Dynamic compensation mechanical arm mechanism of marine ship crane

Abstract

The utility model discloses a dynamic compensation mechanical arm mechanism of a marine ship crane, which comprises a fixed seat, a left mechanical arm, a right mechanical arm, a left mechanical rod, a right mechanical rod, a driving mechanism and a winch, one end of the left mechanical arm is hinged with the left side of the fixed seat, and the other end of the left mechanical arm is hinged with one end of the left mechanical rod; one end of the right mechanical arm is hinged to the right side of the fixing base, the other end of the right mechanical arm is hinged to one end of the right mechanical rod, the other end of the left mechanical rod is hinged to the other end of the right mechanical rod, and the two driving mechanisms control the left mechanical arm and the right mechanical arm to rotate correspondingly. And the winch is arranged on the right mechanical rod. A dynamic compensation mechanical arm mechanism is hinged to a folding arm of a traditional folding arm type crane, a lifting winch is directly installed on the mechanical arm, all compensation is completed on the mechanical arm, the whole crane mechanism does not need to be compensated, and therefore compensation performance is improved, and energy consumption is reduced.

Description

Technical Field

[0001] This utility model relates to the field of marine ship cranes, and in particular to a dynamic compensation robotic arm mechanism for marine ship cranes. Background Technology

[0002] With the increasing demands of near-shore engineering operations, especially the development of the offshore wind power industry in recent years, higher requirements are being placed on the cranes of offshore engineering vessels operating in near-shore areas. Existing traditional offshore vessel cranes are prone to swaying and heave under wave action, causing the crane hook and the lifted load to swing. This can lead to collisions between loads on the hook or with the ship's structure, causing damage to the cargo; it can also cause the hook or wire rope to break, causing the cargo to fall and endangering personnel safety. To ensure safety, operators need to spend more time stabilizing the hook, thus increasing operation time.

[0003] The existing anti-shake devices include the following types:

[0004] 1. Multi-rope mechanical anti-sway devices suppress swaying through the interaction of multiple steel wire ropes. However, improper maintenance of the steel wire ropes will shorten their service life and increase maintenance costs. Their anti-sway effect is also limited by sea conditions and operating conditions, and cannot achieve the best effect in all situations.

[0005] 2. Rigid anti-sway systems reduce the swaying of the suspended load through rigid connections, but their effect on suppressing large-amplitude swaying is limited, and they put a lot of stress on the crane structure itself. In high wind speeds or complex sea conditions, they cannot provide sufficient anti-sway effects.

[0006] 3. Mechanical anti-sway systems reduce swaying by adding mechanical equipment, such as cross wire rope anti-sway, separate trolley anti-sway, and seesaw beam anti-sway devices. Although these systems are highly accurate, they are complex in structure, costly, difficult to maintain, and may affect the total weight and lifting capacity of the crane. Utility Model Content

[0007] To address the shortcomings of existing technologies, the main objective of this utility model is to overcome these deficiencies by disclosing a dynamic compensation robotic arm mechanism for marine cranes. The mechanism includes a fixed base, a left robotic arm, a right robotic arm, a left robotic rod, a right robotic rod, a drive mechanism, and a winch. One end of the left robotic arm is hinged to the left side of the fixed base, and the other end is hinged to one end of the left robotic rod. One end of the right robotic arm is hinged to the right side of the fixed base, and the other end is hinged to one end of the right robotic rod. The other end of the left robotic rod is hinged to the other end of the right robotic rod. Two sets of drive mechanisms are provided, each controlling the rotation of the left and right robotic arms respectively. The winch is mounted on the right robotic rod.

[0008] Furthermore, the drive assembly includes two sets of hydraulic cylinders.

[0009] Furthermore, the two sets of hydraulic cylinders are spaced apart on the fixed base.

[0010] Furthermore, the left and right robotic arms are provided with drive units on both sides of the end that is hinged to the fixed base, and the drive units are rotatably connected to the drive assembly.

[0011] Furthermore, the left robotic arm, the right robotic arm, and the fixed base are connected by bearings.

[0012] Furthermore, the drive components are respectively disposed on the upper and lower surfaces of the fixed base.

[0013] The beneficial effects achieved by this utility model are as follows:

[0014] The dynamic compensation robotic arm mechanism is hinged to the folding arm of a traditional articulated boom crane, with the hoisting winch directly mounted on the robotic arm. All compensation is completed on the robotic arm, eliminating the need to compensate the entire crane mechanism, thus improving compensation performance and reducing energy consumption. Furthermore, hydraulic cylinders drive the left and right robotic arms to perform compensation on the horizontal plane, while the winch can perform compensation on the vertical axis, achieving overall 3D dynamic compensation. Additionally, the left and right robotic arms are connected to the frame using bearings, allowing for a large robotic arm rotation angle and a larger motion compensation area, significantly improving anti-sway performance and enhancing adaptability to extreme sea conditions. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of a dynamic compensation robotic arm mechanism for a marine ship crane according to the present invention;

[0016] Figure 2 This is a motion position diagram of a dynamic compensation robotic arm mechanism for a marine crane according to the present invention;

[0017] Figure 3 This is a three-dimensional structural diagram of a dynamic compensation robotic arm mechanism for a marine ship crane according to the present invention.

