An amphibious multifunctional hoisting device with a modular end effector
By combining modular end effectors and parallel flexible cable mechanisms, the problem of swaying when lifting heavy loads on marine cranes in harsh sea conditions has been solved, enabling efficient and safe intelligent lifting and automated transfer, and improving the stability and operational efficiency of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DALIAN MARITIME UNIVERSITY
- Filing Date
- 2023-07-14
- Publication Date
- 2026-05-19
AI Technical Summary
Existing marine cranes are prone to swaying when lifting heavy loads in harsh sea conditions, resulting in low operating efficiency and poor safety. Furthermore, their control is complex, making it difficult to achieve efficient and automated lifting.
It adopts a modular end effector, combined with a constant-angle telescopic cross wheel type lifting head mechanism and a parallel flexible cable mechanism, uses four stable lifting steel wire cables to reduce sway, and realizes efficient, safe and intelligent grasping and automated transfer of heavy objects through an intelligent gripping mechanism.
It achieves stability and safety in lifting heavy loads under harsh sea conditions, improves the working efficiency and automation of lifting equipment, and can automatically detach and detach heavy loads in zero gravity, adapting to flexible and efficient operation in different working scenarios.
Smart Images
Figure CN116835466B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of offshore crane technology, and more particularly to a multi-functional lifting device for both land and sea use with a modular end effector. Background Technology
[0002] Marine cranes are specialized cranes used for transportation operations in marine environments and are one of the core technological equipment in the field of shipbuilding and marine engineering. With the rapid growth of the global economy and the increasing demand for marine resource exploration, marine cranes are widely used for important tasks such as cargo transportation and transfer, at-sea replenishment, and the deployment and retrieval of underwater equipment. In recent years, the rise and prosperity of various maritime trade and installation operations have led to increasingly frequent cargo transfers between ships at sea, further increasing the demand for marine cranes and placing higher demands on their safety performance, lifting capacity, and intelligent operation.
[0003] However, on the one hand, using marine cranes for ship-to-ship load transfer in harsh sea conditions is challenging. During operation, marine cranes experience significant swaying due to inertia and external disturbances. This swaying not only severely hinders operational efficiency but may also seriously affect people or cargo in the vicinity. On the other hand, cranes are intermittent operating equipment, mainly consisting of three operating mechanisms: hoisting, slewing, and luffing. They can be operated individually or in combination, and each operation involves acceleration, deceleration, and braking, which leads to swaying of the suspended load.
[0004] During current crane transfer operations, external natural factors such as wind or improper operator handling can cause the suspended load to sway. Methods to reduce this swaying during transfer include installing anti-sway auxiliary arms at the end of the crane boom, installing anti-sway buffer devices on the lifting gear, and using crane anti-sway devices with a center-of-gravity lifting mechanism. However, in existing technologies, the swaying during crane transfer is caused by the crane's lifting and luffing movements, and the control methods for reducing sway are complex. Human assistance is required during grabbing and transferring operations, resulting in low efficiency and automation. To address the problems of existing technologies, there is a need to design a lifting and transferring equipment that is suitable for different working scenarios and has high efficiency. Summary of the Invention
[0005] To address the aforementioned technical problems of existing cranes, such as low transfer efficiency, complex control, and poor anti-sway effect, this invention provides a multi-functional amphibious lifting device with a modular end effector. The invention primarily utilizes a constant-angle telescopic cross-wheel lifting head mechanism to ensure the stability of the crane during lifting and luffing operations. A telescopic robotic arm is used to adaptively adjust its length in real time according to the lifting height and actual sway angle to achieve the best anti-sway effect. Four stabilizing lifting wire cables in a parallel flexible cable mechanism reduce sway during the lifting and transfer process, and an intelligent gripping mechanism achieves a high degree of automation in the heavy object gripping and transfer process.
[0006] The technical means employed in this invention are as follows:
[0007] A multi-functional lifting device for both land and sea use with a modular end effector includes a lifting device body, a cross-wheel type lifting head, a parallel flexible cable mechanism, an intelligent gripping mechanism, and a modular end effector;
[0008] The hoisting equipment body includes an equipment base, on which a slewing mechanism and a driver's cab are arranged in sequence. The upper part of the driver's cab is connected to one end of the main boom, and a luffing angle sensor is installed at the connection point. Two hydraulic cylinder luffing mechanisms with the same parameters and synchronous movement are symmetrically arranged on both sides of the driver's cab. The two ends of the hydraulic cylinder luffing mechanisms are connected to the slewing mechanism and the main boom, respectively. An anti-derailment guide wheel assembly mechanism is installed at the top of the driver's cab.
[0009] The auxiliary boom is connected to one end of the main boom and a feedback angle sensor is installed at the connection. The other end of the auxiliary boom is connected to the boom head. The auxiliary boom is equipped with a turntable torque motor and a lifting wire rope tension sensor. The boom head has an outer octagonal prism ring structure. Each of the four side short arms of the boom head is equipped with an anti-derailment double-layer guide wheel group mechanism.
[0010] The lower part of the boom head is connected in sequence with a cross wheel type lifting head, an intelligent gripping mechanism, and a modular end effector;
[0011] The rotatable stabilizing hook is equipped with an attitude sensor, which measures the attitude signals of the intelligent gripping mechanism and the modular end effector in real time and feeds them back to the control system. The rotatable stabilizing hook drives the double-layer turntable and the lower structure of the double-layer turntable to rotate. The lifting wire cable is fixed to the upper end of the rotatable stabilizing hook through the center hole of the rotatable stabilizing hook.
