Heavy-load adsorption device with self-adaptive adsorption surface shape

Abstract

The invention discloses an adsorption surface shape self-adaptive heavy load adsorption device, which belongs to the field of wharf mooring operation and comprises a U-shaped seat, a bearing shaft, a reset mounting plate, a shape self-adaptive mechanism assembly and a sucker assembly. The bearing shaft is connected with the U-shaped seat, the reset mounting plate is connected with the bearing shaft through the knuckle bearing, the shape self-adaption mechanism assembly is connected with the reset mounting plate, the suction cup assembly is connected with the suction face through the shape self-adaption mechanism assembly, and the shape self-adaption mechanism assembly has a multi-degree-of-freedom angle adjusting function. And therefore, the device can be completely attached to the adsorption surface and can do multi-degree-of-freedom movement along with the adsorption surface. The adsorption surface shape self-adaptive heavy load adsorption device can accurately fit different adsorption surface shapes, performs six-degree-of-freedom movement along with the adsorption surface, and has the advantages of compact structure, high bearing capacity, passive compensation, high integration level and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of dock mooring operations, and in particular relates to a heavy-load adsorption device with an adaptive adsorption surface shape. Background Art

[0002] The heavy-duty adsorption device with self-adaptive adsorption surface shape, also known as the heavy-duty adsorption device, can handle workpieces with large weight, complex shape or various surface materials, and can meet the needs of handling, positioning, processing, etc. in specific scenarios. Modern docks generally use advanced mooring equipment and automation systems to improve operating efficiency and safety. Ships and other floating bodies at sea will produce six degrees of freedom under the action of wind and wave surges, namely: swaying, swaying, heaving, rolling, pitching, and bowing. This multi-dimensional movement will have a serious impact on the ship's mooring operation. Therefore, it is urgent and necessary to provide a heavy-duty adsorption device that can adapt to the different shapes of the ship's surface.

[0003] There is little research on existing heavy-load adsorption devices. Most devices use multiple controllers to control the movement of different numbers of suction cups. There are problems such as too many control parts, complex structure, difficulty in meeting the three-dimensional movement of the ship, almost no constraints on the three-dimensional rotation of the ship, high design cost and low adaptability to different shapes of adsorption surfaces.

[0004] Therefore, it is necessary to design a heavy-load adsorption device with high driving efficiency, compact structure and the ability to adapt to the shape of the adsorption surface. Summary of the invention

[0005] In view of the above problems, the present invention provides a heavy-load adsorption device with adaptive adsorption surface shape, which passively compensates for the six-dimensional movement of the ship through an adaptive mechanism to ensure that the adsorption device and the adsorption surface of the ship can be tightly adsorbed, and the application of a multi-link assembly can greatly reduce the force on the rear mooring device, and has a wide range of application scenarios.

[0006] To this end, the technical solution adopted by the present invention is as follows:

[0007] A heavy-load adsorption device with an adaptive adsorption surface shape, comprising: a U-shaped seat, a load-bearing shaft, a reset mounting plate, a shape adaptive mechanism component and a suction cup component;

[0008] The bearing shaft is connected to the U-shaped seat;

[0009] The reset mounting plate comprises: a mounting plate and a plurality of elastic telescopic branches; the first end of each elastic telescopic branch is rotatably connected to the upper plane of the mounting plate through a universal joint, and the second end of each elastic telescopic branch is rotatably connected to the two ends of the bearing shaft through a ball joint;

[0010] The shape adaptive mechanism component is a passive mechanism formed by multiple connecting rod components, and a multi-degree-of-freedom adjustment mechanism is formed by combining different connecting rods; one end of the shape adaptive mechanism component is hinged to the lower plane of the mounting plate, and the other end of the shape adaptive mechanism component is connected to multiple suction cup components.

[0011] Further, the shape adaptive mechanism assembly includes: a first guide shaft, a first slider, a first short connecting rod, a second short connecting rod, a first long rocker and a second long rocker;

[0012] The first guide shaft is fixedly connected to the mounting plate, the first slider is movably connected to the first guide shaft to form a fifth movable pair, the axis of the fifth movable pair is perpendicular to the plane of the mounting plate, and the first slider is connected to a suction cup assembly;

[0013] The two sides of the first slider are connected to one side of the first short link and the second short link through the first rotation pair and the second rotation pair respectively, the other sides of the first short link and the second short link are connected to one side of the first long rocker arm and the second long rocker arm through the third rotation pair and the fourth rotation pair respectively, the middle parts of the first long rocker arm and the second long rocker arm are connected to the mounting plate through the fifth rotation pair and the sixth rotation pair, the other sides of the first long rocker arm and the second long rocker arm are connected to two suction cup assemblies respectively, and the axes of the rotation pairs are parallel to each other and perpendicular to the axis of the fifth movable pair.

