Jacking and transplanting device for collaborative operation of multiple groups of parallel connecting rods

Abstract

The invention discloses a multi-group parallel connecting rod collaborative operation jacking and transplanting device which is characterized in that a jacking mechanism and a horizontal control mechanism for jacking a chassis are arranged on the inner side of a frame, a plurality of parallel belt conveying mechanisms are arranged on the chassis, and the horizontal control mechanism and the jacking mechanism are arranged at the bottom of the chassis; the jacking mechanism comprises a lead screw driven by a servo motor, the horizontal control mechanism comprises parallel horizontal connecting rods arranged on the two sides of the bottom of the chassis, and the parallelogram connecting rod mechanism further comprises a connecting rod rigidity adjusting module, a load change and levelness monitoring module and a control module. According to the jacking and transplanting device for cooperative operation of the multiple sets of parallel connecting rods, the load adaptability is good, the MRE intelligent connecting rod system can automatically adapt to + / -20% load change within 0.5 second, the levelness error is kept to be smaller than 0.3 degree, the jacking process is stable, the conveying precision is remarkably improved, and the impact resistance is high.

Description

Technical Field

[0001] This invention relates to the field of conveying equipment and system control technology, specifically to a multi-set parallel linkage collaborative lifting and transplanting device. Background Technology

[0002] With the continuous improvement of automation in modern industry, lifting and transferring devices, as key equipment in material conveying systems, are widely used on production lines. Lifting and transferring devices are mainly used to achieve vertical lifting and horizontal transfer of materials, and are an important link connecting different workstations or production lines.

[0003] Currently, most lifting and transplanting devices on the market use cylinder-driven or motor-driven methods to achieve the lifting function. For example, Chinese patent document CN212799461U discloses a lifting and transplanting device, which includes a mounting frame, a lifting mechanism disposed inside the mounting frame, a lifting plate connected to the lifting mechanism, several sets of transplanting mechanisms fixed on the lifting plate, and a transmission mechanism simultaneously connected to the transplanting mechanism. This device uses a lifting cylinder for control, and the addition of a lifting mechanism ensures that the lifting plate can maintain horizontal lifting and lowering without deviation.

[0004] To improve lifting stability, Chinese patent document CN217731732U discloses an automatic transfer and conveying device with lifting function, including an overall main frame, controller, multiple sets of rollers, transfer and transmission components, and lifting cylinder components. Each lifting cylinder component includes a connecting rod bearing seat, a rotating shaft, a cylinder, a top block, a bending plate, and a connecting rod, and achieves stable lifting through the connecting rod mechanism.

[0005] However, existing lifting and transplanting devices still have the following technical problems:

[0006] 1. Inaccurate level control: During the lifting process, especially when the load is uneven or changes, the existing equipment has difficulty maintaining the level of the platform, which can easily lead to the material tilting or even slipping.

[0007] 2. Unstable lifting process: Traditional rigid linkage structures are prone to impact and vibration during the lifting process due to mechanical clearances and manufacturing errors, which affects the stability of materials and the service life of equipment.

[0008] 3. Poor adaptability: Existing devices have limited adaptability to loads of different weights and distributions, lack self-adaptive adjustment capabilities, and require manual intervention for adjustment.

[0009] 4. Low synchronization accuracy: When lifting multiple points, it is difficult to guarantee the synchronization between the driving points, which can easily cause the platform to tilt or twist and deform.

[0010] 5. Weak shock resistance: Under sudden load changes or external shocks, existing devices lack effective buffering and compensation mechanisms, which can easily lead to system instability.

[0011] 6. Limited monitoring capabilities: It lacks the ability to monitor and adjust load changes and levelness in real time during the jacking process, making it impossible to achieve intelligent control.

[0012] These problems are particularly prominent in modern production lines with high precision and high efficiency, seriously affecting production efficiency and product quality. Therefore, there is an urgent need for a lifting and transfer device that can maintain horizontal stability, provide smooth lifting, and has self-adaptive capabilities to meet the needs of modern industrial production. Summary of the Invention

[0013] To address the problems of unstable leveling, uneven lifting process, low conveying accuracy, poor adaptability, and weak impact resistance in existing conveying equipment, especially the difficulty in maintaining stable lifting and leveling under load changes, which may cause material to slip and affect production efficiency and product quality, this invention provides a parallel lifting and transplanting conveying device.

[0014] The technical solution adopted by the present invention to solve its technical problem is: a multi-group parallel linkage cooperative operation lifting and transplanting device, including a frame, a chassis at the top of the frame, a lifting mechanism and a horizontal control mechanism for lifting the chassis on the inner side of the frame, and a plurality of parallel belt conveyor mechanisms on the chassis.

[0015] The lifting mechanism includes a lead screw driven by a servo motor, and the lead screw and nut constitute a lead screw and nut transmission mechanism; the nut is fixedly connected to the bottom of the chassis through a connector.

[0016] The horizontal control mechanism includes horizontal connecting rods parallel to each other on both sides of the bottom of the chassis, the connecting rods and the bottom of the chassis forming two parallel sides of a synchronous parallelogram linkage mechanism; the parallelogram linkage mechanism further includes:

[0017] Link stiffness adjustment module: used to change the local stiffness of the adjustment link. The link is a flexible link made of silicone rubber-based MRE material containing 30-40% carbonyl iron powder, and a miniature electromagnetic coil is embedded in the link.

