Stable adjusting mechanism and adjusting method of flexible cable parallel robot

Abstract

The application discloses a stable adjusting mechanism of a flexible cable parallel crane robot, which comprises a wheel, a hoisting hydraulic cylinder, an electric telescopic cylinder, a universal joint and a guide rail. The upper end of the wheel is hinged to the cylinder body of the hydraulic cylinder, and the lower end is matched with a circular arc guide rail and can move along the guide rail. The push rod of the hoisting hydraulic cylinder is hinged to the two ends of the universal joint, and the upper end of the universal joint is fixed on the lifting arm of the crane robot. The two ends of the electric cylinder are respectively hinged to the cylinder body of the hydraulic cylinder, the supporting angle between the hydraulic cylinders can be adjusted by adjusting the telescopic amount of the electric cylinder, and the stable supporting function is realized through the self-locking of the speed reducer on the electric cylinder; the application can enhance the stability of the flexible cable parallel crane robot during work, and can change different working condition modes according to different task requirements of the crane robot, such as hoisting, rotating and amplitude changing.

Description

[0001] Patent No.: 202010810843.3

[0002] Application Date: August 13, 2020

[0003] Title: A stable adjusting mechanism and adjusting method suitable for cable parallel crane robot TECHNICAL FIELD

[0004] The present application relates to the field of mechanical equipment, in particular to a stable adjusting mechanism of a cable parallel crane robot. BACKGROUND

[0005] A crane is a multi-action hoisting machine that vertically lifts and horizontally carries heavy objects within a certain range, also known as a hoist, and belongs to material handling machinery.

[0006] In recent years, the rapid growth of the world economy and the increasing amount of engineering tasks around the world have made engineering tasks increasingly difficult. The materials being transported are developing towards heavy and large-scale, and the working environment and tasks of cranes are becoming more and more complex. Therefore, the stability of cranes during work is required to be higher.

[0007] Currently, some patents have designed some devices to enhance the stability of cranes during work. These devices are mostly associated with the support part of the crane. Patent application number "CN201520259380.0" designs a cantilever crane column reinforcing device with simple structure and strong supporting force. Patent application number "CN201820357210.X" designs a fixed frame that enhances the stability of the crane during work. The working principle of the above-mentioned patents is to increase the support area of the crane and the ground to enhance the stability of the crane. SUMMARY

[0008] The present application designs a stable adjusting mechanism associated with the crane boom, which is different from the devices that increase the support area with the ground to improve the stability of the crane in the past. Instead, an auxiliary support is designed for the crane boom of the crane robot. The present application can change different working condition modes according to different task requirements of the crane robot, such as lifting, rotating, and amplitude changing.

[0009] The present application is realized by the following technical solutions:

[0010] The stable adjusting mechanism of the cable parallel crane robot is provided with an auxiliary support mechanism on the boom of the crane robot.

[0011] When the crane robot is lifting and placing, the telescopic electric cylinder and hydraulic cylinder of the auxiliary support mechanism are locked, the auxiliary support mechanism provides support force for the boom, and plays a stabilizing role.

[0012] When the crane robot rotates, the reducer of the telescopic electric cylinder is unlocked, the wheels follow the boom to move along the guide rail, and the electric cylinder is telescoped. When the boom rotates to the specified position, the electric cylinder reducer is self-locked, the wheels stop moving, the support angle between the lifting hydraulic cylinders and the telescoping amount of the cylinders remain unchanged.

[0013] When the crane robot luffing moves, the reducer of the telescopic electric cylinder is unlocked, the telescoping amount of the two lifting hydraulic cylinders changes, the electric cylinder telescopes, the support angle changes, and the wheels move along the guide rail. When the boom is lifted to the specified height, the electric cylinder reducer is self-locked, the wheels stop moving, the support angle between the lifting hydraulic cylinders and the telescoping amount of the cylinders remain unchanged.

[0014] Further, a guide rail 7 is provided on the foundation of the crane robot. The guide rail 7 is a circular arc or a closed loop. The closed loop is an elliptical ring or a circular ring.

[0015] A wheel, a lifting hydraulic cylinder and a universal joint are provided on the crane robot. Among them:

[0016] The wheel cooperates with the guide rail and moves on it.

[0017] The upper end of the wheel is hinged to the cylinder body of the lifting hydraulic cylinder.

[0018] The upper end of the universal joint is connected to the crane boom, and the lower end is hinged to the push rod of the lifting hydraulic cylinder to transmit the force and movement between the crane and the stabilizing adjustment mechanism.