[0012] Furthermore, the parallel flexible cable mechanism includes a flexible steel wire cable and a lifting steel wire cable. One end of the flexible steel wire cable is connected to a drive device installed inside the equipment base. The other end of the flexible steel wire cable is connected to the perimeter of the rotatable stable hook after passing through an anti-derailment guide wheel assembly, a stable lifting steel wire cable tension sensor, and an anti-derailment double-layer guide wheel mechanism in sequence. One end of the lifting steel wire cable is connected to a lifting steel wire cable motor assembly installed inside the equipment base. The other end of the lifting steel wire cable is fixedly connected to the top of the rotatable stable hook after passing through an anti-derailment guide wheel assembly, a lifting steel wire cable tension sensor, a lifting steel wire cable guide wheel, and a cross-shaped four-axis limiter in sequence.
[0013] Furthermore, the parallel flexible cable mechanism includes one lifting wire cable and four stabilizing wire cables. The stabilizing wire cables are symmetrically distributed on the inner and outer sides with the lifting wire cable as the center. The two outer stabilizing wire cables are connected to the inner guide wheel of the boom head, and the two inner stabilizing wire cables are connected to the outer guide wheel of the boom head.
[0014] Furthermore, the amplitude angle sensor feeds back an amplitude signal to the control system. The control system synchronously controls the turntable torque motor to rotate according to the amplitude signal, so that the auxiliary boom is parallel to the reference plane of the base. The feedback angle sensor measures the angle of the auxiliary boom in real time and feeds it back to the control system. The control system calculates the difference between the angle of rotation of the auxiliary boom measured by the feedback angle sensor and the amplitude angle fed back to the control system by the amplitude angle sensor, and then controls the rotation of the auxiliary boom so that the rotation angle of the auxiliary boom is equal in magnitude and opposite in direction to the rotation angle of the main boom, ensuring that the auxiliary boom is always parallel to the reference plane of the base, thereby forming a closed-loop control circuit.
[0015] Furthermore, two inner guide wheels and two outer guide wheels are provided on the upper surface of the boom head. A combined guide limit block is provided at one end of the boom head near the auxiliary boom. A fixing plate is provided in the middle of the combined guide limit block. An anti-rope guide wheel is provided above the fixing plate. A first rope guide hole is provided on the fixing plate. A reinforcing rib is provided below the fixing plate. A cross-shaped four-axis limiter is provided below the combined guide limit block. The cross-shaped four-axis limiter is composed of four symmetrically intersecting rotating shafts.
[0016] Furthermore, the anti-rope double-layer guide wheel mechanism includes two guide wheels connected by a middle partition. The partition has second guide rope holes on both sides. The outer edge of the guide wheel is provided with an anti-rope pulley. The two bearings inside the anti-rope pulley are symmetrically distributed on the same axis. The two guide wheels are in the same plane and share a common base support.
[0017] Furthermore, the cross-wheel type lifting head includes a square frame, with fixed supports extending inward from the center of the four sides of the frame. The other end of the fixed supports is connected to a circular-hole outer octagonal prism ring located at the center of the frame. A circular-hole ring is provided at the lower end of the circular-hole outer octagonal prism ring, and the diameter of the circular-hole ring is equal to the bottom diameter of the rotatable stable hook. Four telescopic mechanical arms extend diagonally from the side of the circular-hole outer octagonal prism ring on the bottom surface of the cross-wheel type lifting head. Each telescopic mechanical arm includes a connected outer arm and an inner arm. The inner arm is telescopic, and the outermost end of the inner wall is provided with an anti-derailment double-layer guide wheel mechanism. A stable lifting wire rope tension sensor is provided in the middle of the upper surface of the telescopic mechanical arm. The flange at the upper end of the cross-wheel type lifting head is supported and fixedly connected to the telescopic mechanical arm through an inclined fixed arm. Guide wheels are provided on the inclined fixed arm.
[0018] Furthermore, the intelligent gripping mechanism includes a double-layer rotary table connected to a rotatable stable hook. The double-layer rotary table is in the shape of an inverted frustum, with the outer diameter of the bottom edge of the upper layer being larger than that of the lower layer. The upper layer of the double-layer rotary table is connected to the rotatable stable hook via a slewing bearing. The double-layer rotary table is fixedly connected to a circular groove slide rail structure. A rotary limiting hook rotates by engaging with a hole in the upper fixed connector of a cuboid fixing frame via a rotating shaft mechanism. The width of the intermediate shaft of the rotary limiting hook is equal to the width of the gap between the coaxial fixed connectors. The front end of the rotary limiting hook is a right-angle hook. After rotating downwards to the angle set by the control system, the rotary limiting hook is fixed and limited by the limiting groove on the outer edge of the cylinder-type secondary slide rail. The rotary limiting hook rotates downwards via a rotating shaft mechanism. A circular groove hole is provided in the upper section of the circular groove slide rail.
[0019] Furthermore, the circular groove slide rail is in three sections. The upper section of the circular groove slide rail is fixedly connected to the lower layer of the double-layer rotary table. The upper section of the circular groove slide rail is evenly provided with four pairs of circular groove holes around its perimeter. The circular groove holes provide an end translation slide for the rotary limiting hook during the downward rotation process. The upper section of the circular groove slide rail limits the upper limit of the displacement of the cuboid fixing frame.
[0020] The four corners of the middle section of the circular groove slide rail are provided with four circular groove structures. The cuboid fixing frame and the circular groove structures cooperate to form a slide rail mechanism, realizing vertical up and down sliding.