[0018] Load change and levelness monitoring module: The connecting rod is embedded with a MEMS strain sensor array and a miniature accelerometer;

[0019] Control module: It adopts an adaptive control algorithm based on fuzzy PID, and achieves automatic horizontal compensation by adjusting the stiffness distribution of MRE linkage.

[0020] Preferably, the lead screw is located at the middle of the front and rear ends of the bottom of the chassis; the two lead screws are of the same specification, are set in parallel and upright, and the servo motor is fixed on the bottom beam fixed to the inside of the frame;

[0021] A bearing housing is provided between the top of the lead screw and the connecting part under the chassis, and the bearing housing has a built-in angular contact ball bearing; the nut is a preloaded double nut structure, installed back to back;

[0022] The two sets of ball screws are connected by differential connection.

[0023] Preferably, the lifting mechanism further includes an electronic cam synchronization control algorithm module; the electronic cam synchronization control algorithm, based on feedforward compensation and real-time position error correction, electronically couples the two sets of lead screw systems through virtual spindle technology to improve synchronization accuracy.

[0024] Preferably, a floating connection mechanism is provided at the interface between the lead screw drive system and the flexible connecting rod; the floating connection mechanism is used to compensate for installation errors and operational deformation, and includes a spherical pair and a radial flexible element.

[0025] Preferably, the lifting and transplanting device further includes a load adaptive module: it estimates load changes in real time by monitoring the servo motor current and adjusts the local stiffness distribution of the flexible link according to a preset stiffness-load mapping relationship.

[0026] Preferably, the MRE flexible link is a coaxial multi-layer composite structure, consisting of three layers from the inside out: (1) core layer: a hollow skeleton of high-strength carbon fiber composite material; (2) functional layer: silicone rubber-based MRE material containing 35% carbonyl iron powder; (3) protective layer: a highly elastic polyurethane film to prevent aging and damage of the MRE material.

[0027] Preferably, the functional layer is embedded with a miniature electromagnetic coil. The electromagnetic coil adopts a spiral segmented layout, and the connecting rod is embedded with 6-8 independently controlled miniature coils with a spacing of 50mm to form a gradient magnetic field distribution.

[0028] Preferably, a flexible PCB substrate is embedded in the inner layer of the connecting rod. The flexible PCB substrate integrates an 8×3 array of MEMS strain sensors, which are distributed in a spiral shape to capture multi-directional deformation. Four sets of triaxial MEMS accelerometers and gyroscopes are arranged around the surface at a distance of 2-3 mm to form an inertial measurement unit network. A flexible piezoresistive tactile sensor array is used to cover the key stress points of the connecting rod. The sensor network is connected to the embedded processing unit through a micro I²C bus.

[0029] Preferably, the plurality of parallel belt conveyor mechanisms include rollers, which have a double-layer coaxial structure. The inner layer is a drive shaft connected to the motor, and the outer layer is a drive roller supported by an eccentric bearing. A torsion spring elastic element is provided between the two layers. The eccentric bearing is installed on the inner drive shaft journal with an interference fit, and the outer ring is clearance-fitted with the roller end cover bearing seat.

[0030] Preferably, the frame is rectangular.

[0031] The horizontal control mechanism includes a second rotating shaft located between the two ends of two opposing crossbeams. Bearings are located on both sides of the second rotating shaft, and the bearings are mounted on second bearing seats. The second bearing seats are bolted to the crossbeams. Connecting members, which are curved, are connected to the inner sides of the second bearing seats at both ends of the second rotating shaft via pins. The upper end of the connecting member is rotatably connected to a fixed member, which is fixedly connected to the chassis and can be tightened onto the chassis with nuts. The upper fixed member is perpendicular to the chassis. The lower end of the connecting member is rotatably connected to a connecting rod, which is connected to the lower end of a connecting member on the other side of the second rotating shaft. The connecting members on both sides of the second rotating shaft have the same shape and direction, and the upper fixed members are also identical. The installation height of the second rotating shafts at both ends is the same. Thus, the bottom surface of the chassis, the upper fixed members on both sides, the connecting members, and the connecting rod form a parallelogram. Two sets of synchronous parallelogram linkage mechanisms are located under the chassis.

[0032] The beneficial effects of this invention are as follows:

[0033] Excellent load adaptability: The MRE intelligent linkage system can automatically adapt to ±20% load changes within 0.5 seconds, maintaining a levelness error of less than 0.3°, which greatly improves the service life of the equipment.

[0034] Significantly improved precision: The dual-axis differential screw drive system can maintain a horizontality error of less than 0.2° within a rated load range of ±30%, and the lifting repeatability accuracy reaches ±0.02mm, which is 75% higher than that of the traditional cam mechanism.

[0035] High impact resistance: The double-layer coaxial roller structure can effectively buffer impact loads, the torsion spring provides torsional buffering, and the eccentric bearing allows radial displacement compensation, which comprehensively improves the impact resistance of the system.

[0036] High installation tolerance: The floating connection mechanism allows the system to maintain its lifting accuracy even with an installation error of ±2mm, while reducing assembly stress by 70%, significantly improving the system's durability and maintenance cycle (extended to 2000 hours), and reducing the number of structural components by 40% compared to traditional connections. Attached Figure Description

[0037] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a perspective view of the parallel lifting transplanting and conveying equipment of Embodiment 1 of the present invention.

[0039] Figure 2 This is a schematic diagram of the belt conveyor mechanism in Example 1.