[0019] Further, the guide rail 7 is two, which are called the inner rail and the outer rail in turn. One wheel is provided on each of the inner rail and the outer rail. One lifting hydraulic cylinder is provided on each wheel. The push rod of each lifting hydraulic cylinder is connected to the crane boom through a universal joint.

[0020] Further, the guide rail 7 is two, which are called the inner rail and the outer rail in turn. The wheels on the inner rail and the outer rail are arranged in one of the following ways:

[0021] a. One wheel is provided on the inner rail, and two wheels are provided on the outer rail.

[0022] b. Two wheels are provided on the inner rail, and one wheel is provided on the outer rail.

[0023] One lifting hydraulic cylinder is provided on each wheel.

[0024] When two wheels are provided on the inner rail and one wheel is provided on the outer rail: the push rods of the two lifting hydraulic cylinders on the inner rail are connected to the crane boom through a double universal joint. The push rod of the lifting hydraulic cylinder on the outer rail is movably connected to the cross bar or the universal joint.

[0025] When there are 2 wheels on the outer rail and 1 wheel on the inner rail: the push rod of the 2 lifting hydraulic cylinders on the outer rail is connected to the crane boom through a double universal joint. The push rod of the lifting hydraulic cylinder on the inner rail is movably connected to the crossbar or the universal joint.

[0026] Further, the guide rail 7 is one. There are 2 wheels on the guide rail 7. Each wheel is provided with one lifting hydraulic cylinder. The universal joint is a double universal joint. The crossbar is a telescopic electric cylinder.

[0027] Further, there are 2 wheels, 1 pair of lifting hydraulic cylinders, and 1 universal joint.

[0028] Each wheel is matched with the guide rail and moves upward.

[0029] The upper end of each wheel is hinged to the cylinder body of one lifting hydraulic cylinder.

[0030] The push rod of the lifting hydraulic cylinder is hinged to the upper end and lower end of the double universal joint, and the upper end of the double universal joint is connected to the crane boom to transmit the force and movement between the crane and the stabilizing adjustment mechanism.

[0031] Further, the crossbar is a telescopic electric cylinder. That is, a telescopic electric cylinder is provided between the lifting hydraulic cylinders.

[0032] Further, a telescopic electric cylinder is provided. The two ends of the telescopic electric cylinder are hinged to the cylinder bodies of the two lifting hydraulic cylinders. The included angle between the pair of lifting hydraulic cylinders is called the support angle of the stabilizing adjustment mechanism, and the support angle changes in the range of 20°-50°. The distance from the top of the hydraulic cylinder push rod to the bottom of the cylinder body is the telescopic amount of the stabilizing adjustment mechanism, and the telescopic amount changes in the range of 3.5m-5m.

[0033] Further, the wheel is composed of a guide wheel, a sliding block, a cylinder support, a fixing bolt, and a thrust bearing. The guide wheel shaft is fixed on the sliding block, and the outer edge is in tangential contact with the circular arc guide rail to guide the movement direction of the wheel. The sliding block and the cylinder support are hinged through the fixing bolt and the thrust bearing, and the upper end of the cylinder support is hinged to the cylinder body of the lifting hydraulic cylinder.

[0034] The adjustment method of the stabilizing adjustment mechanism is as follows: the drive of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected to the computer. The running state of the stabilizing adjustment mechanism is obtained by reading the readings of the encoders. When it is a single rail double wheel or a double rail double wheel, the two wheels and the corresponding lifting hydraulic cylinders are distinguished as A and B.

[0035] a. When the crane robot is in lifting / placing, the adjustment is as follows:

[0036] The reducer of telescopic electric cylinder 3 is unlocked, the support angle between hoist hydraulic cylinder A2 and hoist hydraulic cylinder B5 and the telescopic length of the cylinders remain unchanged. The lifting of the crane robot is completed by the driving of the hoist motor to make the rope go up / down.

[0037] b. When the crane robot rotates, the adjustment is made as follows:

[0038] 1. The reducer of telescopic electric cylinder 3 is unlocked.

[0039] 2. The boom rotates, the wheels A1 and B6 follow the boom to move along the guide rail 7, and the telescopic electric cylinder 3 telescopes. The preferred scheme is that the telescopic range of the electric cylinder is 1-1.6 m.

[0040] 3. The boom rotates to the designated position, the reducer of telescopic electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, the support angle between hoist hydraulic cylinder A2 and hoist hydraulic cylinder B5 and the telescopic length of the cylinders remain unchanged.