[0014] Further, the shape adaptive mechanism assembly includes: a second slider, a rocking frame, a second guide shaft, a third short connecting rod, a fourth short connecting rod, a third long rocking rod and a fourth long rocking rod;

[0015] The second guide shaft is fixedly connected to the mounting plate, the second slider is movably connected to the second guide shaft to form a sixth movable pair, the axis of the sixth movable pair is perpendicular to the plane of the mounting plate; the swing frame is connected to the second slider through a seventh rotation pair, and the front end of the swing frame is connected to a suction cup assembly;

[0016] The two sides of the swing frame are connected to one side of the third short link and the fourth short link through the eighth rotation pair and the ninth rotation pair respectively, the other side of the third short link and the fourth short link are connected to one side of the third long rocker and the fourth long rocker through the tenth rotation pair and the eleventh rotation pair respectively, the middle part of the third long rocker and the fourth long rocker is connected to the mounting plate through the twelfth rotation pair and the thirteenth rotation pair, the other side of the third long rocker and the fourth long rocker is connected to the other two suction cup assemblies respectively, and the axes of the rotation pairs are parallel to each other and perpendicular to the sixth movable pair axis.

[0017] Further, the shape adaptive mechanism assembly includes: a fifth long rocker, a sixth long rocker, a fifth short link, a sixth short link, a seventh short link and an eighth short link;

[0018] One end of the fifth short link and the sixth short link is connected to the mounting plate through the fourteenth rotation pair and the fifteenth rotation pair, and the fifth long rocker is connected to the other end of the fifth short link and the sixth short link through the sixteenth rotation pair and the seventeenth rotation pair, so as to form a first inverted trapezoidal four-bar mechanism; two suction cup assemblies are respectively mounted on the sixteenth rotation pair and the seventeenth rotation pair, and the axes of the fourteenth rotation pair, the fifteenth rotation pair, the sixteenth rotation pair and the seventeenth rotation pair are parallel to each other and parallel to the plane of the mounting plate;

[0019] One end of the seventh short link and the eighth short link are connected to the mounting plate through the eighteenth rotating pair and the nineteenth rotating pair, and the sixth long rocker is connected to the other end of the seventh short link and the eighth short link through the twentieth rotating pair and the twenty-first rotating pair to form a second inverted trapezoidal four-bar mechanism, and the other two suction cup assemblies are respectively installed on the twentieth rotating pair and the twenty-first rotating pair, and the axes of the eighteenth rotating pair, the nineteenth rotating pair, the twentieth rotating pair, and the twenty-first rotating pair are parallel to each other and parallel to the plane of the mounting plate.

[0020] Furthermore, the reset mounting plate includes: four elastic telescopic branches; the first ends of the four elastic telescopic branches are rotatably connected to the four corners of the upper plane of the mounting plate through the first universal joint, the second universal joint, the third universal joint, and the fourth universal joint, respectively; the second ends of the two elastic telescopic branches are rotatably connected to the two sides of the first end of the load-bearing shaft through the second ball joint and the third ball joint, respectively; the second ends of the other two elastic telescopic branches are rotatably connected to the two sides of the first end of the load-bearing shaft through the fourth ball joint and the fifth ball joint, respectively.

[0021] Furthermore, the elastic telescopic branch includes: a cylinder rod, a first gasket, a second gasket, a first spring, a second spring and a cylinder barrel, wherein a fifth universal joint is present at the rear of the cylinder barrel, grooves are provided on both sides of the inside of the cylinder barrel, the first spring is placed at the end of the cylinder barrel, the first gasket is placed in the groove in the middle of the cylinder barrel, the cylinder rod is installed inside the cylinder barrel, the second gasket is placed at the front end of the cylinder barrel and in front of the cylinder rod, the second spring is placed at the front end of the cylinder barrel, the cylinder rod and the cylinder barrel form a seventh moving joint, and a sixth ball joint is present in front of the cylinder rod.

[0022] Furthermore, the suction cup assembly includes: a mounting frame, a suction cup, a load-bearing shaft, a bolt and a third spring, wherein the mounting frame is fixedly connected to the shape adaptive mechanism assembly, the load-bearing shaft is connected to the shape adaptive mechanism assembly, the suction cup is connected to the load-bearing shaft via a joint bearing to form a first ball pair, the bolt is connected to the suction cup via a hole on the mounting frame, the mounting frame hole is larger than the diameter of the bolt, and the gap between the mounting frame and the suction cup is adjusted by installing a third spring to adjust the force generated during the vacuum suction cup adsorption.