[0021] The outer diameter of the lower section of the circular groove slide rail is smaller than the outer diameter of the cylinder secondary slide rail profile. An upward groove structure is provided in the middle of the bottom surface of the lower section of the circular groove slide rail. The groove structure is connected and cooperates with the modular end effector.
[0022] A circular hole is provided on the lower surface of the cuboid fixing frame, and the outer diameter of the circular hole on the lower surface of the cuboid fixing frame is equal to that of the groove structure on the bottom surface of the lower section of the circular groove slide rail; at the four corners of the lower surface of the cuboid fixing frame, there are sliding column structures that are closely matched and slide with the four circular groove structures in the middle section of the circular groove slide rail; the protruding structure on the lower surface of the cuboid fixing frame can slide up and down in the circular groove structure in the middle section of the circular groove slide rail.
[0023] Furthermore, the modular end effector includes a connected cylinder-type two-stage slide and an intelligent hook; the intelligent hook is automatically opened and closed by a servo motor controlling the claw hook.
[0024] The cylinder-type secondary slide rail includes a first movement stage and a second movement stage. In the first stage, the bottom surface of the lower section of the circular groove slide rail enters the cylinder and falls freely to the middle limiting baffle. In the second stage, the surrounding sliding columns move down along the slide rail inside the cylinder to the middle limiting baffle and contact the upper connecting plate of the intelligent hook. The lower surface of the upper circumferential contour of the cylinder-type secondary slide rail is provided with limiting slots equal in number to the rotary limiting hooks. The limiting slots are mechanically limited and fixed to the rotary limiting hooks. The outer diameter of the upper contour of the cylinder-type secondary slide rail is larger than the outer diameter of the bottom surface of the lower section of the circular groove slide rail. The bottom surface of the lower section of the circular groove slide rail falls freely at the upper end of the cylinder-type secondary slide rail. A limiting baffle is provided in the middle of the cylinder-type secondary slide rail, and sliding columns are provided around the lower part of the limiting baffle to match the slide rail of the modular end effector.
[0025] The upper surface of the slide rail of the modular end effector is provided with an upwardly protruding boss; the outer diameter of the boss is equal to that of the groove structure on the bottom surface of the lower section of the circular groove slide rail, and the boss and the groove structure are adapted to each other.
[0026] Compared with the prior art, the present invention has the following advantages:
[0027] Traditional lifting equipment uses a crane boom head directly connected to the hook via ropes for operation, which makes it difficult to guarantee safety and work efficiency. This device uses an intelligent gripping mechanism to achieve efficient, safe, and intelligent gripping of heavy objects, and employs a parallel flexible cable mechanism using four stable lifting steel wire cables to reduce swaying during the lifting and transfer process.
[0028] This device's intelligent gripping mechanism enables automatic detachment of suspended loads only under zero gravity conditions. During operation, the lifting equipment synchronously controls the motor's rotation based on the amplitude change signal fed back by the amplitude angle sensor, ensuring that the constant-angle telescopic cross-wheel type lifting head mechanism remains parallel to the reference plane of the lifting equipment base. The feedback angle sensor measures the angle of the auxiliary boom in real time and feeds it back to the control system, forming a closed-loop control system.
[0029] In the constant-angle telescopic cross-wheel crane mechanism, four stabilizing lifting wire cables are evenly and symmetrically distributed on both the inner and outer sides, and are symmetrically arranged in a cross shape with the cross-wheel crane head via inner and outer guide wheels. The lifting wire cables pass through a combined guide and limit block at the boom head to prevent rope slippage and friction. This device can be replaced with other modular end effectors for flexible and efficient operation, depending on actual operational requirements and scenarios. Attached Figure Description
[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0031] Figure 1 This is an overall structural diagram of the present invention.
[0032] Figure 2 This is a schematic diagram of the boom head of the present invention.
[0033] Figure 3 This is a schematic diagram of the cross-wheel type lifting head of the present invention.
[0034] Figure 4 This is a schematic diagram of the combined guide limiting block of the present invention.
[0035] Figure 5 This is a schematic diagram of the anti-detachment double-layer guide wheel mechanism of the present invention.
[0036] Figure 6 This is a front view of the intelligent grasping mechanism of the present invention.
[0037] Figure 7 This is a bottom view of the intelligent gripping mechanism of the present invention.
[0038] Figure 8 This is a diagram showing the positional relationship of the intelligent grasping mechanism of the present invention.
[0039] In the diagram: 1. Equipment base; 2. Slewing mechanism; 3. Lifting equipment body; 4. Operator's cab; 5. Hydraulic cylinder luffing mechanism; 6. Luffing angle sensor; 7. Anti-derailment guide wheel assembly mechanism; 8. Main boom; 9. Feedback angle sensor; 10. Turntable torque motor; 11. Auxiliary boom; 1101. Inner guide wheel; 1102. Outer guide wheel; 12. Lifting wire rope tension sensor; 13. Combined guide limit block; 130 1. Cross-shaped four-axis limiter; 1302. Anti-rope detachment guide wheel; 1303. Rotating shaft; 1304. Reinforcing rib; 1305. Fixing plate; 14. Boom head; 15. Anti-rope detachment double-layer guide wheel assembly mechanism; 1501. First guide wheel; 1502. Second guide rope hole; 1503. Middle partition plate; 1504. Base support; 1505. Anti-rope detachment pulley; 16. Cross-wheel type lifting head; 1601. Frame; 1602. Fixed bracket; 1603, octagonal prism ring with round hole; 1604, round hole ring; 1605, flange; 1606, inclined fixed arm; 1607, second guide wheel; 17, telescopic robotic arm; 18, parallel flexible cable mechanism; 19, rotatable stable hook; 20, intelligent gripping mechanism; 2001, double-layer rotary table; 2002, circular groove slide rail; 2003, cuboid fixed frame; 2004, rotary limit hook; 2 005, Boss; 2006, Circular Slot Hole; 2007, Circular Slot Structure; 2008, Cylinder-type Secondary Slide; 2009, Groove Structure; 2010, Fixed Connector; 2011, Limiting Baffle; 2012, Limiting Slot; 21, Modular End Actuator; 2101, Intelligent Hook; 2102, Servo Motor; 2103, Control Claw Hook; 22, Stable Lifting Wire Cable Tension Sensor; 23, Lifting Wire Cable Guide Roller. Detailed Implementation
[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0043] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.
