Movable circular track type series mechanical arm stabilization device

A technology of anti-sway device and mechanical arm, which is applied in the direction of cranes, transportation and packaging, load suspension components, etc., can solve the problems of high work intensity, limited anti-sway effect, and influence on cranes, and achieve structural strength protection and scene applicability Strong, improve the effect of control accuracy

Pending Publication Date: 2022-03-01
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Cranes are widely used in operations such as ship replenishment, wind power installation, and manned submersible deployment. Due to the ship motion caused by wind and waves and the inherent underactuated characteristics of the hoisting system, the hoisting weight will sway significantly, and some heavy loads When the cargo collides with the crane itself or other structures on the deck due to sway, the result will be disastrous. The shortened operation window greatly increases the time and cost of hoisting operations. In hoisting operations, the operator's experience and manual dragging are usually used to suppress the sway of the hoisting weight, but the anti-swaying effect is very limited. High risk, low operating efficiency, and high operating intensity Existing anti-rolling equipment such as Maryland rigging, traction slider system, etc. affect the operating range of the crane, but the mechanism and control are relatively complicated, and certain adjustments must be made to the crane itself transform

Method used

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  • Movable circular track type series mechanical arm stabilization device
  • Movable circular track type series mechanical arm stabilization device
  • Movable circular track type series mechanical arm stabilization device

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Embodiment Construction

[0017] In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

[0018] Such as figure 1 The shown movable ring-rail type tandem manipulator anti-sway device includes a ring-rail manipulator anti-sway device 1 , a crane 2 , an anti-sway cable 3 , an anti-sway suspension pan 4 , and a main sling 5 . The ring rail manipulator anti-sway device 1 is connected with two symmetrically arranged anti-sway cables 3, the anti-sway cables 3 are connected with the anti-sway suspension pan 4, and the two symmetrically arranged anti-sway cables 3 are connected with the main hanger The anti-sway suspension plate 4 on the cable 5 forms a triangular stable structure, and the anti-sway device 1 of the ring rail manipulator realizes the anti-sway control of the hanging weigh...

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PUM

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Abstract

The invention discloses a movable circular track type series connection mechanical arm stabilization device which comprises a crane located at the axis position, a circular track mechanical arm stabilization device body is arranged at the coaxial position of the crane and connected with two symmetrical stabilization cables, the stabilization cables are connected with a stabilization hanging scaffold, and the stabilization hanging scaffold is connected with the circular track mechanical arm stabilization device body. The stabilizing hanging scaffold is connected with the main sling, the other end of the main sling is connected to the crane, the two symmetrical stabilizing cables and the stabilizing hanging scaffold on the main sling form a triangular stable structure, and the stabilizing device of the circular track mechanical arm achieves stabilizing control over a hanging weight hung below the stabilizing hanging scaffold through dragging actions on the stabilizing cables. According to the device, the suppression of small-amplitude swinging of the hoisting weight can be further realized through the amplitude variation and rotation of the mechanical arm, and a good stabilization effect is realized, so that the space positioning control precision of the hoisting weight is improved. According to the invention, the original crane does not need to be transformed, so that the structural strength of the original crane is effectively protected. A good stabilization effect can be achieved through real-time control of the annular track mechanical arm stabilization device.

Description

technical field [0001] The invention relates to the technical field of crane control, in particular to a movable ring-rail type series manipulator arm anti-sway device. Background technique [0002] Cranes are widely used in operations such as ship replenishment, wind power installation, and manned submersible deployment. Due to the ship motion caused by wind and waves and the inherent underactuated characteristics of the hoisting system, the hoisting weight will sway significantly, and some heavy loads When the cargo collides with the crane itself or other structures on the deck due to sway, the result will be disastrous. The shortened operation window greatly increases the time and cost of hoisting operations. In hoisting operations, the operator's experience and manual dragging are usually used to suppress the sway of the hoisting weight, but the anti-swaying effect is very limited. High risk, low operating efficiency, and high operating intensity Existing anti-rolling e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C23/06B66C23/08B66C23/62B66C23/82B66C13/06
CPCB66C23/06B66C23/08B66C23/62B66C23/82B66C13/06
Inventor 王生海孙茂凱韩广冬陈海泉安淋靳国良孙泽文刘可心孙玉清
Owner DALIAN MARITIME UNIVERSITY
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