[0041] c. When the robot luffing moves, the adjustment is made as follows:

[0042] 1. The reducer of telescopic electric cylinder 3 is unlocked.

[0043] 2. The telescopic length of hoist hydraulic cylinder A2 and hoist hydraulic cylinder B5 changes, the telescopic length changes in the range of 3.5 m-5 m, the telescopic electric cylinder 3 telescopes, the telescopic range of the electric cylinder is 1-1.6 m, the support angle changes, the support angle changes in the range of 20°-50°, and the wheels A1 and B6 move along the circular guide rail 7.

[0044] 3. The boom rises to the designated height, the reducer of telescopic electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, the support angle between hoist hydraulic cylinder A2 and hoist hydraulic cylinder B5 and the telescopic length of the cylinders remain unchanged.

[0045] As a preferred scheme of the present application:

[0046] The stable adjustment mechanism of the flexible cable parallel crane robot comprises two wheels, a pair of hoist hydraulic cylinders, a telescopic electric cylinder, a double universal joint and a circular guide rail. The wheels are matched with the circular guide rail and move on the rail, and the upper end of the wheel is hinged with the cylinder body of the hoist hydraulic cylinder. The upper end of the double universal joint is connected with the boom of the crane, and the lower end is hinged with the push rod of the hoist hydraulic cylinder to transmit the force and movement between the crane and the stable adjustment mechanism. The two ends of the telescopic electric cylinder are respectively hinged with the cylinder bodies of the two hoist hydraulic cylinders. The included angle between the pair of hoist hydraulic cylinders is called the support angle of the stable adjustment mechanism, and the distance from the top end of the hydraulic cylinder push rod to the bottom of the cylinder body is the telescopic length of the stable adjustment mechanism.

[0047] The wheel is composed of four guide wheels, a sliding block, a cylinder support, a fixing bolt and a thrust bearing. The guide wheel shaft is fixed on the sliding block, and the outer edge is tangent to the circular arc guide rail to guide the movement direction of the wheel. The sliding block and the cylinder support are hinged through the fixing bolt and the thrust bearing, and the upper end of the cylinder support is hinged with the cylinder body of the lifting hydraulic cylinder.

[0048] The double universal joint is composed of a hinge joint and two fixed joints. The two ends of the hinge joint are hinged with two lifting hydraulic cylinders respectively, and the outer sides of the two ends are hinged with two fixed joints, and the fixed joints are connected to the crane boom.

[0049] The electric cylinder is mainly composed of an electric motor, a reducer, a cylinder body and a push rod. The rotation of the electric motor can adjust the extension amount of the push rod, and the reducer has a self-locking function. The cylinder body and the push rod of the electric cylinder are hinged with the cylinder bodies of the two lifting hydraulic cylinders respectively.

[0050] The adjustment method for the foregoing preferred solution is as follows:

[0051] Before the robot hoisting operation, the electric cylinder extends and retracts to correspond to the extension and retraction of the lifting hydraulic cylinder, so as to adjust the support angle between the corresponding hydraulic cylinders, and through the self-locking of the reducer, the stable support effect is achieved.

[0052] According to different task requirements of the crane robot lifting, slewing and luffing movements, the working condition modes of the stable adjustment mechanism are as follows:

[0053] I. Robot slewing movement, including the following steps:

[0054] 1. The reducer of the telescopic electric cylinder is unlocked.

[0055] 2. The boom slews, and the wheel moves along the guide rail, and the electric cylinder extends and retracts. During the process, if the boom moves from the center of the guide rail to the two ends, the electric cylinder shortens. If the boom moves from the two ends of the guide rail to the center, the electric cylinder lengthens.

[0056] 3. The boom slews to the specified position, the reducer of the electric cylinder is self-locked, the wheel stops moving, and the support angle between the lifting hydraulic cylinders and the extension and retraction amount of the cylinder remain unchanged.

[0057] II. Robot luffing movement, including the following steps:

[0058] 1. The reducer of the telescopic electric cylinder is unlocked.

[0059] 2. The extension and retraction amount of the two lifting hydraulic cylinders changes, and the electric cylinder extends and retracts, the support angle changes, and the wheel moves along the guide rail.

[0060] 3. The boom rises to the specified height, the reducer of the electric cylinder is self-locked, the wheel stops moving, and the support angle between the lifting hydraulic cylinders and the extension and retraction amount of the cylinder remain unchanged.

[0061] Compared with the prior art, the application has the advantages of:

[0062] 1、 The application is used for enhancing the stability of the crane robot, in addition to improving the carrying capacity during the lifting movement, but also can prevent the crane robot from turning over.