[0023] Furthermore, it also includes: a counterweight block installed below the upper plane of the mounting plate.

[0024] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0025] 1. The present invention provides a heavy-load adsorption device with an adaptive adsorption surface shape, which is conducive to following the movement of the adsorption surface through a shape adaptive mechanism component arranged in a reset mounting plate.

[0026] 2. The present invention provides a heavy-load adsorption device with an adaptive adsorption surface shape, which can meet heavy-load requirements by replacing different shape adaptive mechanism components and changing different numbers of angle adaptive suction cup components.

[0027] 3. The present invention provides a heavy-load adsorption device with an adaptive adsorption surface shape, which can increase the stroke of the heavy-load adsorption device through a moving frame and a rotating frame inside the shape adaptive mechanism component.

[0028] 4. The invention provides a heavy-load adsorption device with an adaptive adsorption surface shape, which realizes a passive compensation function by using a shape adaptive mechanism component, reduces the demand for a controller, and greatly improves feasibility.

[0029] 4. The present invention provides a heavy-load adsorption device with an adaptive adsorption surface shape. By connecting an angle-adaptive suction cup assembly and a shape-adaptive mechanism assembly with a joint bearing and installing a spring in the middle, the three-degree-of-freedom rotation of the suction cup assembly is ensured and the rigidity of the suction cup assembly is improved.

[0030] 5. The present invention provides a heavy-load adsorption device with an adaptive adsorption surface shape, which can ensure the adsorption movement of the heavy-load adsorption device through four reset mounting plates, and can also ensure the normal position reset in a non-working state.

[0031] 6. The invention provides a heavy-duty adsorption device with an adaptive adsorption surface shape, which can meet the vertical resetting requirements in a non-working state by adding a counterweight device under the resetting mounting plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 It is a schematic diagram of the overall structure of a heavy-load adsorption device with self-adaptive adsorption surface shape according to an embodiment of the present invention;

[0034] Figure 2 Schematic diagram of the overall kinematic pair of a heavy-load adsorption device with self-adaptive adsorption surface shape according to an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of an elastically retractable branch structure in an embodiment of the present invention;

[0036] Figure 4 is a schematic structural diagram of a first shape adaptive mechanism component in an embodiment of the present invention;

[0037] Figure 5 is a schematic structural diagram of a second shape adaptive mechanism component in an embodiment of the present invention;

[0038] Figure 6 is a schematic structural diagram of a third shape adaptive mechanism component in an embodiment of the present invention;

[0039] Figure 7 is a schematic diagram of the structure of a suction cup assembly in an embodiment of the present invention;

[0040] In the figure, 1, U-shaped seat; 2, bearing shaft; 3, reset mounting plate; 301, cylinder rod; 302-1, first gasket; 302-2, second gasket; 303-1, first spring; 303-2, second spring; 304, cylinder; 305, vertical plate; 4, shape adaptive mechanism assembly; 401-1, first slider; 401-2, second slider; 402-1, first long rocker; 402-2, second long rocker; 402-3, third long rocker; 402-4, fourth long rocker; 402-5, fifth long Rocker; 402-6, the sixth long rocker; 403-1, the first short link; 403-2, the second short link; 403-3, the third short link; 403-4, the fourth short link; 403-5, the fifth short link; 403-6, the sixth short link; 403-7, the seventh short link; 403-8, the eighth short link; 404, the swing frame; 5, the suction cup assembly; 501, the suction cup; 502, the bearing small shaft; 503, the mounting frame; 504, the third spring; 505, the bolt; 6, the counterweight; R1, the first rotating pair ; R2, the second rotation pair; R3, the third rotation pair; R4, the fourth rotation pair; R5, the fifth rotation pair; R6, the sixth rotation pair; R7, the seventh rotation pair; R8, the eighth rotation pair; R9, the ninth rotation pair; R10, the tenth rotation pair; R11, the eleventh rotation pair; R12, the twelfth rotation pair; R13, the thirteenth rotation pair; R14, the fourteenth rotation pair; R15, the fifteenth rotation pair; R16, the sixteenth rotation pair; R17, the seventeenth rotation pair; R18, the eighteenth rotation pair; R19, the nineteenth rotation pair pair; R20, the twentieth rotation pair; R21, the twenty-first rotation pair; S1, the first ball pair; S2, the second ball pair; S3, the third ball pair; S4, the fourth ball pair; S5, the fifth ball pair; S6, the sixth ball pair; U1, the first universal joint; U2, the second universal joint; U3, the third universal joint; U4, the fourth universal joint; U5, the fifth universal joint; P1, the first movable pair; P2, the second movable pair; P3, the third movable pair; P4, the fourth movable pair; P5, the fifth movable pair; P6, the sixth movable pair; P7, the seventh movable pair. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should be the common meanings understood by technicians in the field to which the present invention belongs. For example, the front, back, left and right used in the present invention are only exemplary and are used to describe the terms for convenience.