[0044] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.
[0045] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0046] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.
[0047] like Figure 1-8 As shown, the present invention provides a multi-functional amphibious lifting device with a modular end effector, including a lifting device base 1, a cab 4, and a main boom 8. The lifting device base is equipped with a drive device for a slewing mechanism 2, the slewing mechanism 2 is located above the lifting device base 1, and the cab 4 is located on the body above the slewing mechanism 2.
[0048] The cab 4 is symmetrically provided with two hydraulic cylinder luffing mechanisms 5 having the same parameters and moving synchronously on both sides; furthermore, the power unit for driving the hydraulic cylinder luffing mechanism 5 is located inside the hoisting equipment base 1.
[0049] The lifting equipment base 1 is equipped with a drive device that matches the number of flexible steel wires in the parallel flexible cable mechanism 18. An anti-derailment guide wheel assembly 7 is installed at the top of the operator's cab 4. One end of each parallel flexible steel wire is connected to the output end of the drive device installed in the lifting equipment base 1. The other ends of the four stabilizing lifting steel wires are sequentially connected to the anti-derailment guide wheel assembly 7, the stabilizing lifting steel wire tension sensor 22, and the anti-derailment double-layer guide wheel mechanism 15, and then connected to the rotatable stabilizing hook 19 around its perimeter.
[0050] One end of the lifting wire cable is connected to the output end of the lifting wire cable motor unit installed in the base 1 of the hoisting equipment, and the other end of the lifting wire cable is connected to the top of the rotatable stable hook 19 after passing through the anti-derailment guide wheel group 7, the lifting wire cable tension sensor 12, the lifting wire cable guide wheel 23, and the cross-type four-axis limiter 1301 in sequence.
[0051] The parallel flexible cable mechanism 18 includes five flexible steel cables: one hoisting steel cable and four stabilizing hoisting steel cables. The five parallel flexible steel cables are symmetrically distributed on both the inner and outer sides of the hoisting steel cable. The two outer stabilizing hoisting steel cables are connected to the inner guide wheel of the boom head 14; the two inner stabilizing hoisting steel cables are connected to the outer guide wheel of the boom head 14. The five flexible steel cables form a parallel mechanism configuration.
[0052] The main boom 8 is equipped with anti-derailment guide wheel mechanism 7 at both ends to guide the direction of the lifting wire rope and four stabilizing lifting wire rope. The end of the main boom is equipped with a variable amplitude angle sensor 6, which can measure the variable amplitude angle of the lifting equipment.
[0053] The constant-angle telescopic cross wheel lifting head mechanism includes an auxiliary boom 11, a cross wheel lifting head 16, a turntable torque motor 10, a feedback angle sensor 9, and a lifting wire cable tension sensor 12.
[0054] A feedback angle sensor 9 is installed on the slewing shaft at the end of the auxiliary boom 11; a turntable torque motor 10 is also installed on the slewing shaft at the end of the auxiliary boom 11. When the amplitude-changing multi-functional lifting equipment and its modular end effector are performing luffing operations, the control system synchronously controls the turntable torque motor 10 to rotate based on the luffing signal fed back by the luffing angle sensor 6, ensuring that the auxiliary boom 11 remains parallel to the reference plane of the lifting equipment base 1. The feedback angle sensor 9 measures the angle of the auxiliary boom 11 in real time and feeds it back to the control system, forming a closed-loop control.
[0055] The auxiliary boom 11 is equipped with a hoisting wire rope tension sensor 12 at its middle section to measure the tension of the hoisting wire rope. The auxiliary boom 11 is equipped with anti-derailment guide wheel assembly mechanism 7 at its front and rear ends.
[0056] The boom head 14 adopts an octagonal prism ring structure. Further, anti-derailment double-layer guide wheel assembly mechanisms 15 are respectively installed on the four side short arms of the octagonal prism ring. The four telescopic mechanical arms 17 of the cross-wheel type boom head 16 and the four side short arms of the boom head 14 are respectively in the same vertical plane. The center planes of the eight guide wheel assemblies of the cross-wheel type boom head 16 are in the same plane.
[0057] The bottom flange of the outer octagonal prism ring of the boom head 14 is fixedly connected to the upper flange of the cross-wheel type boom head 16. Further, two inner boom head guide wheels 1101 and two outer boom head guide wheels 1102, symmetrically distributed on both the inner and outer sides, are installed on the upper end of the outer octagonal prism ring of the boom head 14; further, a combined guide limiting block 13 is installed near the auxiliary boom end of the outer octagonal prism ring; a fixing plate 1305 is provided in the middle of the combined guide limiting block 13, and a single anti-derailment guide wheel 1302 is installed above the fixing plate. A first guide rope hole is provided on the fixing plate 1305; further, a reinforcing rib 1304 is installed below the fixing plate 1305 to share the stress at the end of the fixing plate 1305.