[0063] 2、 The stable adjusting mechanism provided by the application has multiple degrees of freedom, can meet the needs of different tasks such as lifting, rotating and amplitude changing of the crane robot, and can enhance the stability during the execution of different tasks.

[0064] 3、 The stable adjusting mechanism provided by the application, the center of the circular arc guide rail is not coincided with the rotating center of the lifting arm, and the telescopic electric cylinder has a self-locking function. The self-locking of the electric cylinder can make the whole mechanism fixed, and the safety of the lifting movement is enhanced.

[0065] 4、 The stable adjusting mechanism provided by the application can adopt double-track double-wheel and double-track three-wheel structures, respectively improving the stability of the lifting movement and the rotating movement. DETAILED DESCRIPTION

[0066] Figure 1 It is a structure diagram of the single-track double-wheel of the application.

[0067] Figure 2 It is a structure diagram of the single-track double-wheel of the application. Figure 1

[0068] Figure 3 It is a structure diagram of the single-track double-wheel of the application. Figure 1

[0069] Figure 4 It is a structure diagram of the single-track double-wheel of the application.

[0070] Figure 5 It is a structure diagram of the single-track double-wheel of the application.

[0071] Figure 6 It is a structure diagram of the single-track double-wheel of the application.

[0072] Figure 7 It is a structure diagram of the single-track double-wheel of the application.

[0073] ​​The figure marks are: 1-wheel A; 2-lifting hydraulic cylinder A; 3-telescopic electric cylinder; 4-double universal joint; 5-lifting hydraulic cylinder B; 6-wheel B; 7-guide rail; 8-wheel C; 9-lifting hydraulic cylinder C; 101-guide wheel; 102-sliding block; 103-cylinder support; 104-fixing bolt; 105-thrust bearing; 401-fixing joint; 402-hinge joint; 8-wheel C; 9-lifting hydraulic cylinder C. DETAILED DESCRIPTION

[0074] The application will be further described below in combination with the accompanying drawings:

[0075] Referring to Figure 1 , 5 , 6 and 7, the stable adjusting mechanism of the flexible cable parallel hoisting robot is provided with an auxiliary support mechanism on the boom of the hoisting robot.

[0076] When the hoisting robot is lifting and placing, the telescopic electric cylinder and the hydraulic cylinder of the auxiliary support mechanism are locked, the auxiliary support mechanism provides support force for the boom, and plays a stabilizing role.

[0077] When the hoisting robot is rotating, the reducer of the telescopic electric cylinder is unlocked, the wheels move along the guide rail with the boom, and at the same time the electric cylinder is telescopic. When the boom rotates to the specified position, the electric cylinder reducer is self-locked, the wheels stop moving, and the support angle between the lifting hydraulic cylinders and the telescopic amount of the cylinders remain unchanged.

[0078] When the hoisting robot is luffing, the reducer of the telescopic electric cylinder is unlocked, the telescopic amount of the two lifting hydraulic cylinders changes, at the same time the electric cylinder is telescopic, the support angle changes, and the wheels move along the guide rail. When the boom is lifted to the specified height, the electric cylinder reducer is self-locked, the wheels stop moving, and the support angle between the lifting hydraulic cylinders and the telescopic amount of the cylinders remain unchanged.

[0079] Further, a guide rail 7 is arranged on the foundation of the hoisting robot. The guide rail 7 is a circular arc or a closed loop. The closed loop is an elliptical ring or a circular ring.

[0080] A wheel, a lifting hydraulic cylinder and a universal joint are arranged on the hoisting robot. Among them:

[0081] The wheel cooperates with the guide rail and moves on it.

[0082] The upper end of the wheel is hinged to the cylinder body of the lifting hydraulic cylinder.

[0083] The upper end of the universal joint is connected with the boom of the hoisting machine, and the lower end is hinged to the push rod of the lifting hydraulic cylinder, so as to transmit the force and movement between the hoisting machine and the stable adjusting mechanism.

[0084] Referring to Figure 5 , 6And 7, further said, guide rail 7 for 2, in turn called the inner rail and the outer rail. On the inner rail and the outer rail are provided with a wheel. Each wheel is provided with a lifting hydraulic cylinder. In each lifting hydraulic cylinder push rod through the universal joint and crane boom connection.

[0085] Referring to Figure 6 And 7 , further said, guide rail 7 for 2, in turn called the inner rail and the outer rail. The inner rail and the outer rail wheel setting mode is one of the following ways:

[0086] a, in the inner rail is provided with 1 wheel, in the outer rail is provided with 2 wheels, as shown in Figure 6 .