[0040] Figure 3 This is a schematic diagram of the bottom structure of the parallel lifting transplanting and conveying device according to Embodiment 1 of the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of Embodiment 1 of the present invention with the horizontal fixing plate removed.

[0042] Figure 5 This is a bottom view of Embodiment 1 of the present invention.

[0043] Figure 6 This is a schematic diagram of the structure of the roller in Embodiment 2 of the present invention.

[0044] Figure 7 This is a schematic diagram of a coaxial multilayer composite structure.

[0045] Figure 8 This is a schematic diagram of the dual-axis differential screw drive system of Example 2.

[0046] Figure 9 This is a schematic diagram of the present invention. Detailed Implementation

[0047] 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. 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.

[0048] Example 1:

[0049] This invention uses a single roller to drive multiple belt conveyors for product transport, and includes a tensioning mechanism. The lower part employs two sets of synchronous parallelogram linkage mechanisms to ensure the conveyors remain consistently horizontal, and a cam mechanism is used to lift the conveyors (highly efficient cycle time).

[0050] like Figure 1-5As shown, a parallel lifting transplanting and conveying device and method thereof includes a frame, which is rectangular and welded from channel steel on four sides. The frame includes two longitudinal beams 1 and two transverse beams 2. A first rotating shaft 21 is provided between the two opposite transverse beams 2. Bearings are provided on both sides of the first rotating shaft 21. The bearings are located on a first bearing seat 22. The first bearing seat 22 is connected to the transverse beams 2 by bolts. Eccentric cams 23 are provided at both ends of the first rotating shaft 21 inside the first bearing seat 22.

[0051] Eccentric cam 23 profile design: adopts a sinusoidal curve profile, with a push angle of 120°, a far rest angle of 30°, a return angle of 180°, and a near rest angle of 30°, to ensure a smooth and impact-free lifting process, with a maximum acceleration ≤0.5g (g is the acceleration due to gravity).

[0052] A bottom beam 24 is provided between the two longitudinal beams 1. A motor 30 and a gearbox are fixedly installed on the bottom beam 24. A drive pulley 25 is provided on the output shaft of the gearbox. A concentric driven pulley 26 is provided on the first rotating shaft 21. The drive pulley 25 and the driven pulley 26 are opposite to each other and are connected by a bottom belt 27. A chassis 12 is provided above the first crossbeam 21.

[0053] Multiple belt conveyor mechanisms are arranged in parallel on the chassis 12. The belt conveyor mechanism is driven by a longitudinal roller 9. The belt conveyor mechanism includes a first roller 4 at both ends of the upper part, a second roller 5 inside the first roller 4, a third roller 11, a fourth roller 10, and a fifth roller 13 inside the second roller 5 in sequence, and a sixth roller 14 in the middle of the upper part. The belt 3 passes through the upper rollers in sequence to enter the lower part, passes through the seventh roller 7, the eighth roller 8, the roller 9, and the ninth roller 15 in sequence, and then enters the upper first roller 4. The rotation shafts of the rollers are all fixed on the vertical plate 6, which is fixed to the chassis 12 and perpendicular to the chassis 12. The fourth roller 10 is a tensioning roller. The belt 3 above is located on the same plane.

[0054] Connecting two opposing crossbeams 2, each end has a second rotating shaft 16. Bearings are located on both sides of the second rotating shaft 16, situated on second bearing seats 17, which are bolted to the crossbeams 2. Connecting members 18, which are bent in shape, are connected to the inner sides of the second bearing seats 17 at both ends of the second rotating shaft 16 via pins. The upper end of the connecting member 18 is rotatably connected to a fixing member 19, which is fixedly connected to the base 12 and can be tightened onto the base 12 with nuts. The upper fixing member 19 is perpendicular to the base 12. The lower end of the connecting member 18 is rotatably connected to a connecting rod 20, which is connected to the lower end of the connecting member 18 on the other side of the second rotating shaft. The connecting members 18 on both sides of the second rotating shaft 16 have the same shape and direction, as do the upper fixing members 19. The installation height of the second rotating shafts at both ends is the same. In this way, the bottom surface of the chassis 12, the upper fixing parts 19 on both sides, the connecting parts 18 and the connecting rods 20 form a parallelogram, and two sets of synchronous parallelogram linkage mechanisms are provided under the chassis 12.

[0055] The connecting rod 20 is designed as a telescopic and adjustable structure, including an inner rod and an outer rod. The inner rod has a scale on its surface, and the outer rod has a locking bolt. By adjusting the length of the inner rod extending into the outer rod, the side length accuracy of the parallelogram can be calibrated. The adjustment range is 0-30mm, ensuring that the chassis 12 remains level during lifting.

[0056] The chassis 12 has horizontal fixing plates 28 at both ends, and intermediate rollers 29 are provided on the outer side of the horizontal fixing plates 28. The intermediate rollers 29 are rolledly connected to the eccentric cam 23 to form a cam mechanism, which lifts the conveyor.

[0057] A set of diffuse reflection photoelectric sensors is installed at the inlet and outlet of the belt conveyor mechanism, with a detection distance of 0-500mm and a response time of ≤1ms. These sensors are used to detect the presence or absence of materials and realize the linkage control between belt conveying and lifting actions (e.g., after the material reaches the designated position, the belt stops and the lifting mechanism starts).