[0042] like Figure 1 , Figure 2 As shown, a heavy-duty adsorption device with an adaptive adsorption surface shape in an embodiment of the present invention comprises a U-shaped seat 1, a bearing shaft 2, a reset mounting plate 3, a shape adaptive mechanism assembly 4 and a suction cup assembly 5. Among them, the bearing shaft 2 is connected to the U-shaped seat 1, one side of the reset mounting plate 3 is connected to the bearing shaft 2 through a joint bearing, the other side of the reset mounting plate 3 and the shape adaptive mechanism assembly 4 are connected through a hinge, the suction cup assembly 5 is connected to the shape adaptive mechanism assembly 4, and the suction cup assembly 5 is connected to the adsorption surface for adsorption. The connecting rod mechanism formed by the shape adaptive mechanism assembly 4 and the reset mounting plate 3 can make the adsorption surface of the suction cup assembly 5 move forward and backward relative to the reset mounting plate 3, thereby realizing the shape adaptation of the suction cup assembly 5 to the adsorbed surface.

[0043] In the specific implementation, the U-shaped seat 1 is fixedly installed on the rear device, the joint bearing is installed on the load-bearing shaft 2, and one side of the reset mounting plate 3 is connected to the load-bearing shaft 2 through the first ball pair S1 of the joint bearing; the shape adaptive mechanism component 4 is installed on the other side of the reset mounting plate 3, and the joint bearing is installed on the suction cup component 5, and the suction cup component 5 is connected to the shape adaptive mechanism component 4 through the sixth ball pair S6.

[0044] The shape adaptive mechanism assembly 4 is a passive mechanism formed by a plurality of connecting rod assemblies, and a multi-degree-of-freedom adjustment mechanism is formed by combining different connecting rods. The plurality of connecting rod assemblies are arranged on the upper and lower sides in front of the reset mounting plate 3 .

[0045] In the above embodiment, the shape adaptive mechanism component 4 has a multi-degree-of-freedom angle adjustment function, so that it can completely fit the adsorption surface and follow the adsorption surface to make multi-degree-of-freedom movements. The suction cup component 5 is connected to the adsorption surface through the shape adaptive mechanism component 4, and adapts to adsorption surfaces of different shapes through the adjustment movement of the shape adaptive mechanism component 4.

[0046] In a specific implementation, the reset mounting plate 3 includes a mounting plate and four elastic telescopic branches, namely a first elastic telescopic branch, a second elastic telescopic branch, a third elastic telescopic branch and a fourth elastic telescopic branch; the first elastic telescopic branch, the second elastic telescopic branch, the third elastic telescopic branch and the fourth elastic telescopic branch are symmetrically arranged on the four corners of the upper plane of the mounting plate, and the first ends of the first elastic telescopic branch, the second elastic telescopic branch, the third elastic telescopic branch and the fourth elastic telescopic branch are respectively rotatably connected through the first universal joint U1, the second universal joint U2, the third universal joint U3 and the fourth universal joint U4. On the upper plane of the mounting plate, the second ends of the first elastic telescopic branch and the second elastic telescopic branch are rotationally connected to both sides of the first end of the load-bearing shaft 2 through the second ball pair S2 and the third ball pair S3 respectively, and the second ends of the third elastic telescopic branch and the fourth elastic telescopic branch are rotationally connected to both sides of the second end of the load-bearing shaft 2 through the fourth ball pair S4 and the fifth ball pair S5 respectively, and the first elastic telescopic branch, the second elastic telescopic branch, the third elastic telescopic branch and the fourth elastic telescopic branch move with the mounting plate through the first movable pair P1, the second movable pair P2, the third movable pair P3 and the fourth movable pair P4 in the middle respectively.

[0047] In another embodiment, the resetting mounting plate 3 further includes adding a counterweight block 6 below the mounting plate to ensure vertical resetting of the resetting mounting plate when it is not in operation.

[0048] Among them, Figure 3 As shown, the elastic telescopic branch may include a cylinder rod 301, a first gasket 302-1, a second gasket 302-2, a first spring 303-1, a second spring 303-2 and a cylinder barrel 304; wherein there is a fifth universal joint behind the cylinder barrel, grooves are provided on both sides of the cylinder barrel 304, the first spring 303-1 is placed at the end of the cylinder barrel 304, the first gasket 302-1 is placed in the groove in the middle of the cylinder barrel 304, the cylinder rod 301 is installed inside the cylinder barrel 304, the second gasket 302-2 is placed at the front end of the cylinder barrel 304 and in front of the cylinder rod 301, the second spring 303-2 is placed at the front end of the cylinder barrel 304, the cylinder rod 301 and the cylinder barrel 304 form a seventh mobile joint P7, and there is a sixth ball joint in front of the cylinder rod. Among them, the fifth universal joint and the sixth ball joint can be replaced by a U joint or other structures, which are not limited here.