[0087] b, in the inner rail is provided with 2 wheels, in the outer rail is provided with 1 wheel, as shown in Figure 7 .

[0088] Each wheel is provided with a lifting hydraulic cylinder.

[0089] When the inner rail is provided with 2 wheels and in the outer rail is provided with 1 wheel: the push rod of the 2 lifting hydraulic cylinders located in the inner rail through the double universal joint and crane boom connection. The push rod of the lifting hydraulic cylinder located in the outer rail is movably connected with the cross bar or the universal joint.

[0090] When the outer rail is provided with 2 wheels and in the inner rail is provided with 1 wheel: the push rod of the 2 lifting hydraulic cylinders located in the outer rail through the double universal joint and crane boom connection. The push rod of the lifting hydraulic cylinder located in the inner rail is movably connected with the cross bar or the universal joint.

[0091] Referring to Figure 1 , further said, guide rail 7 for 1. In the guide rail 7 is provided with 2 wheels. Each wheel is provided with a lifting hydraulic cylinder. The universal joint is a double universal joint. The cross bar is a telescopic electric cylinder.

[0092] Further said, provided with 2 wheels, 1 pair of lifting hydraulic cylinder, 1 universal joint.

[0093] Each wheel is matched with the guide rail and moves on it.

[0094] The upper end of each wheel is hinged with the cylinder body of a lifting hydraulic cylinder.

[0095] The push rod of the lifting hydraulic cylinder is hinged with the upper end and lower end of the double universal joint, and the upper end of the double universal joint is connected with the crane boom to transmit the force and movement between the crane and the stabilizing adjusting mechanism.

[0096] Further said, the cross bar is a telescopic electric cylinder. That is, a telescopic electric cylinder is provided between the lifting hydraulic cylinders.

[0097] Further, there is a telescopic electric cylinder. The two ends of the telescopic electric cylinder are respectively hinged to the cylinder bodies of the two lifting hydraulic cylinders. The included angle between the two lifting hydraulic cylinders is called the support angle of the stabilizing adjusting mechanism, and the support angle varies in the range of 20°-50°. The distance from the top end of the hydraulic cylinder push rod to the bottom of the cylinder body is the telescopic amount of the stabilizing adjusting mechanism, and the telescopic amount varies in the range of 3.5m-5m.

[0098] Further, the wheels are composed of guide wheels, sliding blocks, cylinder supports, fixing bolts and thrust bearings. The guide wheel shaft is fixed on the sliding block, and the outer edge thereof is in tangential contact with the circular arc guide rail, for guiding the movement direction of the wheels. The sliding block and the cylinder support are hinged through the fixing bolts and the thrust bearings, and the upper end of the cylinder support is hinged to the cylinder body of the lifting hydraulic cylinder.

[0099] Referring to Figure 1 and 5 , the adjusting method of the stabilizing adjusting mechanism is as follows: the drive of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with the computer. The running state of the stabilizing adjusting mechanism is known by reading the reading of the encoder. When it is the case of single track double wheels or double track double wheels, the two wheels and the corresponding lifting hydraulic cylinders are distinguished as A and B.

[0100] a. When the lifting robot is in lifting / placing, the adjustment is as follows:

[0101] The reducer of the telescopic electric cylinder 3 is self-locked, the support angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinder are unchanged. The lifting motor drives the rope to rise / fall to complete the lifting / placing movement of the lifting robot.

[0102] b. When the lifting robot rotates, the adjustment is as follows:

[0103] 1. The reducer of the telescopic electric cylinder 3 is unlocked.

[0104] 2. The boom rotates, the wheels A1 and B6 follow the boom to move along the guide rail 7, and the telescopic electric cylinder 3 telescopes, and the telescopic range of the electric cylinder is 1-1.6m.

[0105] 3. The boom rotates to the specified position, the reducer of the telescopic electric cylinder 3 is self-locked, the wheels A1 and B6 stop moving, and the support angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 and the telescopic amount of the cylinder are unchanged.

[0106] c. When the robot luffing moves, the adjustment is as follows:

[0107] 1. The reducer of the telescopic electric cylinder 3 is unlocked.

[0108] 2. Telescopic amount of lifting hydraulic cylinder A2 and lifting hydraulic cylinder B5 changes, the telescopic amount changes in the range of 3.5m-5m, meanwhile telescopic electric cylinder 3 telescopes, the electric cylinder telescopes in the range of 1-1.6m, the support angle changes, the support angle changes in the range of 20°-50°, wheels A1 and wheels B6 move along the circular arc or circular guide rail 7.