[0058] The cross-shaped four-axis limiter 1301 is located below the combined guide limiter block 13. The cross-shaped four-axis limiter 1301 is composed of four symmetrically intersecting rotating shafts 1303 to achieve anti-rope slippage and anti-friction.
[0059] The anti-slip rope double-layer guide wheel mechanism 15 consists of two first guide wheels 1501 connected by a middle partition 1503. Second guide rope holes 1502 are provided on both sides of the partition 1503. Anti-slip rope pulleys 1505 are provided on the outer edges of the guide wheels; furthermore, two bearings inside the anti-slip rope pulley are coaxially symmetrically distributed. Both the second guide rope holes 1502 and the anti-slip rope pulleys 1505 serve the function of preventing rope slippage. The two first guide wheels 1501 are in the same plane and share a common base support 1504.
[0060] The cross-shaped lifting head 16 is connected to the rotatable stable hook 19 via a parallel flexible cable mechanism 18 to form an inverted square pyramid configuration.
[0061] The upper end of the inverted pyramidal structure is a cross-shaped lifting head 16. The bottom surface of the cross-shaped lifting head is provided with a frame 1601 around its perimeter, and a fixed bracket 1602 is provided inward at the center of the bottom perimeter. Further, a circular hole-type outer octagonal prism ring 1603 is connected inward to the fixed bracket 1602.
[0062] The lower end of the circular hole type octagonal prism ring 1603 is provided with a circular hole ring 1604, the diameter of which is equal to the diameter of the bottom end of the rotatable stable hook 19.
[0063] The bottom surface of the cross-wheel type lifting head 16 extends four retractable mechanical arms 17 diagonally from the side of the circular hole-type outer octagonal prism ring 1603. Each retractable mechanical arm consists of an outer arm and an inner arm, with the retractable portion being the inner arm. The length of each retractable mechanical arm 17 is adaptively adjusted in real time according to the lifting height and actual swaying effect. A drive device is installed inside each retractable mechanical arm 17 to control its length. Furthermore, an anti-derailment double-layer guide wheel mechanism 15 is installed on the outer side of the retractable mechanical arm and fixedly connected to the retractable inner arm.
[0064] Each of the telescopic robotic arms 17 is equipped with a stable hoisting wire rope tension sensor 22 at the middle of its upper end. The upper flange 1605 of the cross wheel type lifting head 16 is fixedly connected to the telescopic robotic arm 17 through an inclined fixed arm 1606. The inclined fixed arm 1606 is equipped with a single second guide wheel 1607 to change the direction of the wire rope.
[0065] The rotatable stabilizing hook 19 is equipped with an attitude sensor that measures the attitude signals of the intelligent gripping mechanism 20 and the modular end effector 21 in real time and feeds them back to the control system. The rotatable stabilizing hook 19 has an internal drive unit that can rotate the double-layer turntable 2001 and its lower structure. The lifting wire rope is fixed to the upper end of the rotatable stabilizing hook 19 through the central hole; furthermore, four parallel flexible wire ropes are fixed at equal intervals around the rotatable stabilizing hook 19.
[0066] The intelligent gripping mechanism 20 includes a double-layer rotary table 2001 connected to a rotatable stable hook 19, a cuboid fixing frame 2003, a rotatable limiting hook 2004, and a circular groove slide rail 2002.
[0067] The outer diameter of the bottom edge of the upper layer of the double-layer rotary table 2001 is larger than that of the bottom edge of the lower layer, forming an inverted frustum shape; the upper layer of the double-layer rotary table 2001 is connected to the rotatable stable hook 19 through a rotary bearing; the double-layer rotary table 2001 is structurally fixedly connected to the circular groove slide rail 2002.
[0068] The circular groove slide rail 2002 is in three sections. The upper section is fixedly connected to the lower layer of the double-layer rotary table 2001. The upper section is evenly provided with four pairs of circular groove holes 2006. The circular groove holes 2006 provide the end translation slide for the rotary limiting hook 2004 during the downward rotation process. The upper section of the circular groove slide rail 2002 limits the upper limit of the displacement of the cuboid fixing frame 2003.
[0069] Furthermore, the four corners of the middle section of the circular groove slide rail 2002 are provided with four circular groove structures 2007, and the cuboid fixing frame 2003 cooperates with the circular groove structures 2007 to form a slide rail mechanism, realizing vertical up and down sliding;
[0070] The outer diameter of the lower section of the circular groove slide rail 2002 is smaller than the outer diameter of the cylinder-type secondary slide rail 2008, allowing it to move without frictional resistance within the slide rail. Furthermore, an upward-facing groove structure 2009 is provided at the middle of the bottom surface of the lower section of the circular groove slide rail 2002, which precisely engages with the modular end effector 21.
[0071] A circular hole is formed on the lower surface of the cuboid fixing frame 2003, and the outer diameter of the circular hole on the lower surface of the cuboid fixing frame 2003 is equal to that of the groove structure 2009 on the bottom surface of the lower section of the circular groove slide rail. The four corners of the lower surface of the cuboid fixing frame 2003 are provided with sliding column structures that slide in close cooperation with the four circular groove structures 2007 in the middle section of the circular groove slide rail 2002. Furthermore, the protruding structure on the lower surface of the cuboid fixing frame 2003 slides up and down within the circular groove structure 2007 in the middle section of the circular groove slide rail 2002.