[0049] When working, the mounting plate follows the front mechanism to rotate with three degrees of freedom relative to the rear bearing shaft 2. The four elastic telescopic branches are symmetrically installed on the four corners of the mounting plate. When the mounting plate rotates, the lengths of the four elastic telescopic branches increase and decrease respectively. The cylinder rod 301 of the elastic telescopic branch with increased length presses the second gasket 302-2 and then compresses the second spring 303-2, so that the length of the elastic telescopic branch increases, and the compressed second spring 303-2 provides a reset force; the cylinder rod 301 of the remaining elastic telescopic branches compresses the first spring 303-1 by pressing the first gasket 302-1, so that the elastic telescopic branch becomes shorter, and the compressed first spring 303-1 provides a reset force; when stopping working, the compressed springs in each elastic telescopic branch return to normal length, thereby driving the mounting plate to reset. Through this reset mounting plate, the mounting plate can be reset by adjusting the preload of the spring, without adding an additional controller, with a simple structure, convenient control, and high integration.

[0050] The reset mounting plate 3 may further include a vertical plate 305 , the side of the vertical plate having a plurality of axial holes for connection, so as to facilitate the connection and installation of the load-bearing shaft 2 , the reset mounting plate 3 , and the shape adaptive component 5 .

[0051] Among them, the shape adaptive mechanism component 4 can have multiple implementation modes:

[0052] Implementation method 1:

[0053] like Figure 4As shown, the shape adaptive mechanism assembly 4 includes a first slider 501-1, a first guide shaft, a first short link 403-1, a second short link 403-2, a first long rocker 402-1, and a second long rocker 402-2. The mounting plate is connected to the first slider 501-1 through the first guide shaft to form a fifth movable pair P5, the axis of the fifth movable pair P5 is perpendicular to the plane of the mounting plate, the front end of the first slider 501-1 is connected to a suction cup assembly 5, the two sides of the first slider 501-1 are respectively connected to one side of the first short link 403-1 and the second short link 403-2 through the first rotation pair R1 and the second rotation pair R2, the other side of the first short link 403-1 and the second short link 403-2 are respectively connected to one side of the first long rocker 402-1 and the second long rocker 402-2 through the third rotation pair R3 and the fourth rotation pair R4, the middle part of the first long rocker 402-1 and the second long rocker 402-2 are connected to the mounting plate through the fifth rotation pair R5 and the sixth rotation pair R6, the other sides of the first long rocker 402-1 and the second long rocker 402-2 are respectively connected to the other two suction cup assemblies 5, and the axes of each rotation pair are parallel to each other and perpendicular to the axis of the fifth movable pair P5. This shape adaptive mechanism component can connect three suction cup components. When the middle suction cup component 5 adsorbs the adsorption surface, the movement of the connecting rod mechanism can ensure that the suction cup components 5 on both sides can fit to the adsorption surface and can move with the adsorption surface. It is suitable for adsorption situations requiring three suction cup components 5 or larger loads.

[0054] Implementation method 2:

[0055] like Figure 5As shown, the shape adaptive mechanism assembly 4 includes a second slider 501-2, a swing frame 404, a second guide shaft, a third short link 403-3, a fourth short link 403-4, a third long rocker 402-3, and a fourth long rocker 402-4. The mounting plate is connected to the second slider 501-2 through a guide shaft to form a sixth movable pair P6, the axis of the sixth movable pair P6 is perpendicular to the plane of the mounting plate, the swing frame 404 is connected to the second slider 501-2 through a seventh rotation pair R7, the front end of the swing frame 404 is connected to a suction cup assembly 5, and both sides of the swing frame 404 are respectively connected to the third short link 403-3 and one side of the fourth short link 403-4 through an eighth rotation pair R8 and a ninth rotation pair R9, and the third short link 403-3 and the fourth short link 403-4 are connected to the third short link 403-3 and the fourth short link 403-4. -4, the other side is connected to one side of the third long rocker 402-3 and the fourth long rocker 402-4 through the tenth rotation pair R10 and the eleventh rotation pair R11, the middle part of the third long rocker 402-3 and the fourth long rocker 402-4 is connected to the mounting plate through the twelfth rotation pair R12 and the thirteenth rotation pair R13, the other side of the third long rocker 402-3 and the fourth long rocker 402-4 is connected to the other two suction cup assemblies 5 respectively, and the axes of each rotation pair are parallel to each other and perpendicular to the axis of the sixth movable pair P6. This kind of shape adaptive mechanism assembly can ensure that the suction cup assemblies 5 on both sides can fit to the suction surface through the movement of the connecting rod mechanism when the middle suction cup assembly 5 adsorbs the suction surface, and at the same time, a rotation pair R7 is added to the middle suction cup assembly 5, which can meet the adaptation function of the suction surface in different states during the initial adsorption, and can move with the suction surface, which is suitable for adsorption situations requiring three suction cup assemblies 5 or larger heavy loads.

