Lifting type reamer loading and unloading mechanical arm

Abstract

The invention discloses a lifting type reamer loading and unloading mechanical arm which comprises a base platform, a lifting mechanism, a rotating mechanism, a luffing mechanism and a reamer loading and unloading trolley. The base platform is arranged on a deck of the ship body; one side of the lifting mechanism is connected with the base platform, and the other side of the lifting mechanism is connected with the slewing mechanism; one side of the luffing mechanism is connected with the slewing mechanism, and the other side of the luffing mechanism is connected with the reamer loading and unloading trolley; and the reamer loading and unloading trolley is also connected with the slewing mechanism. The reamer can be rapidly and accurately hoisted from a deck and installed on a reamer bridge of a ship body, the loading and unloading efficiency of the reamer is remarkably improved, meanwhile, the safety and reliability in the installation process are guaranteed, and powerful support is provided for efficient operation of a cutter suction dredger.

Description

Technical Field

[0001] The present invention relates to the technology of offshore supporting devices, and more specifically, to a lifting and rotating reamer loading and unloading robotic arm. Background Art

[0002] In recent years, with the rapid development of fields such as port construction, waterway dredging, coastal development, and marine resource development, the demand for cutter suction dredgers has been continuously increasing. Cutter suction dredgers play a key role in many fields such as port waterway maintenance, inland and coastal waterway dredging, land reclamation, and seabed resource development with their powerful excavation capabilities, flexible operation methods, and efficient material transportation performance, showing broad application prospects. Especially in emerging fields such as deep-sea waterway development and marine resource exploitation, cutter suction dredgers show great market potential due to their ability to adapt to complex seabed environments.

[0003] However, during the operation of a cutter suction dredger, the reamer is the core component for realizing the excavation function. Its weight is usually large, reaching dozens of tons. During non-operation time, the reamer is usually stored on the hull deck. When arriving at the designated location for operation, the reamer needs to be lifted from the deck and installed on the reamer bridge of the hull. This process poses extremely high requirements for the installation and disassembly efficiency and safety of the reamer, which is directly related to the operation performance of the cutter suction dredger. Summary of the Invention

[0004] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a lifting and rotating reamer loading and unloading robotic arm, which has lifting and rotating functions and can quickly and accurately lift the reamer from the deck and install it on the reamer bridge of the hull, significantly improving the loading and unloading efficiency of the reamer, while ensuring the safety and reliability of the installation process, and providing strong support for the efficient operation of the cutter suction dredger.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A lifting and rotating reamer loading and unloading robotic arm, comprising a base platform, a lifting mechanism, a rotating mechanism, a luffing mechanism, and a reamer loading and unloading trolley;

[0007] The base platform is arranged on the deck of the hull;

[0008] One side of the lifting mechanism is connected to the base platform, and the other side is connected to the rotating mechanism;

[0009] One side of the luffing mechanism is connected to the rotating mechanism, and the other side is connected to the reamer loading and unloading trolley;

[0010] The reamer loading and unloading trolley is also connected to the rotating mechanism.

[0011] Preferably, base lugs are provided on the base platform.

[0012] Preferably, the lifting mechanism includes a lifting base and a lifting oil cylinder;

[0013] The rear side of the lifting base is slidably connected to the base platform through a guide rail assembly;

[0014] The lifting base is provided with a first ear plate and a second ear plate;

[0015] One end of the lifting oil cylinder is movably connected to the base ear plate through a pin shaft, and the other end pin shaft is movably connected to the first ear plate.

[0016] Preferably, the slewing mechanism includes a slewing frame, a slewing oil cylinder and a bearing;

[0017] The rear side of the slewing frame is rotatably connected to the front side of the lifting base through the bearing;

[0018] A third ear plate is provided above the rear side of the slewing frame;

[0019] A fourth ear plate and a fifth ear plate are provided below the front side of the slewing frame;

[0020] One end of the slewing oil cylinder is movably connected to the second ear plate through a pin shaft, and the other end is movably connected to the third ear plate through a pin shaft.

