A multi-degree-of-freedom loading device

Abstract

The present invention provides a multi-degree-of-freedom loading device, comprising a base, a middle plate, a loading platform, an air pump, a vertical hydraulic cylinder and a torsion hydraulic cylinder. The vertical hydraulic cylinder is used to push the middle plate and the loading platform up and down, and the torsion hydraulic cylinder is used to adjust the relative position of the loading platform in the horizontal direction. The air pump introduces high-pressure gas to the air-floating spherical surface, and the high-pressure gas enters the atmosphere from the matching gap between the air-floating spherical surface and the raised spherical surface. The high-pressure air film in the matching gap lifts the loading platform. Under the combined action of the torsion hydraulic cylinder, a small rotation of the loading platform in the horizontal direction and the vertical direction can be achieved; lifting the loading platform is beneficial to reducing the rotational friction between the air-floating spherical surface and the raised spherical surface, so as to improve the efficiency of horizontal rotation and improve the applicability of horizontal rotation under high load.

Description

Technical Field

[0001] The invention relates to the field of loading devices, and in particular to a multi-degree-of-freedom loading device. Background Art

[0002] In workshop or factory transportation operations, for heavy goods or parts, loading and positioning platforms are generally used for transportation, positioning and installation. However, for some special working environments with small spaces, cranes and other lifting equipment cannot enter the site, so positioning and loading can only be completed with the help of ground mobile platforms. The current loading and positioning platforms mainly include forklifts, rail flatbed trucks, etc. Forklifts are flexible in movement and have a large working space, but they can only withstand a small load (generally less than 20 tons). The loading process depends entirely on manual driving experience, and the installation and positioning accuracy is poor; rail flatbed trucks have a large carrying capacity, but basically only have a transportation function, with little freedom of movement in space, and cannot take into account the needs of cargo positioning and installation. Additional shipping tools are required, which is time-consuming and labor-intensive. Summary of the invention

[0003] In order to solve the above technical problems, a high-load-bearing multi-degree-of-freedom loading device is provided, which can conveniently adjust the posture of the carried object.

[0004] A multi-degree-of-freedom loading device comprises a base, a loading platform, an air pump, a vertical hydraulic cylinder, a middle plate and a torsion hydraulic cylinder, wherein the base is provided with a vertical hydraulic cylinder, the upper end of a driving rod of the vertical hydraulic cylinder is connected to the middle plate, the base is provided with an air pump, the upper end of the middle plate is provided with an air-floating spherical surface, the air-floating spherical surface is provided with an air hole connected to the output end of the air pump; the lower end of the loading platform is provided with a raised spherical surface matching the air-floating spherical surface, the raised spherical surface is rotatably mounted on the air-floating spherical surface, the loading platform and one end of the middle plate are respectively provided with an upper fixed shaft and a lower fixed shaft, the two ends of the torsion hydraulic cylinder are respectively hinged to the upper fixed shaft and the lower fixed shaft, and the torsion hydraulic cylinder is tilted.

[0005] Preferably, the present invention also includes a traveling wheel, an axle and an axle support seat, the base is provided with an axle support seat, one end of the axle support seat is provided with an axle mounting through hole, the axle can be slidably mounted on the axle mounting hole, and the traveling wheel is mounted at both ends of the axle.

[0006] Preferably, a hydraulic cavity is provided in the wheel axle support seat, the wheel axle passes through the hydraulic cavity, high-pressure oil is provided in the hydraulic cavity, sealing rings are provided at both ends of the hydraulic cavity, the hydraulic cavity is provided with an oil inlet and an oil return port, a static pressure support surface is provided between the hydraulic cavity and the wheel axle, and a fitting clearance is provided between the static pressure support surface and the wheel axle.

[0007] Preferably, the present invention further comprises a large gear, a small gear and a hydraulic motor, wherein the hydraulic motor is arranged on a base, the output shaft of the hydraulic motor is fixedly connected to the small gear, the large gear is arranged on the wheel axle, the large gear is coaxially arranged with the wheel axle, and the large gear is meshed with the small gear.

[0008] Preferably, the present invention further comprises a hydraulic oil source, and the hydraulic oil source is installed in the base.