[0109] 3. The jib lifts to the specified height, the reducer of telescopic electric cylinder 3 self-locks, wheels A1 and wheels B6 stop moving, the support angle between lifting hydraulic cylinder A2 and lifting hydraulic cylinder B5 and the telescopic amount of the cylinders remain unchanged.

[0110] The double universal joint is composed of a hinge joint and two fixed joints. The hinge joint is hinged with the lifting hydraulic cylinder, and the outer sides of the two ends of the hinge joint are hinged with the two fixed joints, and the fixed joints are connected to the crane jib.

[0111] The electric cylinder includes a motor, a reducer, a cylinder body and a push rod. The extension amount of the push rod is adjusted by the rotation of the motor, and the reducer has a self-locking function. The cylinder body and the push rod of the electric cylinder are respectively hinged with the cylinder body of the adjacent lifting hydraulic cylinder.

[0112] Referring to Figure 6 and 7 When three wheels are used, the control method is as follows:

[0113] The three wheels and the corresponding lifting hydraulic cylinders are all distinguished as A, B and C. The drivers of the electric cylinder and the hydraulic cylinder and the motor encoder are respectively connected with the computer. The running state of the stable adjusting mechanism is known by reading the readings of the encoder. The computer controls as follows:

[0114] a. When the crane robot is in lifting / placing, adjust as follows:

[0115] The reducer of telescopic electric cylinder 3 self-locks, the support angle between lifting hydraulic cylinder A2 and lifting hydraulic cylinder B5 and the telescopic amount of the cylinders remain unchanged. The lifting motor drives the rope to rise / fall to complete the lifting / placing movement of the crane robot.

[0116] b. When the crane robot rotates, adjust as follows:

[0117] 1. The reducer of telescopic electric cylinder 3 is unlocked.

[0118] 2. The jib rotates, wheels A1, wheels B6 and wheels C8 move along the guide rail 7 with the jib, and at the same time telescopic electric cylinder 3 telescopes, the electric cylinder telescopes in the range of 1-1.6m.

[0119] 3. The jib rotates to the designated position, the reducer of the telescopic electric cylinder 3 is self-locked, the wheels A1, B6 and C8 stop moving, the support angle and the telescopic amount of the hoisting hydraulic cylinders A2 and B5 remain unchanged. The hoisting hydraulic cylinder C9 adjusts its support angle and telescopic amount according to the changes of the hoisting hydraulic cylinders A2 and B5.

[0120] c. The robot amplitude motion is adjusted according to the following steps:

[0121] 1. The reducer of the telescopic electric cylinder 3 is unlocked.

[0122] 2. The telescopic amount of the hoisting hydraulic cylinders A2 and B5 changes in the range of 3.5m-5m, while the telescopic electric cylinder 3 telescopes in the range of 1-1.6m, the support angle changes in the range of 20°-50°, and the wheels A1, B6 and C8 move along the guide rail 7.

[0123] 3. The jib is lifted to the designated height, the reducer of the telescopic electric cylinder 3 is self-locked, the wheels A1, B6 and C8 stop moving, the support angle and the telescopic amount of the hoisting hydraulic cylinders A2 and B5 remain unchanged. The hoisting hydraulic cylinder C9 also remains unchanged.

[0124] Further elaboration of the preferred solution is as follows:

[0125] As shown in Figure 1 , the stable adjustment mechanism of the flexible cable parallel hoisting robot includes the wheel A1, the hoisting hydraulic cylinder A2, the telescopic electric cylinder 3, the double universal joint 4, the hoisting hydraulic cylinder B5, the wheel B6 and the guide rail 7, wherein:

[0126] The wheels A1 and B6 move on the guide rail 7 to adjust the spatial state of the stable adjustment mechanism to meet the needs of different working modes of the hoisting robot. The upper ends of the wheels A1 and B6 are respectively hinged to the cylinder bodies of the hoisting hydraulic cylinders A2 and B5, and bear the support force of the hydraulic cylinders.

[0127] The double universal joint 4 is connected to the jib at the upper end and hinged to the push rods of the hoisting hydraulic cylinders A2 and B5 at the lower end.

[0128] The push rod of the telescopic electric cylinder 3 is hinged to the cylinder body of the hoisting hydraulic cylinder A2, and the cylinder body of the telescopic electric cylinder 3 is hinged to the cylinder body of the hoisting hydraulic cylinder B5.