[0058] The working process of the parallel lifting transplanting and conveying equipment in this embodiment:

[0059] Initial state: Chassis 12 is in the lowest position, belt 3 of the belt conveyor mechanism is kept horizontal, and photoelectric sensor is in standby state;

[0060] Material conveying: When the material passes through the inlet photoelectric sensor, the sensor sends a signal to the control system, and the roller 9 drives the belt 3 to run, conveying the material to the designated transplanting position;

[0061] Positioning detection: When the material reaches the position of the photoelectric sensor at the outlet, the sensor sends a signal, the belt conveyor stops running, and the material is accurately positioned;

[0062] Parallel lifting: The control system commands the servo motor 31 to reverse, and the power drives the first rotating shaft 21 to rotate through the transmission mechanism. The eccentric cam 23 on the first rotating shaft 21 rotates synchronously, and the cam profile pushes the intermediate roller 29 to move upward. The intermediate roller 29 drives the chassis 12 to rise through the transverse fixed plate 28. During this process, two sets of synchronous parallelogram linkage mechanisms move synchronously under the action of the synchronous shaft to ensure that the chassis 12 always remains horizontal, realizing the vertical parallel lifting of materials.

[0063] Transplanting and docking: When the chassis 12 rises to the preset height (positioned by feedback from the servo motor encoder), external transplanting equipment (such as a robotic arm or conveyor belt) will pick up or transfer the material to the target location.

[0064] Reset process: After the material transfer is completed, the control system commands the servo motor 31 to rotate forward, the cam mechanism drives the chassis 12 to descend smoothly to the initial position, the belt conveyor mechanism resumes operation, and enters the next work cycle.

[0065] Advantages of the parallel lifting transplanting conveyor in Example 1:

[0066] High lifting stability: It adopts a sinusoidal profile cam + synchronous parallelogram linkage mechanism, combined with servo motor for precise control, so that there is no impact during the lifting process and the chassis levelness error is ≤0.1°, effectively preventing materials from slipping;

[0067] Excellent conveying accuracy: Synchronous belt drive + anti-slip belt design, material conveying positioning accuracy ≤0.5mm, meeting the needs of high-precision production;

[0068] High versatility: The belt width is adjustable (100-500mm), and the lifting height is adaptable (50-150mm), making it compatible with materials of different sizes and weights;

[0069] Stable and reliable operation: It adopts self-lubricating bearings, wear-resistant parts and redundant limit protection, with a continuous operating life of ≥8000 hours and a low failure rate;

[0070] Easy maintenance: The quick-release structure, inspection port, and clear labeling design reduce maintenance difficulty and cost.

[0071] Example 2

[0072] like Figure 6 As shown, in this embodiment, the roller 9 adopts a double-layer coaxial structure. The inner layer is a drive shaft 35 connected to the motor, and the outer layer is a drive roller 36 supported by an eccentric bearing. A torsion spring elastic element 37 is provided between the two layers.

[0073] The system adopts a double-layer coaxial drum structure. The drive drum 36 is connected to the inner drive shaft 35 via an eccentric bearing, forming a radial buffer mechanism. The motor drives the inner shaft system through a reducer, and the power is transmitted to the drive drum 36 via the torsion spring elastic element 37. When the system is subjected to impact loads, the torsion spring provides torsional buffering, and the eccentric bearing allows for radial displacement compensation.

[0074] The outer roller is connected to the inner drive shaft through a pair of symmetrically arranged eccentric bearings to form a radial displacement compensation mechanism. The eccentric bearings are self-aligning roller eccentric bearings, which have the ability to automatically align themselves and can adapt to a radial displacement compensation of ±5mm, meeting the displacement buffering requirements under impact loads.

[0075] The bearing eccentricity is set to 3-8mm (determined based on the maximum impact load). When the outer roller is subjected to radial impact, the eccentric structure can absorb displacement through the relative offset between the inner and outer rings of the bearing, thus preventing rigid impact from being transmitted to the inner shaft system.

[0076] The bearing is installed with an interference fit on the inner drive shaft journal, and the outer ring is clearance-fitted with the bearing housing of the roller end cover (clearance 0.05-0.1mm). It adopts a double sealing structure of double-lip skeleton oil seal + dust cover, with a protection level of IP65, which is suitable for industrial environments such as dust and humidity.

[0077] Equipped with an automatic grease nipple, using lithium-based grease (NLGI 2 grade), with a lubrication cycle set at 100 hours / cycle, ensuring reliable lubrication of the bearing under impact conditions.

[0078] The power transmission adopts a segmented structure of "motor-reducer-elastic element-outer roller". The components work together to achieve smooth power transmission and impact buffering. The specific configuration is as follows:

[0079] The drive motor is a three-phase asynchronous frequency converter motor with soft start function to avoid starting shock.

[0080] The reducer is a hardened tooth surface planetary reducer (transmission ratio i=10-50), with a gear precision grade of 6 and a transmission efficiency of ≥96%. The output shaft is connected to the inner drive shaft through a shrink sleeve, and the torque range is 1000-8000 N·m.

[0081] The elastic connection assembly uses multi-layered torsion springs (material 60Si2MnA spring steel), with 4-8 pieces (evenly distributed along the circumference). The inner end of the torsion spring is fixed to the boss of the inner drive shaft by a key connection, and the outer end is connected to the end cover of the outer roller by bolts to realize the elastic transmission of power.

[0082] When the system is subjected to impact loads (such as sudden material drop, roller jamming, etc.), the rotational speed of the outer roller changes instantaneously, generating relative torsion with the inner drive shaft, triggering the elastic buffering effect of the torsion spring. The specific mechanism is as follows:

[0083] When the impact occurs, the outer roller speed ω1 drops sharply, while the inner drive shaft maintains a speed of ω2 (ω2>ω1) due to inertia, and the torsion spring is twisted to produce angular displacement.

