flexible cable, 4-amplitude oil cylinder connecting panel, 5-suspension hook, 6-amplitude oil cylinder, the 7-reel, 8-winding speed reducing, 9-elevator HM Hydraulic Motor, the 10-rotary fluid motor, 11-rotary reducer, 12-driven gear, the 13-driving gear, 14-arm, 15-turntable, the 16-base, the 17-weight.
The specific embodiment
Below in conjunction with accompanying drawing an embodiment of the present utility model is further described:
Space of the present utility model six degree of freedom large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment, mainly three identical crane hoisting equipments of structure by the hoisting heavy 17 that is in triangular distribution consist of, every crane hoisting equipment includes luffing device, turning gear and winding plant, wherein, luffing device is comprised of amplitude oil cylinder 6 and corresponding hydraulic circuit, amplitude oil cylinder 6 upper ends are hinged by amplitude oil cylinder connecting panel 4 and arm 14, and amplitude oil cylinder 6 lower ends and turntable 15 are hinged; Turning gear is comprised of rotary fluid motor 10, rotary reducer 11 and corresponding hydraulic circuit, rotary fluid motor 10 links to each other with rotary reducer 11 by 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, winding speed reducing 8, reel 7, flexible cable 3, suspension hook 5, assembly pulley 2, pulley bracket 1 and corresponding hydraulic circuit form, described elevator HM Hydraulic Motor 9 links to each other with the winding speed reducing 8 that is installed in reel 7 one sides by coupler, assembly pulley 2 is installed on the pulley bracket 1, pulley bracket 1 is located at the top of arm 14, flexible cable 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 by suspension hook 5, described luffing device, turning gear and winding plant are installed on the turntable 15, three crane hoisting equipments are by controlling separately luffing, revolution, winding plant, realize the separately variation at the arm elevation angle, the variation of degreeof turn, the variation of flexible cable length, thus cooperation cooperates the lifting task of finishing 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, and the suspension hook 5 by flexible cable 3 ends is connected on the weight 17, as shown in Figure 2; By each hydraulic circuit that links to each other with hydraulic power unit, for space six degree of freedom large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment 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 by 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 by 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 by 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 winding speed reducing 8 that is installed in reel 7 one sides by coupler, flexible cable 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 by suspension hook 5, thereby changes the action that hoists of the length realization separate unit crane hoisting equipment of flexible cable 3 by rotating drum 7.Three crane hoisting equipments are realized separately luffing, the action of turning round and hoist by controlling separately luffing, revolution, winding plant, thereby cooperation cooperates the lifting task of finishing weight 17.Every crane hoisting equipment totally 3 mobilities that have luffing, turn round and hoist, therefore whole large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture equipment has 9 mobilities altogether, by the motion of flexible cable 3 traction weights 17 implementation space 6DOFs.
Claims (1)
1. a space six degree of freedom large-scale heavy duty hoisting and hanging cooperation flexible cable parallel architecture 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), be 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, the piston rod of amplitude oil cylinder (6) is hinged by 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) by 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), winding speed reducing (8), reel (7), flexible cable (3), suspension hook (5), assembly pulley (2), pulley bracket (1), described winding speed reducing (8) is installed in a side of reel (7), elevator HM Hydraulic Motor (9) links to each other with winding speed reducing (8) through coupler, assembly pulley (2) is installed on the pulley bracket (1), pulley bracket (1) is located at the top of arm (14), flexible cable (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) by suspension hook (5), by controlling separately luffing, revolution, winding plant realizes that cooperation cooperates, and finishes the lifting of weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220284607 CN202643150U (en) | 2012-06-18 | 2012-06-18 | Space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220284607 CN202643150U (en) | 2012-06-18 | 2012-06-18 | Space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device |
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| Publication Number | Publication Date |
|---|---|
| CN202643150U true CN202643150U (en) | 2013-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220284607 Expired - Fee Related CN202643150U (en) | 2012-06-18 | 2012-06-18 | Space six degrees of freedom large-scale heavy load hoisting cooperation soft cable parallel configuration device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102718153A (en) * | 2012-06-18 | 2012-10-10 | 中国矿业大学 | Flexible-cable parallel-configuration equipment for cooperatively large-scale heavy-load hoisting within six degrees of spatial freedom |
-
2012
- 2012-06-18 CN CN 201220284607 patent/CN202643150U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102718153A (en) * | 2012-06-18 | 2012-10-10 | 中国矿业大学 | Flexible-cable parallel-configuration equipment for cooperatively large-scale heavy-load hoisting within six degrees of spatial freedom |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20170618 |
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| CF01 | Termination of patent right due to non-payment of annual fee |