[0009] Preferably, the present invention also includes a pressure reducing valve, a speed regulating valve and a servo valve, the hydraulic oil source is connected to the servo valve, the servo valve includes a torsional servo valve, a vertical servo valve and a motor servo valve, the torsional servo valve is connected to the torsional hydraulic cylinder, the vertical servo valve is connected to the vertical hydraulic cylinder, the motor servo valve is connected to the hydraulic motor, the oil outlet of the hydraulic oil source is connected to the oil inlet of the pressure reducing valve, the two ends of the speed regulating valve are respectively connected to the oil outlet of the pressure reducing valve and the oil inlet of the hydraulic chamber, and the oil return port of the hydraulic chamber is connected to the oil return port of the hydraulic oil source.

[0010] Preferably, the present invention further comprises steel rails, the travelling wheels comprise steel wheels matched with the steel rails, and the multi-degree-of-freedom loading device travels on the steel rails via the steel wheels.

[0011] Preferably, an air cavity is provided on the lower side of the air-floating spherical surface.

[0012] Preferably, the present invention also includes a rear end cover, a lifting lug and a ball joint, the rear end of the torsion hydraulic cylinder is provided with a rear end cover, the front end of the torsion hydraulic cylinder is provided with a lifting lug, the rear end cover is rotatably connected to the lower fixed shaft through a ball joint, and the lifting lug is rotatably connected to the upper fixed shaft through a ball joint.

[0013] Preferably, a posture sensor is provided at the upper end of the loading platform.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The vertical hydraulic cylinder is used to push the middle plate and the loading platform up and down, and the torsion hydraulic cylinder is used to adjust the relative position of the loading platform in the horizontal direction. The air pump introduces high-pressure gas to the air-floating spherical surface, and the high-pressure gas enters the atmosphere from the matching gap between the air-floating spherical surface and the convex spherical surface. The high-pressure air film in the matching gap lifts the loading platform. Under the combined action of the torsion hydraulic cylinder, a small rotation of the loading platform in the horizontal and vertical directions can be achieved. On the other hand, lifting the loading platform is beneficial to reducing the rotational friction between the air-floating spherical surface and the convex spherical surface, so as to improve the efficiency of horizontal rotation and improve the applicability of horizontal rotation under high load; 2. The wheel axle is slidably mounted on the wheel axle support seat, and the base adjusts the relative position of the loading platform and the running wheel by adjusting the relative position of the wheel axle support seat and the wheel axle, thereby adjusting the front and rear position of the loading platform; 3. High-pressure oil passes through the oil inlet into the hydraulic cavity, and the high-pressure oil forms a static oil film in the matching gap. The static oil film not only bears the base and the parts connected to the base, but also greatly reduces the friction resistance of the relative movement between the wheel axle and the wheel axle support seat; 4. The hydraulic motor drives the wheel axle and the driving wheel to rotate through the pinion and large and small gears, so as to adjust the position of the loading platform in the X direction; 5. The displacement, acceleration and rotation angle in three directions are monitored by the posture sensor; 6. The six-degree-of-freedom movement and positioning of the loading platform are realized. The loading and positioning platform components are compactly installed and occupy a small space. It has the characteristics of strong bearing capacity, multiple degrees of freedom and high positioning accuracy, which is convenient for adjusting the posture of heavy objects in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention;

[0016] Figure 2 is a schematic diagram of the base structure;

[0017] Figure 3 1. It is a schematic diagram of the structure of the axle support seat;

[0018] Figure 4 is a cross-sectional view of the present invention;

[0019] Figure 5 This is a schematic diagram of the installation of the torsion hydraulic cylinder;

[0020] Figure 6 It is a schematic diagram of the hydraulic system of the present invention;

[0021] Figure 7 This is a schematic diagram of the target interface positioning.

[0022] Markings in the attached drawings: 1-base, 101-rail, 102-travel wheel, 104-vertical hydraulic cylinder, 107-cylinder, 108-drive rod, 111-hydraulic oil source, 112-large gear, 113-small gear, 114-hydraulic motor, 115-axle, 116-axle support seat, 117-air pump, 121-static pressure support surface, 122-sealing ring, 123-oil inlet, 124-oil return port, 2-middle plate, 203-air hole, 204-air cavity, 205-air floating ball surface, 216-torsion hydraulic Cylinder, 221-upper fixed shaft, 222-ball joint, 223-rear end cover, 226-lifting ear, 227-lower fixed shaft, 3-stage, 301-weight, 302-weight interface, 303-target interface, 306-raised spherical surface, 308-position sensor, 601-pressure reducing valve, 602-speed regulating valve, 604-torsion servo valve, 605-vertical servo valve, 606-motor servo valve. DETAILED DESCRIPTION