[0084] The elastic restoring force and damping force generated by the torsion spring together constitute a buffer force, which hinders relative torsion and converts the impact energy into the elastic potential energy of the torsion spring, thus achieving energy absorption.

[0085] After the impact load disappears, the torsion spring releases its elastic potential energy, causing the outer roller speed to gradually increase back to synchronize with the inner drive shaft, thus completing the buffer reset process.

[0086] This invention employs a roller system that integrates active drive, buffering and vibration reduction, and high-efficiency transmission functions. Through a double-layer coaxial structure combined with torsion spring elastic elements, it achieves smooth transmission under high dynamic load conditions.

[0087] The system employs a double-layer coaxial roller structure. The outer roller is connected to the inner drive shaft via an eccentric bearing, forming a radial buffer mechanism. The motor drives the inner shaft system through a reducer, and the power is transmitted to the outer roller via a torsion spring elastic element. When the system is subjected to impact loads, the torsion spring provides torsional buffering, while the eccentric bearing allows for radial displacement compensation.

[0088] The inner drive shaft is made of 40Cr tempered steel to ensure high torque transmission capability; the outer roller is made of Q345B structural steel, the eccentric bearing is an SKF 22210E spherical roller bearing, and the torsion spring elastic element is made of 60Si2MnA spring steel wire. The eccentricity of the eccentric bearing is 5mm, allowing a radial displacement of ±3mm. The torsion spring adopts a double-arm structure with 12 effective coils and a mean diameter of φ120mm, and is installed in the annular space between the inner and outer layers. The reducer uses a planetary gear structure.

[0089] This embodiment uses a magnetorheological elastomer (MRE) smart link to replace the rigid link of the traditional parallelogram mechanism, combined with a distributed force sensing and closed-loop control system, including:

[0090] 1) Structural part: The connector 18 and the connecting rod 20 are flexible connecting rods made of silicone rubber-based MRE material containing 30-40% carbonyl iron powder (with a variable stiffness range of 0.5-5MPa), with embedded miniature electromagnetic coils (4mm in diameter), and the local stiffness can be adjusted by changing the current from 0-1.2A;

[0091] 2) Sensing system: A MEMS strain sensor array (sensitivity 0.05°) and a miniature accelerometer are embedded in the connecting rod to monitor load changes (±25% range) and levelness in real time;

[0092] 3) Control system: An adaptive control algorithm based on fuzzy PID is adopted, with a response time of <50ms. Horizontal automatic compensation is achieved by adjusting the stiffness distribution of the MRE linkage.

[0093] 4) Drive system: A precision lead screw (accuracy 0.01mm) driven by a servo motor replaces the cam mechanism to achieve smooth lifting.

[0094] The system can automatically adapt to ±20% load changes within 0.5 seconds, maintaining a levelness error of <0.3°, and significantly improving its service life. This invention solves the problem of poor adaptability of traditional parallelogram mechanisms by combining intelligent materials and flexible structures.

[0095] MRE is a smart material composed of 30-40% carbonyl iron powder dispersed in a silicone rubber matrix. Under the action of an external magnetic field, it can achieve a variable stiffness range of 0.5-5MPa, replacing the rigid linkage of the traditional parallelogram mechanism. By changing the current (0-1.2A), the local stiffness can be adjusted to achieve adaptive deformation and support.

[0096] The specific structure of the MRE flexible link, in this embodiment, adopts a coaxial multi-layer composite structure, such as... Figure 7 As shown, it is divided into three layers from the inside out: (1) Core layer 38: a hollow skeleton of high-strength carbon fiber composite material (diameter 8mm) to provide basic support and reduce the overall weight by about 40%; (2) Functional layer 40: silicone rubber-based MRE material containing 35% carbonyl iron powder (thickness 6mm), the iron powder particle size is controlled in the range of 5-10μm, and the directional magnetic field pretreatment technology is used to make the iron powder arrange in a specific direction to form an anisotropic structure, which improves the magnetic field response sensitivity by 60%; (3) Protective layer 39: a high elastic polyurethane film (thickness 1mm) to prevent the MRE material from aging and damage.

[0097] The functional layer 40 embeds a miniature electromagnetic coil (4mm in diameter). The electromagnetic coil adopts a helical segmented layout. The connecting rod 20 embeds 6-8 independently controlled miniature coils (4mm in diameter, 120 turns), all spaced 50mm apart, forming a gradient magnetic field distribution. The coils are wound with flat copper wire, reducing space occupation by 50%. The local magnetic field strength (0-0.6T) is precisely controlled by a 0-1.2A current modulated by PWM.

[0098] The MRE flexible link adopts a three-layer structure design, including a high-strength carbon fiber composite hollow skeleton (core layer), a silicone rubber-based MRE material containing 35% carbonyl iron powder (functional layer), and a highly elastic polyurethane film (protective layer), forming a complete mechanical transmission system.

[0099] The connecting rod 20 has 6-8 independently controlled miniature coils (4mm in diameter, 120 turns) embedded in it, with a spacing of 50mm. The local magnetic field strength (0-0.6T) is precisely controlled by a 0-1.2A current modulated by PWM, so as to achieve precise adjustment of the stiffness of the MRE material.