[0129] As shown in Figure 2As shown, the wheel consists of a guide wheel 101, a slider 102, a cylinder support 103, a fixing bolt 104, and a thrust bearing 105. The axle of the guide wheel 101 is fixed to the slider 102, and its outer edge is tangentially in contact with the guide rail 7 to guide the direction of wheel movement. The slider 102 and the cylinder support 103 are hinged by the fixing bolt and the thrust bearing 105. The upper end of the cylinder support 103 is hinged to the cylinder body of the lifting hydraulic cylinder.

[0130] like Figure 3 As shown, the double universal joint consists of a fixed joint 401 and a hinge joint 402. The two ends of the hinge joint 402 are hinged to two lifting hydraulic cylinders respectively, and the outer sides of the two ends are hinged to two fixed joints 401, which are then connected to the crane boom.

[0131] like Figure 4 As shown, the adjustment of the stabilization adjustment mechanism for the parallel cable crane robot described in this invention includes two variables: the included angle between the lifting hydraulic cylinder A2 and the lifting hydraulic cylinder B5 is called the support angle of the stabilization adjustment mechanism, and the distance from the top of the lifting hydraulic cylinder push rod to the bottom of the cylinder body is called the extension and retraction amount of the stabilization adjustment mechanism.

[0132] The operating modes of the stabilizing adjustment mechanism are described below, taking into account different tasks of the lifting robot, such as lifting, slewing, and luffing movements:

[0133] I. The robot's rotary motion includes the following steps:

[0134] 1. Unlock the reducer of telescopic electric cylinder 3.

[0135] 2. As the boom rotates, wheels A1 and B6 follow the boom along the guide rail 7, while the telescopic electric cylinder 3 extends and retracts.

[0136] 3. When the boom rotates to the designated position, the reducer of the telescopic electric cylinder 3 self-locks, and wheels A1 and B6 stop moving. The support angle between lifting hydraulic cylinders A2 and B5 and the extension / retraction of the cylinders remain unchanged.

[0137] II. Robot amplitude-shifting motion, including the following steps:

[0138] 1. Unlock the reducer of telescopic electric cylinder 3.

[0139] 2. The extension and retraction of lifting hydraulic cylinders A2 and B5 change, and at the same time, the extension and retraction electric cylinder 3 extends and retracts, the support angle changes, and wheels A1 and B6 move along guide rail 7.

[0140] 3. When the boom is raised to the designated height, the reducer of the telescopic electric cylinder 3 self-locks, and wheels A1 and B6 stop moving. The support angle between lifting hydraulic cylinders A2 and B5 and the extension / retraction of the cylinders remain unchanged.