[0023] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] A multi-degree-of-freedom loading device, such as Figure 1 to Figure 7 As shown, it includes a base 1, a middle plate 2, a loading platform 3, an air pump 117, a vertical hydraulic cylinder 104 and a torsion hydraulic cylinder 216. The base 1 is provided with a vertical hydraulic cylinder 104, and the upper end of a driving rod 108 of the vertical hydraulic cylinder 104 is connected to the middle plate 2, as shown in FIG. Figure 2 As shown, the base 1 is provided with an air pump 117. Figure 4 As shown, the middle plate 2 is provided with an air-floating spherical surface 205, and the air-floating spherical surface 205 is provided with an air hole 203 connected to the output end of the air pump 117. The lower end of the loading platform 3 is provided with a convex spherical surface 306 matching the air-floating spherical surface 205, and the convex spherical surface 306 is rotatably mounted on the air-floating spherical surface 205. One end of the loading platform 3 and the middle plate 2 are respectively provided with an upper fixed shaft 221 and a lower fixed shaft 227, and both ends of the torsion hydraulic cylinder 216 are respectively hinged to the upper fixed shaft 221 and the lower fixed shaft 227, and the torsion hydraulic cylinder 216 is tilted. The vertical hydraulic cylinder is used to push the middle plate and the loading platform up and down, and the torsion hydraulic cylinder is used to adjust the relative horizontal position of the loading platform. The air pump introduces high-pressure gas to the air-floating spherical surface, and the high-pressure gas enters the atmosphere from the fitting gap between the air-floating spherical surface and the raised spherical surface. The high-pressure air film in the fitting gap lifts the loading platform. Under the combined action of the torsion hydraulic cylinder, the loading platform can be rotated slightly in the horizontal and vertical directions. On the other hand, lifting the loading platform is beneficial to reducing the rotational friction between the air-floating spherical surface and the raised spherical surface, so as to improve the efficiency of horizontal rotation and improve the applicability of horizontal rotation under high load.

[0025] The present invention may also include a running wheel 102, an axle 115 and an axle support seat 116. As shown in FIG2 , the base 1 is provided with an axle support seat 116, one end of which is provided with an axle mounting through hole, the axle 115 is slidably mounted on the axle mounting through hole of the axle support seat 116, and the running wheel 102 is mounted on both ends of the axle 115. The relative position of the base, the loading platform and the running wheel is adjusted by adjusting the relative position of the axle support seat 116 and the axle, thereby adjusting the front and rear positions of the loading platform.

[0026] A hydraulic chamber may be provided in the wheel axle support seat 116, and the wheel axle 115 passes through the hydraulic chamber. The hydraulic chamber is provided with high pressure oil, such as Figure 3 As shown, sealing rings 122 are provided at both ends of the hydraulic cavity, an oil inlet 123 and an oil return port 124 are provided in the hydraulic cavity, a static pressure support surface 121 is provided between the hydraulic cavity and the wheel axle 115, and a matching gap is provided between the static pressure support surface and the wheel axle. High-pressure oil passes into the hydraulic cavity through the oil inlet 123, and the high-pressure oil forms a static pressure oil film in the matching gap. The static pressure oil film not only bears the base 1 and the components connected to the base 1, but also greatly reduces the friction resistance of the relative movement between the wheel axle and the wheel axle support seat.

[0027] The present invention may also include a large gear 112, a small gear 113 and a hydraulic motor 114. Figure 2 As shown, the hydraulic motor 114 is arranged on the base 1, the output shaft of the hydraulic motor 114 is fixedly connected to the pinion 113, the large gear 112 is coaxially arranged on the wheel shaft 115, and the large gear 112 is meshed with the small gear 113. The hydraulic motor 114 drives the wheel shaft and the travel wheel to rotate through the small gear and the large gear, thereby adjusting the position of the loading platform in the X direction.

[0028] The present invention may further include a hydraulic oil source 111 , which is installed in the base 1 .