[0072] The rotary limiting hook 2004 rotates by engaging with the hole of the upper fixed connector 2010 of the cuboid fixing frame 2003 via a rotating shaft mechanism. The width of the intermediate shaft of the rotary limiting hook 2004 is equal to the width of the gap between the coaxial fixed connectors 2010. The front end of the rotary limiting hook 2004 is a right-angle hook. After rotating downward to the angle set by the system, the rotary limiting hook 2004 is mechanically limited and fixed with the limiting groove 2012 on the outer edge of the cylinder-type secondary slide rail 2008. The rotary limiting hook 2004 rotates downward through the rotating shaft mechanism, and the circular slot 2006 opened on the upper section of the circular slot slide rail 2002 satisfies the horizontal movement of the end of the rotary limiting hook 2004 during the downward movement of the cuboid fixing frame 2003.
[0073] The modular end effector 21 consists of a cylinder-type two-stage slide rail 2008 and an intelligent hook 2101 connected thereto. The intelligent hook 2101 is controlled by a servo motor 2102 to automatically open and close the claw hook 2103, and the intelligent hook 2101 can be replaced with other modular end effectors according to actual operation requirements and operation scenarios.
[0074] The cylinder-type secondary slide 2008 operates in two stages. The first stage involves the bottom surface of the lower section of the circular groove slide rail 2002 entering the cylinder and falling freely until it reaches the intermediate limiting baffle 2011. Further, the second stage involves the surrounding sliding columns moving down the slide rail inside the cylinder until they contact the upper connecting plate of the intelligent hook 2101 at the intermediate limiting baffle 2011. The lower surface of the upper circumferential contour of the cylinder-type secondary slide 2008 has limiting slots 2012, equal in number to the number of rotary limiting hooks 2004. Further, the limiting slots 2012 are mechanically fixed to the rotary limiting hooks 2004. The outer diameter of the upper contour of the cylinder-type secondary slide 2008 is larger than the outer diameter of the bottom surface of the lower section of the circular groove slide rail 2002; the bottom surface of the lower section of the circular groove slide rail 2002 falls freely without frictional resistance at the upper end of the cylinder-type secondary slide 2008. The cylinder-type secondary slide rail 2008 is provided with a limiting baffle 2011 in the middle. The cylinder limiting baffle 2011 is provided with sliding columns around its perimeter below, which closely cooperate with the slide rail of the modular end effector 21 to achieve vertical translation and sliding.
[0075] The upper surface of the slide rail of the modular end effector 21 is provided with an upwardly protruding boss 2005. The outer diameter of the boss 2005 is equal to that of the groove structure 2009 on the bottom surface of the lower section of the circular groove slide rail 2002; furthermore, the boss 2005 and the groove structure 2009 are aligned and tightly fitted.
[0076] The workflow of this invention is as follows:
[0077] The base 1 of the hoisting equipment is equipped with a drive device for the slewing mechanism 2. By operating the slewing mechanism 2, the hoisting equipment can be rotated.
[0078] The hoisting equipment body 3 is equipped with two hydraulic cylinder luffing mechanisms 5 with identical operating parameters. The operator's cab 4 controls the two hydraulic cylinders to work simultaneously, performing luffing movements of the main boom 8. Luffing angle sensors 6 and feedback angle sensors 9 are respectively installed on the end connecting shafts of the main boom 8 and the auxiliary boom 11. During luffing operations, the control system synchronously controls the turntable torque motor 10 to rotate when it receives the luffing signal from the luffing angle sensor 6, ensuring that the auxiliary boom 11 remains parallel to the reference plane of the hoisting equipment base 1. The feedback angle sensor 9 measures the angle of the auxiliary boom 11 in real time and feeds it back to the control system, forming a closed-loop control system.
[0079] The parallel flexible cable mechanism 18 includes five flexible steel wire cables: one lifting steel wire cable and four stabilizing lifting steel wire cables. The lifting motion drive device within the lifting equipment base 1 drives the lifting cable to move up and down. The other end of the lifting steel wire cable passes sequentially through the anti-derailment guide wheel assembly 7, the lifting steel wire cable tension sensor 12, the lifting steel wire cable guide wheel 23, and the cross-shaped four-axis limiter 1301 before being fixedly connected to the top of the rotatable stabilizing hook 19. If excessive external force occurs during lifting, and the lifting steel wire cable deviates, it will contact the cross-shaped four-axis limiter 1301, which serves to prevent derailment and friction. When the lifting steel wire cable reaches its uppermost position, the upper end of the flange 1605 is structurally locked with the lower end of the outer octagonal prism ring with a circular hole ring 1604, which serves to limit and fix the cable.
[0080] One end of the stabilizing lifting wire cable is connected to the output end of a drive device installed inside the lifting equipment base 1, matching the number of stabilizing lifting wire cables in the parallel flexible cable mechanism 18. The other end of the stabilizing lifting wire cable is sequentially connected to the anti-derailment guide wheel group mechanism 7, the stabilizing lifting wire cable tension sensor 22, and the anti-derailment double-layer guide wheel mechanism 15, and then fixedly connected at equal intervals to the circumference of the bottom edge of the rotatable stabilizing hook 19. The four parallel flexible stabilizing lifting wire cables not only reduce swaying but also share part of the tension of the lifting wire cable. The telescopic mechanical arm 17 at the outer end of the cross-wheel type crane head 16 adaptively adjusts its length in real time according to the lifting height and actual swaying effect, changing its length to achieve the best sway reduction effect.
[0081] When the wire cable connecting flange 1605 moves downward, the first-stage motion circular groove slide rail 2002 enters the cylinder-type secondary slide rail 2008. Since the outer diameter of the cylinder's inner contour is larger than the outer diameter of the bottom contour of the lower section of the circular groove slide rail 2002, the circular groove slide rail 2002 can fall freely inside the cylinder without contact or frictional resistance.