[0021] Preferably, the bearing includes a sliding bearing and a plain bearing.

[0022] Preferably, two slewing oil cylinders are provided, symmetrically arranged on the left and right sides of the lifting base;

[0023] Two corresponding second ear plates are provided.

[0024] Preferably, the luffing mechanism includes a robotic arm and a luffing oil cylinder;

[0025] The top of the robotic arm is provided with a sixth ear plate and a seventh ear plate;

[0026] One end of the luffing oil cylinder is movably connected to the fourth ear plate through a pin shaft, and the other end is movably connected to the sixth ear plate through a pin shaft;

[0027] The seventh ear plate is movably connected to the fifth ear plate through a pin shaft.

[0028] Preferably, the reamer loading and unloading trolley includes a trolley body and a transmission mechanism;

[0029] The trolley body is arranged on the robotic arm through the transmission mechanism and travels along the robotic arm.

[0030] Preferably, the transmission mechanism includes a motor, a reducer, a gear, a rack and a track;

[0031] A connecting platform is provided on the trolley body, and the gear is arranged on the connecting platform;

[0032] The track is arranged on the robotic arm;

[0033] The rack is arranged on the track, and the gear meshes with the rack;

[0034] The output side of the motor is connected to the input side of the speed reducer, and the output side of the speed reducer is connected to the gear.

[0035] Preferably, wheels are further arranged on the connecting platform, and the wheels travel along the track.

[0036] A lifting reamer loading and unloading robotic arm provided by the present invention realizes the functions of lifting, slewing and flipping of the reamer through the synergistic action of hydraulic drive and mechanical transmission, can quickly and accurately lift the reamer from the deck and install it on the reamer bridge of the hull, ensuring the quick and efficient installation process of lifting the reamer from the deck and installing it on the reamer bridge of the hull. At the same time, it ensures the safety and reliability of the installation process, providing strong support for the efficient operation of the cutter suction dredger. Description of the Drawings

[0037] Figure 1 It is a schematic structural diagram of the lifting reamer loading and unloading robotic arm of the present invention;

[0038] Figure 2 is Figure 1 a top view schematic diagram of;

[0039] Figure 3 It is a schematic diagram of the flipping action of the lifting reamer loading and unloading robotic arm of the present invention; Detailed Embodiments

[0040] In order to better understand the above technical solutions of the present invention, the technical solutions of the present invention will be further described below with reference to the drawings and embodiments.

[0041] Combined with Figure 1 and Figure 2 shown, a lifting reamer loading and unloading robotic arm provided by the present invention includes a base platform 1, a lifting mechanism 2, a slewing mechanism 3, a luffing mechanism 4 and a reamer loading and unloading trolley 5.

[0042] The base platform 1 is fixedly installed on the deck 100 of the hull.

[0043] Base ear plates 101 are arranged on the base platform 1.

[0044] The lifting mechanism 2 includes a lifting base 201 and a lifting oil cylinder 202.

[0045] The rear side of the lifting base 201 forms a sliding connection with the base platform 1 through a guide rail assembly.

[0046] The first ear plate 203 and the second ear plate 204 are provided on the lifting base 201.

[0047] One end of the lifting oil cylinder 202 forms a movable connection with the base ear plate 101 through a pin shaft, and the other end forms a movable connection with the first ear plate 203 through a pin shaft.

[0048] By starting the lifting oil cylinder 202, the lifting base 201 is driven to slide along the base platform 1.

[0049] The slewing mechanism 3 includes a slewing frame 301, a slewing oil cylinder 302, and a bearing 303.

[0050] The rear side of the slewing frame 301 forms a rotational connection with the front side of the lifting base 201 through the bearing 303.

[0051] The bearing 303 adopts a sliding bearing and a plain bearing.

[0052] A third ear plate 304 is provided above the rear side of the slewing frame 301.