[0029] The present invention may also include a pressure reducing valve 601, a speed regulating valve 602 and a servo valve. Figure 6As shown, the oil outlet and oil return port of the hydraulic oil source 111 are respectively connected to the oil inlet and oil return port of the servo valve, the oil outlet of the hydraulic oil source 111 is connected to the oil inlet of the pressure reducing valve, the two ends of the speed regulating valve are respectively connected to the oil outlet of the pressure reducing valve and the oil inlet of the pressure reducing valve, the oil return port of the hydraulic chamber is connected to the oil return port of the hydraulic oil source, the servo valve includes a torsion servo valve 604, a vertical servo valve 605 and a motor servo valve 606, the torsion servo valve is connected to the torsion hydraulic cylinder, the vertical servo valve is connected to the vertical hydraulic cylinder, the motor servo valve is connected to the hydraulic motor, the torsion servo valve 604, the vertical servo valve 605 and the motor servo valve 606 are respectively used to control the hydraulic motor 114, the vertical hydraulic cylinder 104 and the torsion hydraulic cylinder 216. Two groups of torsion hydraulic cylinders 216 can be respectively provided at the left and right ends of the middle plate and the loading platform, and each group of torsion hydraulic cylinders 216 is connected to a torsion servo valve 604, and the loading platform 3 can be rotated in different directions and at different angles by combining each torsion servo valve 604; multiple groups of vertical hydraulic cylinders 104 are connected in parallel with the vertical servo valve 605, and the synchronous vertical movement and movement speed of the middle plate 2 are controlled by the vertical servo valve 605; multiple groups of hydraulic motors 114 are connected in parallel with the motor servo valve 606, and the synchronous rotation and rotation speed of multiple groups of wheel axles 205 are controlled by a motor servo valve 606; the pressure reducing valve 601 reduces the high-pressure oil of the hydraulic oil source 111 and then enters the speed regulating valve 602, and then is diverted to enter the oil inlet of the hydraulic cavity in the wheel axle support seat 116, and then returns to the hydraulic oil source 111 through the oil return port of the inner hydraulic cavity. The speed regulating valve 602 is used to control the amount of oil entering the hydraulic cavity.

[0030] The present invention may further include a steel rail 101 , and the traveling wheel 102 may be a steel wheel, and the present invention travels and moves on the steel rail 101 via the steel wheel.

[0031] The lower side of the air-floating spherical surface 205 may be provided with an air cavity 204, such as Figure 4 As shown, the support of the air-floating spherical surface 205 by the high-pressure air is made more uniform and reliable.

[0032] In a specific embodiment, the present invention further comprises a rear end cover 223, a lifting ear 226 and a ball joint 222, such as Figure 5 As shown, the rear end of the torsion hydraulic cylinder 216 is connected to the rear end cover 223, and the front end is connected to the lifting lug 226. The rear end cover 223 is rotatably connected to the lower fixed shaft 227 through the ball joint 222, and the lifting lug 226 is rotatably connected to the upper fixed shaft 221 through the ball joint 222. Thus, the two ends of the torsion hydraulic cylinder are respectively hinged to the fixed shafts of the loading platform and the middle plate. Hydraulic cylinder mounting seats are provided on the front and rear sides of the base 1, and the cylinder barrel 107 of the vertical hydraulic cylinder 104 is installed on the lower side wall of the hydraulic cylinder mounting seat. The driving rod of the vertical hydraulic cylinder extends upward and is fixedly connected to the middle plate 2.

[0033] The upper end of the loading platform may be provided with a posture sensor 308. The posture sensor 308 may be a six-axis sensor. In a specific embodiment, the six-axis sensor uses an electronic gyroscope accelerometer of the MPU-6050 model, which is used to monitor displacement, acceleration and rotation angle in three directions, so as to monitor the spatial posture of the heavy object 301 carried on the loading platform in real time. Figure 7 As shown, the hydraulic motor drives the present invention to the bottom of the target point, so that the weight interface 302 is aligned with the target interface 303 in the horizontal X direction, so as to realize the movement of the loading platform in the X direction; the vertical hydraulic cylinder lifts the middle plate, loading platform and weight to realize the movement of the loading platform in the Z direction; the base is pushed to move along the Y direction (wheel axle direction) by manpower or an external hydraulic cylinder to realize the movement of the loading platform in the Y direction, thereby realizing multi-degree-of-freedom movement. When the position or flip angle of the weight interface 302 in the X direction, Y direction or Z direction deviates from the target interface 303, the position correction amount of the torsion hydraulic cylinder, hydraulic motor and vertical hydraulic cylinder is solved by spatial inverse kinematics according to the deviation amount, so as to complete the position correction in the X direction, Y direction or Z direction by combining the torsion hydraulic cylinder, hydraulic motor and vertical hydraulic cylinder, so as to make the weight interface 302 accurately dock with the target interface 303, so as to adjust the weight 301 to the target position. The present invention realizes six-degree-of-freedom movement and positioning of the loading platform. The loading and positioning platform components are compactly installed and occupy a small space. It has the characteristics of strong carrying capacity, multiple degrees of freedom and high positioning accuracy, and is convenient for adjusting the position and posture of heavy objects in a small space.