[0056] Implementation method three:

[0057] like Figure 6As shown, the shape adaptive mechanism assembly 4 includes a fifth long rocker 402-5, a sixth long rocker 402-6, a fifth short link 403-5, a sixth short link 403-6, a seventh short link 403-7, and an eighth short link 403-8. One end of the fifth short link 403-5 and the sixth short link 403-6 is connected to the mounting plate through the fourteenth rotation pair R14 and the fifteenth rotation pair R15, and the fifth long rocker 402-5 is connected to the other end of the fifth short link 403-5 and the sixth short link 403-6 through the sixteenth rotation pair R16 and the seventeenth rotation pair R17, forming a first inverted trapezoidal four-bar mechanism, and two suction cup assemblies 5 are respectively mounted on the sixteenth rotation pair R16 and the seventeenth rotation pair R17, and the axes of the fourteenth rotation pair R14, the fifteenth rotation pair R15, the sixteenth rotation pair R16, and the seventeenth rotation pair R17 are parallel to each other and parallel to the plane of the mounting plate; similarly, the seventh One end of the short link 403-7 and the eighth short link 403-8 is connected to the mounting plate through the eighteenth rotation pair R18 and the nineteenth rotation pair R19, and the sixth long rocker 402-6 is connected to the other end of the seventh short link 403-7 and the eighth short link 403-8 through the twentieth rotation pair R20 and the twenty-first rotation pair R21, forming a second inverted trapezoidal four-bar mechanism, and the other two suction cup assemblies 5 are respectively installed on the twentieth rotation pair R20 and the twenty-first rotation pair R21, and the axes of the eighteenth rotation pair R18, the nineteenth rotation pair R19, the twentieth rotation pair R20, and the twenty-first rotation pair R21 are parallel to each other and parallel to the plane of the reset mounting plate. This kind of shape adaptive mechanism assembly can ensure that when a suction cup assembly 5 is adsorbed to the adsorption surface, the other three suction cup assemblies 5 are adsorbed through the movement of the double four-bar mechanism, and can move with the adsorption surface, which is suitable for adsorption situations requiring two or four suction cup assemblies 5.

[0058] Among them, different types of shape adaptive mechanism components 4 are adopted to meet the load requirements under different adsorption conditions, and a single, two, three, four, six or other multiple suction cup components 5 can be installed.

[0059] Among them, Figure 7 As shown, the suction cup assembly 5 is an angle-adaptive suction cup assembly, comprising a suction cup 501, a bearing shaft 502, a mounting frame 503, a third disc spring 504 and a bolt 505, wherein the mounting frame 503 is fixedly connected to the shape-adaptive mechanism assembly 4, the bearing shaft 502 is connected to the shape-adaptive mechanism assembly 4, the suction cup 501 is connected to the bearing shaft 502 through a joint bearing to form a seventh ball pair S7, the bolt 505 is connected to the suction cup 501 through a hole on the mounting frame 503, the hole in the mounting frame 503 is larger than the thread diameter of the bolt 505, and the gap between the mounting frame 503 and the suction cup 501 is adjusted by installing the third disc spring 504 to adjust the force generated when the suction cup 501 is adsorbed, thereby forming a three-degree-of-freedom angle-adaptive suction cup assembly.

[0060] The working process of the adsorption surface shape adaptive heavy-load adsorption device in the above embodiment is as follows:

