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Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension

A technology of active control and constant tension, applied in the direction of program control manipulator, manipulator, claw arm, etc., can solve the problems of inability to work safely and the work efficiency of marine manipulators, and achieve the effect of improving work efficiency and

Active Publication Date: 2021-01-29
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to provide a device that can actively control the constant tension, and can automatically grab and release some objects such as torpedoes, submersibles, and small boats, so as to solve the problem of the decrease in the working efficiency of the marine mechanical arm due to the swaying of the main sling due to the complex environment on the sea surface. The problem of not being able to work safely, the three-link marine self-picking and placing robotic arm device with active control and constant tension that can be installed on various carriers

Method used

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  • Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension
  • Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension
  • Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension

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Embodiment Construction

[0032] The present invention is described in detail below in conjunction with accompanying drawing:

[0033] like figure 1 As shown, a three-link marine self-pick and place mechanical arm device with active control of constant tension mainly includes a base 1, a balance platform 2, a left balance arm 3, a right balance arm 4, a tension sensor 5, a connecting rod 6, Connecting rod 2 7, connecting rod 3 8, left auxiliary balance arm 9, right auxiliary balance arm 10, main sling 11, guide pulley 12, left balance cable 13, right balance cable 14, left auxiliary balance cable 15, right auxiliary balance Cable 16, fixing part 17, bearing 18, vision sensor 19, suspension ring 20, grabbing hook 21, PLC control box 22. The left balance arm 3 and the right balance arm 4 link to each other with the suspension ring 20 on the grapple 21 with the left balance cable 13 and the right balance cable 14 respectively. Left auxiliary balance arm 9 and right auxiliary balance arm 10 link to each ...

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PUM

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Abstract

The invention designs a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension. The device mainly comprises a base, a balance platform, a left balance arm, a right balance arm, a tension sensor, a first connecting rod, a second connecting rod, a third connecting rod, a left auxiliary balance arm, a right auxiliary balancearm, a main sling, a left balance cable, a right balance cable, a left auxiliary balance cable, a right auxiliary balance cable, a visual sensor, a lifting ring, a grab hook and a PLC control box. Four balance cables are adopted, active constant tension control is achieved through a PLC, and automatic grabbing, collecting and releasing functions are achieved through the grab hook of the visual sensor. The device has the advantages that a multi-degree-of-freedom three-connecting-rod type mechanical arm is used, and the grabbing range is enlarged. Meanwhile, the influence of marine environmental factor interference force on the main sling, the grab hook and the hoisted object is considered. The four balance cables are adopted, so that the stabilization effect is improved. The visual sensoris applied, the marine mechanical arm can automatically grab, collect and release the hoisted object, and compared with a manually-operated marine crane, the device is more intelligent and suitable for various carriers.

Description

[0001] (1) Technical field [0002] The invention belongs to a device for grabbing and releasing objects such as torpedoes, submersibles, and small boats with a marine mechanical arm, in particular a three-link marine self-grabbing and releasing mechanical arm device with active control and constant tension suitable for complex ocean interference environments . [0003] (2) Background technology [0004] With the vigorous development of the national marine transportation industry, marine robotic arms are widely used in this industry as a new type of marine engineering equipment. Nowadays, marine robotic arms are more and more used for hoisting torpedoes, submarines, boats and other objects, and have a wide range of applications and have good development prospects. However, due to the fact that the marine manipulator will be affected by the complex and changeable external environmental factors of the ocean when performing lifting operations in the real ocean environment, the sl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J18/00B25J19/04B63B23/00
CPCB25J9/1697B25J18/00B25J19/04B63B23/00
Inventor 孙明晓王万鹏栾添添胡占永谢春旺王涵旭王皓马爽
Owner HARBIN UNIV OF SCI & TECH
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