[0100] Distributed force sensing and closed-loop control system: A MEMS strain sensor array and a miniature accelerometer are embedded in the connecting rod to monitor load changes and levelness in real time. The stiffness distribution of the MRE connecting rod is adjusted through a fuzzy PID adaptive control algorithm to achieve automatic level compensation with a response time of <50ms.

[0101] The sensing structure of the magnetorheological elastomer (MRE) smart linkage system employs a flexible PCB substrate (0.2 mm thick) embedded within the inner layer of the linkage. It integrates an 8×3 array of high-precision MEMS strain sensors (sensitivity 0.01°), arranged in a spiral pattern to capture multi-directional deformation. Four sets of triaxial MEMS accelerometers (range ±16g, sampling rate 1 kHz) and gyroscopes (sensitivity 0.008° / s) are arranged around the surface at 2-3 mm, forming an inertial measurement unit (IMU) network. A flexible piezoresistive tactile sensor array (resolution 0.5 N / cm²) covers key stress points of the linkage, such as both ends and the middle position. The sensor network is connected to the embedded processing unit via a miniature I²C bus (data transmission rate 400 kbps) to achieve data fusion.

[0102] The system employs a Kalman filter self-calibration algorithm to fuse multi-source sensor data in real time, achieving an error compensation accuracy of ±0.05° and improving anti-interference capability by 65%. The sensor array adopts a low-power design (single node power consumption <5mW) and achieves partial self-powering through energy harvesting technology (utilizing linkage vibration). This sensor network structure enables the MRE linkage to accurately sense the deformation state, force distribution, and dynamic response in three-dimensional space, providing comprehensive data support for the control system while maintaining structural simplicity, reducing the number of components by 28%, improving system reliability by 40%, and extending the maintenance cycle to 2.5 times that of traditional systems.

[0103] In this embodiment, a three-layer sensing structure is constructed inside the MRE link, including an inner high-precision MEMS strain sensor array, a middle inertial measurement unit network, and a surface flexible piezoresistive tactile sensor array, forming an all-round sensing system.

[0104] The system employs a Kalman filter self-calibration algorithm to fuse data from different levels of sensors in real time, thereby improving measurement accuracy and enhancing anti-interference capabilities.

[0105] This embodiment provides a hierarchical adaptive control architecture for a magnetorheological elastomer (MRE) intelligent linkage system, dividing the control system into three levels: 1) Bottom execution layer: using a distributed microcontroller (STM32F4 series, 168MHz), each MRE linkage is equipped with an independent control unit to achieve local closed-loop control, with a sampling frequency of 1kHz and control delay <5ms; 2) Middle coordination layer: based on an industrial-grade FPGA (Xilinx Artix-7) to achieve multi-link collaborative control, connecting each execution unit through a CAN-FD bus (5Mbps bandwidth) to achieve synchronization accuracy <10μs; 3) Upper decision layer: an embedded computing platform equipped with an ARM Cortex-A72 processor, running an improved piecewise linear quadratic Gaussian (PLQG) control algorithm, dividing the nonlinear characteristics of the MRE linkage into 5-7 linear intervals, with each interval independently optimizing control parameters.

[0106] The system employs a dual-loop control structure: the inner loop enables rapid stiffness adjustment (response time <20ms), while the outer loop provides precise position control (accuracy ±0.05mm). By introducing feedforward compensation and a disturbance observer, the system can predict load changes and adjust the MRE link stiffness distribution in advance, improving the levelness control accuracy to ±0.15°. The control system also integrates a self-learning module, updating the MRE material model parameters in real time based on the recursive least squares (RLS) method to adapt to material aging (stiffness change ≤8% after 500 hours of use). Through algorithm optimization, the control system's CPU utilization is reduced by 40%, energy consumption by 25%, while achieving a rapid response (<0.3 seconds) to ±30% load changes, and improving system stability by 45%.

[0107] The hierarchical adaptive control architecture divides the control system into three levels: a bottom execution layer, a middle coordination layer, and an upper decision layer, each responsible for different control functions. The bottom execution layer uses a distributed microcontroller (STM32F4 series) to implement local closed-loop control; the middle coordination layer uses an FPGA to implement multi-link collaborative control; and the upper decision layer runs an improved piecewise linear quadratic Gaussian (PLQG) control algorithm, dividing the nonlinear characteristics into multiple linear intervals for optimization. The system employs a dual-loop control structure: the inner loop handles rapid stiffness adjustment, while the outer loop handles precise position control, and feedforward compensation and a disturbance observer proactively respond to load changes.

[0108] like Figure 8 As shown, this embodiment uses a precision lead screw (accuracy 0.01mm) driven by a servo motor to replace the traditional cam mechanism, thereby achieving smooth lifting and improving lifting accuracy and synchronization.

[0109] Dual-axis differential ball screw drive system: This system uses two sets of parallel precision ball screws (G1 grade accuracy) connected differentially to improve lifting accuracy. Each screw is driven by an independent servo motor, achieving a positional accuracy of ±0.005mm.

[0110] The dual-axis ball screw drive system uses two sets of parallel and vertically arranged ball screws for top support, located at the middle of the front and rear ends of the chassis respectively. Each set of ball screws is driven by a servo motor 41. The two ends of the ball screw 42 are equipped with angular contact ball bearings. The ball screw nut adopts a pre-tightened double nut structure and is installed back to back.

[0111] Two identical ball screws are installed in parallel and fixed to the front and rear of the base beam 24. Their nuts 43 are rigidly connected to the chassis via nut seats, ensuring that the chassis 12 remains level during lifting and lowering.