[0061] When the ship is moored at the shore, the heavy-load adsorption device with self-adaptive shape of the adsorption surface is connected to the mooring device at the rear, and the mooring device at the rear drives the heavy-load adsorption device with self-adaptive shape of the adsorption surface to dock with the ship. When one of the angle-adaptive suction cup assemblies 5 is adsorbed to the surface of the ship, the adaptive movement of the shape-adaptive mechanism assembly 4 is used to ensure that the remaining angle-adaptive suction cup assemblies 5 can contact the surface of the ship for adsorption. At the same time, because there is a first ball pair at the rear, the heavy-load adsorption device with self-adaptive shape of the adsorption surface can follow the ship to make three-degree-of-freedom rotations. When the adsorption stops, the front shape-adaptive mechanism assembly 4 and the angle-adaptive suction cup assembly 5 are reset in the non-working state through the reset mounting plate 3. The reset mounting plate 3 provides a certain elastic force to ensure that the heavy-load adsorption device with self-adaptive shape of the adsorption surface is in a stable position in the non-working state. At the same time, the newly added counterweight block 6 can also realize the reset movement in the vertical direction, so as to meet the adsorption work and movement process under different load conditions and different adsorption surface shapes.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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 heavy-load adsorption device with self-adaptive adsorption surface shape, characterized in that: include: A U-shaped seat (1), a bearing shaft (2), a reset mounting plate (3), a shape adaptive mechanism component (4) and a suction cup component (5); The bearing shaft (2) is connected to the U-shaped seat (1); The reset mounting plate (3) comprises: a mounting plate and a plurality of elastic telescopic branches; The first end of each elastic telescopic branch is rotationally connected to the upper plane of the mounting plate through a universal joint, and the second end of each elastic telescopic branch is rotationally connected to two ends of the bearing shaft (2) through a ball joint; The shape adaptive mechanism component (4) is a passive mechanism formed by a plurality of connecting rod components, and a multi-degree-of-freedom adjustment mechanism is formed by combining different connecting rods; one end of the shape adaptive mechanism component (4) is hinge-connected to the lower plane of the mounting plate, and the other end of the shape adaptive mechanism component (4) is connected to the plurality of suction cup components (5).

2. The heavy-load adsorption device with self-adaptive adsorption surface shape according to claim 1, characterized in that: The shape adaptive mechanism component (4) comprises: a first guide shaft, a first slider (401-1), a first short connecting rod (403-1), a second short connecting rod (403-2), a first long rocker (402-1) and a second long rocker (402-2); The first guide shaft is fixedly connected to the mounting plate, the first slider (401-1) is movably connected to the first guide shaft to form a fifth movable pair (P5), the axis of the fifth movable pair (P5) is perpendicular to the plane of the mounting plate, and the first slider (401-1) is connected to a suction cup assembly (5); The two sides of the first sliding block (401-1) are connected to one side of the first short connecting rod (403-1) and the second short connecting rod (403-2) through the first rotating pair (R1) and the second rotating pair (R2), respectively; the other sides of the first short connecting rod (403-1) and the second short connecting rod (403-2) are connected to one side of the first long rocking rod (402-1) and the second long rocking rod (402-2) through the third rotating pair (R3) and the fourth rotating pair (R4), respectively; the middle parts of the first long rocking rod (402-1) and the second long rocking rod (402-2) are connected to the mounting plate through the fifth rotating pair (R5) and the sixth rotating pair (R6), and the other sides of the first long rocking rod (402-1) and the second long rocking rod (402-2) are connected to two suction cup assemblies (5), respectively; and the axes of the rotating pairs are parallel to each other and perpendicular to the axis of the fifth movable pair (P5).

3. The heavy-load adsorption device with self-adaptive adsorption surface shape according to claim 1, characterized in that: The shape adaptive mechanism component (4) comprises: a second slider (401-2), a rocking frame (404), a second guide shaft, a third short connecting rod (403-3), a fourth short connecting rod (403-4), a third long rocking rod (402-3) and a fourth long rocking rod (402-4); The second guide shaft is fixedly connected to the mounting plate, the second slider (401-2) is movably connected to the second guide shaft to form a sixth movable pair (P6), and the axis of the sixth movable pair (P6) is perpendicular to the plane of the mounting plate; the swing frame (404) is connected to the second slider (401-2) via a seventh rotation pair (R7), and the front end of the swing frame (404) is connected to a suction cup assembly (5); The two sides of the swing frame (404) are connected to one side of the third short link (403-3) and the fourth short link (403-4) through the eighth rotation pair (R8) and the ninth rotation pair (R9), respectively; the other sides of the third short link (403-3) and the fourth short link (403-4) are connected to one side of the third long rocker (402-3) and the fourth long rocker (402-4) through the tenth rotation pair (R10) and the eleventh rotation pair (R11), respectively; the middle parts of the third long rocker (402-3) and the fourth long rocker (402-4) are connected to the mounting plate through the twelfth rotation pair (R12) and the thirteenth rotation pair (R13); the other sides of the third long rocker (402-3) and the fourth long rocker (402-4) are connected to the other two suction cup assemblies (5), respectively; and the axes of the rotation pairs are parallel to each other and perpendicular to the axis of the sixth movable pair (P6).