[0034] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom loading device, comprising a base and a loading platform, characterized in that: It also includes an air pump, a vertical hydraulic cylinder, a middle plate and a torsion hydraulic cylinder. A vertical hydraulic cylinder is provided on the base, and the upper end of the driving rod of the vertical hydraulic cylinder is connected to the middle plate. An air pump is provided on the base, an air floating spherical surface is provided on the upper end of the middle plate, and an air hole connected to the output end of the air pump is provided on the air floating spherical surface; The lower end of the loading platform is provided with a raised spherical surface matching the air-floating spherical surface, and the raised spherical surface is rotatably mounted on the air-floating spherical surface. The loading platform and one end of the middle plate are respectively provided with an upper fixed shaft and a lower fixed shaft, and the two ends of the torsion hydraulic cylinder are respectively hinged with the upper fixed shaft and the lower fixed shaft, and the torsion hydraulic cylinder is tilted; An air cavity is provided on the lower side of the air-floating spherical surface; it also includes a rear end cover, a lifting ear and a ball joint. The rear end of the torsion hydraulic cylinder is provided with a rear end cover, and the front end of the torsion hydraulic cylinder is provided with a lifting ear. The rear end cover is rotatably connected to the lower fixed shaft through a ball joint, and the lifting ear is rotatably connected to the upper fixed shaft through a ball joint.

2. The multi-degree-of-freedom loading device according to claim 1, characterized in that: It also includes a travel wheel, an axle and an axle support seat. A wheel axle support seat is arranged on the base, a wheel axle support seat has a wheel axle mounting through hole at one end, the wheel axle is slidably mounted on the wheel axle mounting through hole, and the traveling wheels are mounted at both ends of the wheel axle.

3. The multi-degree-of-freedom loading device according to claim 2, characterized in that: A hydraulic cavity is provided in the wheel axle support seat, the wheel axle passes through the hydraulic cavity, high-pressure oil is provided in the hydraulic cavity, sealing rings are provided at both ends of the hydraulic cavity, the hydraulic cavity is provided with an oil inlet and an oil return port, a static pressure support surface is provided between the hydraulic cavity and the wheel axle, and a fitting clearance is provided between the static pressure support surface and the wheel axle.

4. The multi-degree-of-freedom loading device according to claim 3, characterized in that: It also includes a large gear, a small gear and a hydraulic motor, wherein the hydraulic motor is arranged on a base, the output shaft of the hydraulic motor is fixedly connected to the small gear, the large gear is arranged on the wheel axle, the large gear is coaxially arranged with the wheel axle, and the large gear is meshed with the small gear.

5. The multi-degree-of-freedom loading device according to claim 4, characterized in that: Also included is a hydraulic oil source, which is installed in the base.

6. The multi-degree-of-freedom loading device according to claim 5, characterized in that: It also includes a pressure reducing valve, a speed regulating valve and a servo valve. The hydraulic oil source is connected to the servo valve. The servo valve includes a torsion servo valve, a vertical servo valve and a motor servo valve. The torsion servo valve is connected to the torsion hydraulic cylinder, the vertical servo valve is connected to the vertical hydraulic cylinder, and the motor servo valve is connected to the hydraulic motor. The oil outlet of the hydraulic oil source is connected to the oil inlet of the pressure reducing valve, and both ends of the speed regulating valve are respectively connected to the oil outlet of the pressure reducing valve and the oil inlet of the hydraulic chamber, and the oil return port of the hydraulic chamber is connected to the oil return port of the hydraulic oil source.

7. The multi-degree-of-freedom loading device according to any one of claims 2 to 6, characterized in that: It also includes steel rails, and the traveling wheels include steel wheels matched with the steel rails.

8. The multi-degree-of-freedom loading device according to claim 1, characterized in that: A posture sensor is disposed at the upper end of the loading platform.

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