[0082] When the bottom surface of the lower section of the circular groove slide rail 2002 contacts the middle limiting baffle 2011 inside the cylinder secondary slide rail 2008, the second stage of movement begins. The cuboid fixing frame 2003 slides downward along the circular groove slide rail 2002, simultaneously driving the rotary limiting hook 2004 to rotate. The sliding columns around the cylinder move down along the cylinder slide rail until they contact the limiting baffle 2011 and the upper connecting piece of the modular end effector 21. At this time, as the pressure above increases, the rotary limiting hook 2004 rotates downward 90° along its rotating shaft mechanism, mechanically limiting and fixing itself to the upper edge groove of the cylinder secondary slide rail 2008. While the hook rotates downward 90°, the end shaft of the rotary limiting hook 2004 rotates within the circular groove and slides horizontally.
[0083] When the object leaves the ground, the rotary limit hook 2004 is subjected to downward pressure, and the rotary limit hook mechanical 2008 limits and fixes it. When the object is on the ground and presses against the modular end effector 21 from above, the rotary limit hook 2004 is subjected to upward tension, and the hook is mechanically limited and fixed. The modular end effector 21 separates from the rotary limit hook 2004 only when the object is lowered and there is no force between the hook and the slot, i.e., in a zero-gravity state, thus realizing the separation of the intelligent gripping mechanism 20 from the modular end effector 21.
[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A multi-functional lifting device for both land and sea use with a modular end effector, characterized in that: It includes the hoisting equipment body (3), the cross wheel type jack (16), the parallel flexible cable mechanism (18), the rotatable stable hook (19), the intelligent gripping mechanism (20), and the modular end effector (21). The hoisting equipment body (3) includes an equipment base (1), and a slewing mechanism (2) and a cab (4) are arranged sequentially above the equipment base (1). The upper part of the cab (4) is connected to one end of the main boom (8) and a variable angle sensor (6) is provided at the connection. Two hydraulic cylinder variable angle mechanisms (5) with the same parameters and synchronous movement are symmetrically arranged on both sides of the cab (4). The two ends of the hydraulic cylinder variable angle mechanism (5) are connected to the slewing mechanism (2) and the main boom (8) respectively. An anti-derailment guide wheel assembly mechanism (7) is provided at the top of the cab (4). The auxiliary boom (11) is connected to one end of the main boom (8) and a feedback angle sensor (9) is provided at the connection. The other end of the auxiliary boom (11) is connected to the boom head (14). The auxiliary boom (11) is equipped with a turntable torque motor (10) and a lifting wire tension sensor (12). The boom head (14) has an outer octagonal prism ring structure. Each of the four side short arms of the boom head (14) is equipped with an anti-derailment double-layer guide wheel group mechanism (15). The lower part of the boom head (14) is connected in sequence with a cross wheel type boom head (16), an intelligent gripping mechanism (20) and a modular end effector (21). The rotatable stabilizing hook (19) is equipped with an attitude sensor. The attitude sensor measures the attitude signals of the intelligent gripping mechanism (20) and the modular end effector (21) in real time and feeds them back to the control system. The rotatable stabilizing hook (19) drives the double-layer turntable (2001) and the lower structure of the double-layer turntable (2001) to rotate. The lifting wire rope is fixed to the upper end of the rotatable stabilizing hook through the center hole of the rotatable stabilizing hook (19). The intelligent gripping mechanism (20) includes a double-layer rotary table (2001) connected to a rotatable stable hook (19). The double-layer rotary table (2001) is in the shape of an inverted frustum. The outer diameter of the bottom edge of the upper layer of the double-layer rotary table (2001) is larger than that of the bottom edge of the lower layer. The upper layer of the double-layer rotary table (2001) is connected to the rotatable stable hook (19) through a slewing bearing. The double-layer rotary table (2001) is structurally fixedly connected to a circular groove slide rail (2002). A rotary limiting hook (2004) is fixedly connected to the upper end of a cuboid fixing frame (2003) through a rotating shaft mechanism. The rotation is achieved by fitting the hole of 010; the width of the intermediate shaft of the rotary limiting hook (2004) is equal to the width of the gap of the coaxial fixed connector (2010); the front end of the rotary limiting hook (2004) is a right-angle hook; after the rotary limiting hook (2004) rotates downward to the angle set by the control system, it is limited and fixed with the limiting groove (2012) on the outer edge of the cylinder secondary slide (2008); the rotary limiting hook (2004) rotates downward through the rotating shaft mechanism; the upper section of the circular groove slide rail (2002) is provided with a circular groove hole (2006).
2. The multi-functional amphibious lifting equipment with a modular end effector according to claim 1, characterized in that, The parallel flexible cable mechanism (18) includes a flexible steel wire cable and a lifting steel wire cable. One end of the flexible steel wire cable is connected to a drive device installed inside the equipment base (1). The other end of the flexible steel wire cable is connected to the four sides of the rotatable stable hook (19) after passing through the anti-derailment guide wheel group mechanism (7), the stable hoisting steel wire cable tension sensor (22), and the anti-derailment double-layer guide wheel group mechanism (15). One end of the lifting steel wire cable is connected to the lifting steel wire cable motor group installed inside the equipment base (1). The other end of the lifting steel wire cable is fixedly connected to the top of the rotatable stable hook (19) after passing through the anti-derailment guide wheel group mechanism (7), the lifting steel wire cable tension sensor (12), the lifting steel wire cable guide wheel (23), and the cross-type four-axis limiter (1301).