4. The heavy-load adsorption device with self-adaptive adsorption surface shape according to claim 1, characterized in that: The shape adaptive mechanism component (4) comprises: a fifth long rocker (402-5), a sixth long rocker (402-6), a fifth short connecting rod (403-5), a sixth short connecting rod (403-6), a seventh short connecting rod (403-7) and an eighth short connecting rod (403-8); One end of the fifth short link (403-5) and the sixth short link (403-6) is connected to the mounting plate through the fourteenth rotation pair (R14) and the fifteenth rotation pair (R15), and the fifth long rocker (402-5) is connected to the other ends of the fifth short link (403-5) and the sixth short link (403-6) through the sixteenth rotation pair (R16) and the seventeenth rotation pair (R17), so as to form a first inverted trapezoidal four-bar mechanism; two suction cup assemblies (5) are respectively mounted on the sixteenth rotation pair (R16) and the seventeenth rotation pair (R17), and the axes of the fourteenth rotation pair (R14), the fifteenth rotation pair (R15), the sixteenth rotation pair (R16), and the seventeenth rotation pair (R17) are parallel to each other and parallel to the plane of the mounting plate; One end of the seventh short link (403-7) and the eighth short link (403-8) is connected to the mounting plate via an eighteenth rotation pair (R18) and a nineteenth rotation pair (R19); the sixth long rocker (402-6) is connected to the other ends of the seventh short link (403-7) and the eighth short link (403-8) via a twentieth rotation pair (R20) and a twenty-first rotation pair (R21), so as to form a second inverted trapezoidal four-bar mechanism; the other two suction cup assemblies (5) are respectively mounted on the twentieth rotation pair (R20) and the twenty-first rotation pair (R21); the axes of the eighteenth rotation pair (R18), the nineteenth rotation pair (R19), the twentieth rotation pair (R20) and the twenty-first rotation pair (R21) are parallel to each other and parallel to the plane of the mounting plate.

5. The heavy-load adsorption device with self-adaptive adsorption surface shape according to any one of claims 1 to 4, characterized in that: The reset mounting plate (3) comprises: four elastic telescopic branches; the first ends of the four elastic telescopic branches are rotatably connected to the four corners of the upper plane of the mounting plate through a first universal joint (U1), a second universal joint (U2), a third universal joint (U3), and a fourth universal joint (U4); the second ends of two elastic telescopic branches are rotatably connected to the two sides of the first end of the bearing shaft (2) through a second ball joint (S2) and a third ball joint (S3); the second ends of the other two elastic telescopic branches are rotatably connected to the two sides of the first end of the bearing shaft (2) through a fourth ball joint (S4) and a fifth ball joint (S5).

6. The heavy-load adsorption device with self-adaptive adsorption surface shape according to claim 5, characterized in that: The elastic telescopic branch comprises: a cylinder rod (301), a first gasket (302-1), a second gasket (302-2), a first spring (303-1), a second spring (303-2) and a cylinder barrel (304), wherein a fifth universal joint (U5) is located behind the cylinder barrel (304), grooves are provided on both sides of the cylinder barrel (304), the first spring (303-1) is located at the end of the cylinder barrel (304), the first gasket (302-1) is located in the groove in the middle of the cylinder barrel (304), the cylinder rod (301) is installed in the cylinder barrel (304), the second gasket (302-1) is located at the front end of the cylinder barrel (304) and in front of the cylinder rod (301), the second spring (303-2) is located at the front end of the cylinder barrel (304), the cylinder rod (301) and the cylinder barrel (304) form a seventh movable joint (P7), and a sixth ball joint (S6) is located in front of the cylinder rod (301).

7. The heavy-load adsorption device with self-adaptive adsorption surface shape according to any one of claims 1 to 4, characterized in that: The suction cup assembly (5) comprises: a mounting frame (503), a suction cup (501), a bearing shaft (502), a bolt (505) and a third spring (504), wherein the mounting frame (503) is fixedly connected to the shape adaptive mechanism assembly (4), the bearing shaft (502) is connected to the shape adaptive mechanism assembly (4), the suction cup (501) is connected to the bearing shaft (502) via a joint bearing to form a first ball pair (S1), the bolt (505) is connected to the suction cup (501) via a hole on the mounting frame (503), the hole of the mounting frame (503) is larger than the diameter of the bolt (505), and the gap between the mounting frame (503) and the suction cup (501) is adjusted by installing the third spring (504) to adjust the force generated when the vacuum suction cup is adsorbed.

8. The heavy-load adsorption device with self-adaptive adsorption surface shape according to claims 1 to 4, characterized in that: Also includes: A counterweight (6) is mounted below the upper plane of the mounting plate.

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