[0112] The top (fixed end) of the ball screw requires reliable support via a fixed-end bearing housing. This housing houses an angular contact ball bearing, capable of simultaneously withstanding radial and axial loads. Preload adjustment ensures high rigidity, effectively limiting axial movement and bending deformation of the screw. A servo motor is directly driven by a worm gear connected to the bottom (support end) of both screws. To ensure synchronous rotation of the two screws and thus smooth platform lifting, a synchronous control strategy (using a single controller to drive both motors) is required.

[0113] Electronic cam synchronization control algorithm: The two sets of lead screw systems are electronically coupled through virtual spindle technology, achieving a synchronization accuracy of ±0.02°. Based on feedforward compensation and real-time position error correction, the response time is <20ms.

[0114] This invention employs a dual-axis differential ball screw drive system. The system uses two sets of parallel precision ball screws (precision grade G1, lead 10mm, diameter 25mm), located at the midpoint of the front and rear ends of the chassis 12, respectively. A differential connection enhances lifting accuracy. Each screw is driven by a high-precision servo motor (rated power 1.5kW, speed 3000rpm, encoder resolution 131072P / R), achieving a positional accuracy of ±0.005mm. The screw ends are supported by angular contact ball bearings (7205C, contact angle 15°), with preload controlled within 5-8% of the axial load to eliminate axial clearance. The screw nuts employ a preloaded double-nut structure, installed back-to-back, further eliminating axial clearance and increasing rigidity by 40%.

[0115] To address the synchronization issues of traditional lead screw systems, this invention employs an electronic cam synchronization control algorithm. Through virtual spindle technology, two lead screw systems are electronically coupled, achieving a synchronization accuracy of ±0.02°. This algorithm, based on feedforward compensation and real-time position error correction, has a response time of <20ms. A floating connection mechanism, comprising a spherical pair and radial flexible elements, is designed at the interface between the lead screw drive system and the MRE intelligent linkage, allowing for ±1.5° angle self-adaptation and effectively compensating for installation errors and operational deformation. The system integrates a load adaptive function, estimating load changes in real time by monitoring motor current (sampling frequency 2kHz) and adjusting the local stiffness distribution of the MRE linkage according to a preset stiffness-load mapping relationship.

[0116] This invention designs an innovative multi-degree-of-freedom ball joint floating connection mechanism for the interface between the lead screw drive system and the MRE intelligent linkage. The mechanism consists of three parts: (1) a central ball joint body, made of GCr15 bearing steel (HRC 58-62), with surface nitriding treatment (depth 0.3-0.5mm), achieving a spherical accuracy of G2 grade (±0.002mm), allowing ±3° omnidirectional angle self-adaptation, which is 100% better than the original design; (2) an annular elastic buffer layer, made of polyurethane elastomer with Shore hardness of 60A, with a thickness of 3.5mm and a radial stiffness of 2800N / mm, capable of withstanding a radial load of 5000N with only 1.8mm deformation, effectively absorbing 95% of the impact load; (3) a shell locking mechanism, which adopts a split design, connected by 8 M8 high-strength bolts (grade 12.9) evenly distributed, with the preload controlled at 22-25Nm. This floating connection mechanism forms a three-layer structure of "soft-hard-soft" at the screw end and connecting rod interface, achieving an optimal balance between stiffness and flexibility. Through finite element analysis optimization, stress concentration at the connection is reduced by 65%, and fatigue life is increased to more than three times that of the original design (>10). 6 (Circulation). This mechanism also integrates micro-displacement compensation, using precision-machined internal micro-grooves (0.2mm depth, 1.5mm width) to generate axial micro-compensation of 0.05-0.15mm during ball joint movement, effectively eliminating axial stress caused by installation errors and thermal expansion. Experimental verification shows that this floating connection mechanism allows the system to maintain lifting accuracy even with an installation error of ±2mm, while reducing assembly stress by 70%, significantly improving system durability and maintenance cycle (extended to 2000 hours), and reducing the number of structural components by 40% compared to traditional connections.

[0117] This invention has a load adaptive function: by monitoring the motor current, the load change is estimated in real time, and the local stiffness distribution of the MRE link is adjusted according to the preset stiffness-load mapping relationship.

[0118] Experimental verification shows that the system can maintain a levelness error of <0.2° within a rated load range of ±30%, and the lifting repeatability accuracy reaches ±0.02mm, which is 75% higher than that of the traditional cam mechanism, and the number of maintenance points is reduced.

[0119] During the entire operation of the device, a servo motor first drives a lead screw to rotate, raising and lowering the chassis to the desired height. Simultaneously, a horizontal control mechanism, via a parallelogram linkage, ensures the chassis remains level during lifting and lowering. When the load changes, the load adaptation module senses the load change by monitoring the servo motor current and adjusts the linkage stiffness accordingly. A sensor array within the linkage monitors linkage deformation and chassis levelness in real time; the control module adjusts the electromagnetic coil current based on this information, altering the local stiffness of the MRE material to achieve automatic horizontal compensation. A belt conveyor mechanism is responsible for the horizontal transport of the workpiece, completing the transfer operation.

[0120] This multi-parallel linkage collaborative lifting and transplanting device achieves high-precision lifting and horizontal control through the combination of smart materials and advanced control technology, making it suitable for industrial scenarios requiring precise transplanting.