3. The multi-functional amphibious lifting equipment with a modular end effector according to claim 1, characterized in that, The parallel flexible cable mechanism (18) includes one lifting wire cable and four stabilizing wire cables. The stabilizing wire cables are symmetrically distributed on the inner and outer sides with the lifting wire cable as the center. The two outer stabilizing wire cables are connected to the inner guide wheel of the boom head (14). The two inner stabilizing wire cables are connected to the outer guide wheel of the boom head (14).
4. The multi-functional lifting equipment for both land and sea use with a modular end effector according to claim 1, characterized in that, The variable amplitude angle sensor (6) feeds back the variable amplitude signal to the control system. The control system synchronously controls the turntable torque motor (10) to rotate according to the variable amplitude signal, so that the auxiliary boom (11) is parallel to the reference plane of the base. The feedback angle sensor (9) measures the angle of the auxiliary boom (11) in real time and feeds it back to the control system. The control system calculates the difference between the angle of rotation of the auxiliary boom measured by the feedback angle sensor (9) and the variable amplitude angle fed back to the control system by the variable amplitude angle sensor (6), and then controls the rotation of the auxiliary boom so that the rotation angle of the auxiliary boom is equal in magnitude and opposite in direction to the rotation angle of the main boom, ensuring that the auxiliary boom (11) is always parallel to the reference plane of the base, so that the control loop forms a closed loop control.
5. The multi-functional lifting equipment for both land and sea use with a modular end effector according to claim 1, characterized in that, Two inner guide wheels (1101) and two outer guide wheels (1102) are provided on the upper surface of the boom head (14). A combined guide limit block (13) is provided at one end of the boom head (14) near the auxiliary boom (11). A fixing plate (1305) is provided in the middle of the combined guide limit block (13). An anti-rope guide wheel (1302) is provided above the fixing plate (1305). A first rope guide hole is provided on the fixing plate (1305). A reinforcing rib (1304) is provided below the fixing plate (1305). A cross-shaped four-axis limiter (1301) is provided below the combined guide limit block (13). The cross-shaped four-axis limiter (1301) is composed of four symmetrically intersecting rotating shafts.
6. The multi-functional amphibious lifting equipment with a modular end effector according to claim 1, characterized in that, The anti-rope double-layer guide wheel assembly (15) includes two first guide wheels (1501) connected by a middle partition (1503). The partition (1503) has second guide rope holes (1502) on both sides. The outer edge of the first guide wheel (1501) is provided with an anti-rope pulley (1505). The two bearings inside the anti-rope pulley (1505) are symmetrically distributed on the same axis. The two first guide wheels (1501) are in the same plane and share a base support (1504).
7. The multi-functional amphibious lifting equipment with a modular end effector according to claim 1, characterized in that, The cross-wheel type lifting head (16) includes a square frame (1601). Fixed supports (1602) extend inward from the center of the four sides of the frame (1601). The other end of the fixed supports (1602) is connected to a circular-hole outer octagonal prism ring (1603) located at the center of the frame (1601). A circular-hole ring (1604) is provided at the lower end of the circular-hole outer octagonal prism ring (1603). The diameter of the circular-hole ring (1604) is equal to the bottom diameter of the rotatable stable hook (19). The bottom surface of the cross-wheel type lifting head (16) extends from the circular-hole outer octagonal prism ring (1603). Four telescopic robotic arms (17) extend diagonally from the side of 1603. Each telescopic robotic arm (17) includes an outer arm and an inner arm connected together. The inner arm is telescopic, and the outermost end of the inner arm is provided with a double-layer guide wheel assembly (15) to prevent rope slippage. A tension sensor (22) for stabilizing the hoisting wire rope is provided in the middle of the upper surface of the telescopic robotic arm (17). The flange (1605) at the upper end of the cross wheel type hoist (16) is supported and fixedly connected to the telescopic robotic arm (17) through an inclined fixed arm (1606). A second guide wheel (1607) is provided on the inclined fixed arm (1606).
8. The multi-functional lifting equipment for both land and sea use with a modular end effector according to claim 1, characterized in that, The circular groove slide rail (2002) is in three sections. The upper section of the circular groove slide rail (2002) is fixedly connected to the lower layer of the double-layer rotary table (2001). The upper section of the circular groove slide rail (2002) is evenly provided with four pairs of circular groove holes (2006) around its perimeter. The circular groove holes (2006) provide the end translation slide for the rotary limiting hook (2004) during its downward rotation. The upper section of the circular groove slide rail (2002) limits the upper limit of the displacement of the cuboid fixing frame (2003). The circular groove slide rail (2002) has four circular groove structures (2007) at the four corners of its middle section. The cuboid fixing frame (2003) and the circular groove structures (2007) cooperate to form a slide rail mechanism, enabling vertical up and down sliding. The outer diameter of the lower section of the circular groove slide rail (2002) is smaller than the outer diameter of the cylinder secondary slide rail (2008). An upward groove structure (2009) is provided in the middle of the bottom surface of the lower section of the circular groove slide rail (2002). The groove structure (2009) is connected and cooperates with the modular end effector (21). A circular hole is provided on the lower surface of the cuboid fixing frame (2003), and the outer diameter of the circular hole on the lower surface of the cuboid fixing frame (2003) is equal to that of the groove structure (2009) on the bottom surface of the lower section of the circular groove slide rail; at the four corners of the lower surface of the cuboid fixing frame (2003), there are sliding column structures that are closely matched and slide with the four circular groove structures (2007) in the middle section of the circular groove slide rail (2002); the protruding structure on the lower surface of the cuboid fixing frame (2003) can slide up and down in the circular groove structure (2007) in the middle section of the circular groove slide rail (2002).