Claims

1. A method for adjusting the stabilization adjustment mechanism of a flexible cable parallel lifting robot, characterized in that: An auxiliary support mechanism is installed on the boom of the crane robot; the stabilization adjustment mechanism includes wheel A (1); lifting hydraulic cylinder A (2); telescopic electric cylinder (3); double universal joint (4); lifting hydraulic cylinder B (5); wheel B (6); guide rail (7); wherein: wheel A (1) and wheel B (6) move on guide rail (7) to adjust the spatial state of the stabilization adjustment mechanism to meet the needs of different working modes of the crane robot; the upper ends of wheel A (1) and wheel B (6) are respectively hinged to the cylinder bodies of lifting hydraulic cylinder A (2) and lifting hydraulic cylinder B (5), and bear the supporting force of the hydraulic cylinder; the upper end of the double universal joint (4) is connected to the boom, and the lower ends are respectively hinged to the push rods of lifting hydraulic cylinder A (2) and lifting hydraulic cylinder B (5); the push rod of telescopic electric cylinder (3) is hinged to the cylinder body of lifting hydraulic cylinder A (2), and the telescopic electric cylinder... The cylinder body of the moving cylinder (3) is hinged to the cylinder body of the lifting hydraulic cylinder B (5); when the crane robot is lifting and placing, the telescopic electric cylinder and hydraulic cylinder of the auxiliary support mechanism are locked, and the auxiliary support mechanism provides support force to the boom, which plays a stabilizing role; when the crane robot rotates, the reducer of the telescopic electric cylinder is unlocked, the wheel follows the boom along the guide rail, and the electric cylinder extends and retracts at the same time; when the boom rotates to the designated position, the reducer of the electric cylinder is self-locked, the wheel stops moving, and the support angle between the lifting hydraulic cylinders and the cylinder extension and retraction remain unchanged; when the crane robot is luffing, the reducer of the telescopic electric cylinder is unlocked, the extension and retraction of the two lifting hydraulic cylinders changes, the electric cylinder extends and retracts at the same time, the support angle changes, and the wheel moves along the guide rail; when the boom is raised and lowered to the designated height, the reducer of the electric cylinder is self-locked, the wheel stops moving, and the support angle between the lifting hydraulic cylinders and the cylinder extension and retraction remain unchanged. Follow these steps: a) When the lifting robot is in the lifting / placement phase, adjust as follows: The reducer of the telescopic electric cylinder (3) is self-locking, and the support angle and cylinder extension / retraction amount between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) remain unchanged. The crane motor drives the rope to rise / fall, completing the lifting / placing movement of the crane robot; b) When the crane robot is rotating, adjust it according to the following steps: 1) Unlock the reducer of the telescopic electric cylinder (3); 2). The boom rotates, and wheels A (1) and B (6) follow the boom along the guide rail (7), while the telescopic electric cylinder (3) extends and retracts. 3) When the boom rotates to the designated position, the reducer of the telescopic electric cylinder (3) locks itself, and the wheels A (1) and B (6) stop moving. The support angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the cylinder extension and retraction remain unchanged. c) When the robot is performing amplitude-changing motion, adjust it according to the following steps: 1) Unlock the reducer of the telescopic electric cylinder (3); 2). The extension and retraction of the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) vary, with the extension and retraction range being 3.5m-5m. At the same time, the extension and retraction electric cylinder (3) extends and retracts, with the extension and retraction range being 1-1.6m. The support angle changes, with the support angle varying from 20° to 50°. The wheels A (1) and B (6) move along the arc or circular guide rail (7). 3) When the boom is raised to the specified height, the reducer of the telescopic electric cylinder (3) locks itself, and the wheels A (1) and B (6) stop moving. The support angle between the lifting hydraulic cylinder A (2) and the lifting hydraulic cylinder B (5) and the cylinder extension and retraction remain unchanged.

2. The adjustment method of the stabilization adjustment mechanism of the flexible cable parallel lifting robot according to claim 1, characterized in that: A guide rail (7) is provided on the foundation of the crane robot; the guide rail (7) is an arc or a closed loop; the closed loop is an elliptical ring or a circular ring; the crane robot is provided with wheels, a lifting hydraulic cylinder and a universal joint; wherein: the wheels cooperate with the guide rail and move on it; the upper end of the wheel is hinged to the cylinder body of the lifting hydraulic cylinder; the upper end of the universal joint is connected to the crane boom, and the lower end is hinged to the push rod of the lifting hydraulic cylinder, so as to transmit the force and movement between the crane and the stabilizing adjustment mechanism.

3. The adjustment method of the stabilization adjustment mechanism of the flexible cable parallel crane robot according to claim 2, characterized in that: There are two guide rails (7), which are called the inner rail and the outer rail respectively; a wheel is provided on both the inner rail and the outer rail; a lifting hydraulic cylinder is provided on each wheel; the push rod of each lifting hydraulic cylinder is connected to the crane boom via a universal joint.

4. The adjustment method of the stabilization adjustment mechanism of the flexible cable parallel lifting robot according to claim 2, characterized in that: There is one guide rail (7); there are two wheels on the guide rail (7); each wheel is equipped with a lifting hydraulic cylinder.

5. The adjustment method of the stabilization adjustment mechanism of the flexible cable parallel lifting robot according to claim 2 or 4, characterized in that: It is equipped with two wheels, one pair of lifting hydraulic cylinders, and one universal joint; each wheel is fitted with a guide rail and moves on it; the upper end of each wheel is hinged to the cylinder body of a lifting hydraulic cylinder; the push rod of the lifting hydraulic cylinder is hinged to the lower end of the double universal joint, and the upper end of the double universal joint is connected to the crane boom to transmit the force and movement between the crane and this stabilizing adjustment mechanism.

6. The adjustment method of the stabilization adjustment mechanism of the flexible cable parallel lifting robot according to claim 2, characterized in that: The wheel consists of a guide wheel, a slider, a hydraulic cylinder support, fixing bolts, and a thrust bearing. The guide wheel axle is fixed on the slider, and its outer edge is tangentially in contact with the arc guide rail to guide the direction of the wheel's movement. The slider and the hydraulic cylinder support are hinged together by fixing bolts and a thrust bearing, and the upper end of the hydraulic cylinder support is hinged to the cylinder body of the lifting hydraulic cylinder.

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