[0053] A fourth ear plate 305 and a fifth ear plate 306 are provided below the front side of the slewing frame 301.

[0054] One end of the slewing oil cylinder 302 forms a movable connection with the second ear plate 204 through a pin shaft, and the other end forms a movable connection with the third ear plate 304 through a pin shaft.

[0055] Two slewing oil cylinders 302 are provided, symmetrically arranged on the left and right sides of the lifting base 202.

[0056] Two corresponding second ear plates 204 are provided and connected to the corresponding slewing oil cylinders 302.

[0057] By starting any one of the slewing oil cylinders 302, the slewing frame 301 is driven to rotate left and right around the lifting base 201.

[0058] The luffing mechanism 4 includes a robotic arm 401 and a luffing oil cylinder 402.

[0059] The top of the robotic arm 401 is provided with a sixth ear plate 403 and a seventh ear plate 404. The sixth ear plate 403 is located near the center of the robotic arm 401, and the seventh ear plate 404 is located at the rear end of the robotic arm 401.

[0060] One end of the luffing oil cylinder 402 forms a movable connection with the fourth ear plate 305 through a pin shaft, and the other end forms a movable connection with the sixth ear plate 403 through a pin shaft.

[0061] The seventh ear plate 404 and the fifth ear plate 306 are movably connected by a pin shaft.

[0062] By activating the luffing cylinder 402, the robotic arm 401 is driven to perform up-and-down luffing operation around the slewing frame 301.

[0063] The reamer loading and unloading trolley 5 includes a trolley body 501 and a transmission mechanism.

[0064] The trolley body 501 is arranged on the robotic arm 401 through the transmission mechanism and travels along the robotic arm 401.

[0065] The transmission mechanism includes a motor 502, a reducer 503, gears, a rack 504 and a track.

[0066] A connection platform 505 is arranged on the trolley body 501, and the gears are arranged on the connection platform 505.

[0067] The track is arranged on the robotic arm 401.

[0068] The rack 504 is arranged on the track, and the gears are meshed with the rack 504.

[0069] The output side of the motor 502 is connected to the input side of the reducer 503, and the output side of the reducer 503 is connected to the gears.

[0070] Wheels 506 are also arranged on the connection platform 505, and the wheels 506 travel along the track.

[0071] The motor 502 drives the reducer 503. The output side of the reducer 503 is connected to the gears, and the gears are meshed with the rack 504. Driven by power, a relative linear motion is performed along the X-axis direction of the robotic arm 401. A track along the X-axis direction is installed on the robotic arm 401, and the rack 504 is fixed on the side of the track. When the gears are meshed with the rack 504, the wheels 506 are driven to perform a linear motion on the track during the linear motion process. When the reamer loading and unloading trolley 5 travels to the specified installation position on the reamer bridge 200 and stops, the reamer installation is completed.

[0072] The implementation forms of the lifting reamer loading and unloading robotic arm of the present invention in different operations are as follows:

[0073] (1) Lifting operation

[0074] The lifting cylinder 202 drives the lifting base 201 to perform a linear motion along the Y-axis direction, so that the lifting mechanism 2, the slewing mechanism 3, the luffing mechanism 4 and the reamer loading and unloading trolley 5 perform a linear motion as a whole along the Y-axis direction, completing the lifting operation of the lifting reamer loading and unloading robotic arm of the present invention, and the lifting reamer loading and unloading robotic arm of the present invention can be retracted or lowered to a specified position in the Y-axis direction.

[0075] (2) Slewing operation

[0076] There are two slewing cylinders 302, which are symmetrically arranged. According to the settings of different strokes of the two slewing cylinders 302, such as Figure 3 shown, the driving slewing mechanism 3 and the reamer loading and unloading trolley 5 rotate together as a whole in the XOZ plane. At this time, the lifting mechanism 2 remains stationary, and the bearing 303 plays a role in positioning and guiding during the slewing action. The sliding bearing in the bearing 303 can limit the radial displacement of the shaft through the close fit between its inner surface and the journal, ensuring the rotational accuracy of the shaft. The inner and outer rings of the plain bearing in the bearing 303 can radially position and guide the shaft, keeping the shaft in a stable position and movement direction during rotation.