[0121] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A multi-set parallel linkage cooperative lifting and transplanting device, characterized in that, Includes a frame, with a chassis (12) on the upper part of the frame, and multiple parallel belt conveyor mechanisms on the chassis (12). A horizontal control mechanism and a lifting mechanism are provided at the bottom of the chassis (12). The lifting mechanism includes a lead screw (42) driven by a servo motor (41), and the lead screw (42) and the nut (43) constitute a lead screw and nut transmission mechanism; the nut (43) is fixedly connected to the bottom of the chassis (12) through a connector; The horizontal control mechanism includes horizontal connecting rods (20) parallel to each other on both sides of the bottom of the chassis (12), the connecting rods (20) and the bottom of the chassis (12) forming two parallel sides of a synchronous parallelogram linkage mechanism; the parallelogram linkage mechanism further includes: Link stiffness adjustment module: used to change the local stiffness of the adjustment link. The link (20) is a flexible link made of silicone rubber-based MRE material containing 30-40% carbonyl iron powder. The link is embedded with a miniature electromagnetic coil. Load change and levelness monitoring module: The connecting rod (20) is embedded with a MEMS strain sensor array and a miniature accelerometer; Control module: It adopts an adaptive control algorithm based on fuzzy PID, and achieves automatic horizontal compensation by adjusting the stiffness distribution of MRE linkage.

2. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 1, characterized in that, The lead screw (42) is located at the middle of the front and rear ends of the bottom of the chassis (12); the two lead screws (42) are of the same specification and are set in parallel and upright, and the servo motor (41) is fixed on the bottom beam (24) which is fixed to the inside of the frame; A bearing housing is provided between the top of the lead screw (42) and the connecting part under the chassis (12), and the bearing housing has a built-in angular contact ball bearing; the nut (43) is a pre-tightened double nut structure, which is installed back to back; The two sets of ball screws are connected by differential connection.

3. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 2, characterized in that, The lifting mechanism also includes an electronic cam synchronization control algorithm module; the electronic cam synchronization control algorithm, based on feedforward compensation and real-time position error correction, electronically couples the two sets of lead screw systems through virtual spindle technology to improve synchronization accuracy.

4. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 2, characterized in that, A floating connection mechanism is provided at the interface between the lead screw drive system and the flexible connecting rod; the floating connection mechanism is used to compensate for installation errors and operational deformation, and includes a spherical pair and a radial flexible element.

5. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 2, characterized in that, The lifting and transplanting device also includes a load adaptive module: it estimates the load change in real time by monitoring the current of the servo motor (41) and adjusts the local stiffness distribution of the flexible link according to the preset stiffness-load mapping relationship.

6. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 1, characterized in that, The MRE flexible link is a coaxial multi-layer composite structure, consisting of three layers from the inside out: (1) Core layer (38): a hollow skeleton of high-strength carbon fiber composite material; (2) Functional layer (40): a silicone rubber-based MRE material containing 35% carbonyl iron powder; (3) Protective layer (39): a highly elastic polyurethane film to prevent aging and damage to the MRE material.

7. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 6, characterized in that, The functional layer (40) is embedded with a miniature electromagnetic coil. The electromagnetic coil adopts a spiral segmented layout. The connecting rod (20) is embedded with 6-8 independently controlled miniature coils with a spacing of 50mm to form a gradient magnetic field distribution.

8. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 7, characterized in that, The inner layer of the connecting rod (20) is embedded with a flexible PCB substrate. The flexible PCB substrate integrates an 8×3 array of MEMS strain sensors, which are distributed in a spiral shape to capture multi-directional deformation. Four sets of triaxial MEMS accelerometers and gyroscopes are arranged around the surface at a distance of 2-3 mm to form an inertial measurement unit network. A flexible piezoresistive tactile sensor array is used to cover the key stress points of the connecting rod. The sensor network is connected to the embedded processing unit through a micro I²C bus.

9. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 1, characterized in that, The multiple parallel belt conveyor mechanisms include rollers (9), which are double-layer coaxial structures. The inner layer is a drive shaft (35) connected to the motor, and the outer layer is a drive roller (36) supported by an eccentric bearing. A torsion spring elastic element (37) is set between the two layers. The eccentric bearing is installed on the journal of the inner drive shaft (35) with an interference fit, and the outer ring is clearance-fitted with the bearing seat of the roller end cover.

10. The multi-set parallel linkage cooperative lifting and transplanting device according to claim 1, characterized in that, The frame is rectangular. The horizontal control mechanism includes a second rotating shaft (16) located between the two ends of two opposing crossbeams (2). The second rotating shaft (16) has bearings on both sides. The bearings are located on a second bearing seat (17). The second bearing seat (17) is connected to the crossbeam (2) by bolts. The two ends of the second rotating shaft (16) are connected to curved connecting pieces (18) by pins inside the second bearing seat (17). The upper end of the connecting piece (18) is rotatably connected to an upper fixing piece (19). The upper fixing piece (19) is fixedly connected to the chassis (12) and is perpendicular to the chassis (12). The lower end of the connector (18) is rotatably connected to the connecting rod (20), and the connecting rod (20) is connected to the lower end of the connector (18) on the second rotating shaft (16) on the other side; the connectors (18) on the second rotating shaft (16) on both sides have the same shape and the same direction, the upper fixing member (19) has the same structure, the second rotating shaft (16) at both ends has the same installation height, the bottom surface of the chassis (12), the upper fixing member (19) on both sides, the connector (18) and the connecting rod (20) form a parallelogram, and two sets of synchronous parallelogram linkage mechanisms are provided under the chassis (12).

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