[0077] (3) Tipping action

[0078] The luffing cylinder 402 drives the reamer loading and unloading trolley 5 to tip from the X-axis to the Y-axis, realizing the retraction operation of the reamer loading and unloading trolley 5.

[0079] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. As long as within the scope of the essential spirit of the present invention, changes and modifications to the above-described embodiments will fall within the scope of the claims of the present invention.

Claims

1. A lifting reamer loading and unloading robotic arm, characterized in that: It includes a base platform, a lifting mechanism, a slewing mechanism, a luffing mechanism and a reamer loading and unloading trolley; The base platform is arranged on the deck of the ship's hull; One side of the lifting mechanism is connected to the base platform, and the other side is connected to the slewing mechanism; One side of the luffing mechanism is connected to the slewing mechanism, and the other side is connected to the reamer loading and unloading trolley; The reamer loading and unloading trolley is also connected to the slewing mechanism.

2. The lifting reamer loading and unloading manipulator according to claim 1, wherein: Base ear plates are provided on the base platform.

3. The lifting reamer loading and unloading manipulator according to claim 2, characterized in that: The lifting mechanism includes a lifting base and a lifting oil cylinder; The rear side of the lifting base is slidably connected to the base platform through a guide rail assembly; First ear plates and second ear plates are provided on the lifting base; One end of the lifting oil cylinder is movably connected to the base ear plate through a pin shaft, and the other end is movably connected to the first ear plate through a pin shaft.

4. The lifting reamer loading and unloading manipulator according to claim 3, wherein: The slewing mechanism includes a slewing frame, a slewing oil cylinder and a bearing; The rear side of the slewing frame is rotatably connected to the front side of the lifting base through the bearing; A third ear plate is provided above the rear side of the slewing frame; A fourth ear plate and a fifth ear plate are provided below the front side of the slewing frame; One end of the slewing oil cylinder is movably connected to the second ear plate through a pin shaft, and the other end is movably connected to the third ear plate through a pin shaft.

5. The lifting reamer loading and unloading robotic arm according to claim 4, wherein: The bearing includes a sliding bearing and a plain bearing.

6. The lifting reamer loading and unloading robotic arm according to claim 4, characterized in that: There are two slewing oil cylinders, symmetrically arranged on the left and right sides of the lifting base; There are two corresponding second ear plates.

7. The lifting reamer loading and unloading robotic arm according to claim 4, characterized in that: The luffing mechanism includes a robotic arm and a luffing oil cylinder; Sixth ear plates and seventh ear plates are provided at the top of the robotic arm; One end of the luffing oil cylinder is movably connected to the fourth ear plate through a pin shaft, and the other end is movably connected to the sixth ear plate through a pin shaft; The seventh ear plate is movably connected to the fifth ear plate through a pin shaft.

8. The lifting reamer loading and unloading manipulator according to claim 7, characterized in that: The reamer loading and unloading trolley includes a trolley body and a transmission mechanism; The trolley body is arranged on the robotic arm through the transmission mechanism and travels along the robotic arm.

9. The lifting reamer loading and unloading robotic arm according to claim 8, wherein: The transmission mechanism includes a motor, a reducer, a gear, a rack and a track; A connection platform is provided on the trolley body, and the gear is arranged on the connection platform; The track is arranged on the robotic arm; The rack is arranged on the track, and the gear meshes with the rack; The output side of the motor is connected to the input side of the reducer, and the output side of the reducer is connected to the gear.

10. The lifting reamer loading and unloading robotic arm according to claim 9, characterized in that: Wheels are also provided on the connection platform, and the wheels travel along the track.

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