[0018] The attached figures are labeled as follows:

[0019] 1. Fixed base; 2. Left robotic arm; 3. Right robotic arm; 4. Left mechanical rod; 5. Right mechanical rod; 6. Drive mechanism; 7. Winch; 61. First hydraulic cylinder; 62. Second hydraulic cylinder. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0021] A dynamic compensation robotic arm mechanism for marine ship cranes, such as Figure 1-Figure 3 As shown, the device includes a fixed base 1, a left robotic arm 2, a right robotic arm 3, a left robotic rod 4, a right robotic rod 5, a drive mechanism 6, and a winch 7. One end of the left robotic arm 2 is hinged to the left side of the fixed base 1, and the other end is hinged to one end of the left robotic rod 4. One end of the right robotic arm 3 is hinged to the right side of the fixed base 1, and the other end is hinged to one end of the right robotic rod 5. The other end of the left robotic rod 4 is hinged to the other end of the right robotic rod 5. Two sets of drive mechanisms 6 are provided, and the two sets of drive mechanisms 6 control the rotation of the left robotic arm 2 and the right robotic arm 3 respectively. The winch 7 is mounted on the right robotic rod 5.

[0022] When using, such as Figure 2 As shown, position a is the center position of the mechanism; position b is the minimum extension position, i.e., the left robotic arm 2 rotates counterclockwise to its limit and the right robotic arm 3 rotates clockwise to its limit; position c is the maximum extension position, i.e., the left robotic arm 2 rotates clockwise to its limit and the right robotic arm 3 rotates counterclockwise to its limit, while the left robotic rod 4 and the right robotic rod 5 extend to their outermost positions; position d is the maximum left extension position; position e is the maximum right extension position; position f is the minimum left extension position; and position g is the minimum right extension position. Within the above-mentioned limits, the position can be adjusted by rotating the left robotic arm 2 and the right robotic arm 3, thereby achieving horizontal position compensation. The winch 7 is used to wind up and release the wire rope. The wire rope is led out along the right mechanical rod 5 to its end. The lower end of the wire rope is connected to the hook for lifting cargo. The winch 7 can control the up and down movement of the cargo. At the same time, the winch 7 can release or retract the wire rope according to the up and down distance of the ship to ensure that the cargo is relatively stationary and to achieve anti-sway in the vertical axis direction.

[0023] In one embodiment, such as Figure 1-Figure 3 As shown, the drive assembly 6 includes two sets of hydraulic cylinders.

[0024] In the above embodiments, such as Figure 1-Figure 3 As shown, two sets of hydraulic cylinders are spaced apart on the fixed base 1.

[0025] In one embodiment, such as Figure 1-Figure 3 As shown, the drive assembly 6 is disposed on the upper and lower surfaces of the fixed base 1.

[0026] In one embodiment, such as Figure 1-Figure 3As shown, drive units 8 protrude from both sides of the end of the left robotic arm 2 and the right robotic arm 3 that are hinged to the fixed base 1. The drive units 8 are rotatably connected to the drive assembly 6. Specifically, the two ends of the hydraulic cylinder are rotatably connected to the drive unit 8 of the left robotic arm 2 and the fixed base 1, respectively, thereby adaptively adjusting the position of the hydraulic cylinder.

[0027] In one embodiment, such as Figure 1-Figure 3 As shown, the left robotic arm 2 and the right robotic arm 3 are connected to the fixed base 1 via bearings.

[0028] When using this utility model, such as Figure 1-Figure 3 As shown, taking the rotation of the left robotic arm as an example; when the left robotic arm 2 rotates counterclockwise, the first hydraulic cylinder 61 extends and the second hydraulic cylinder 62 retracts; when the left robotic arm 2 rotates clockwise, the first hydraulic cylinder 61 retracts and the second hydraulic cylinder 62 extends. The right robotic arm 3 also achieves rotation through two sets of hydraulic cylinders.

[0029] The above are merely preferred embodiments of the present utility model and are not intended to limit the scope of implementation of the present utility model. Any modifications or equivalent substitutions to the present utility model without departing from the spirit and scope thereof should be covered within the protection scope of the claims of the present utility model.

Claims

1. A dynamic compensation robotic arm mechanism for marine ship cranes, characterized in that, The system includes a fixed base, a left robotic arm, a right robotic arm, a left robotic rod, a right robotic rod, a drive mechanism, and a winch. One end of the left robotic arm is hinged to the left side of the fixed base, and the other end is hinged to one end of the left robotic rod. One end of the right robotic arm is hinged to the right side of the fixed base, and the other end is hinged to one end of the right robotic rod. The other end of the left robotic rod is hinged to the other end of the right robotic rod. Two sets of drive mechanisms are provided, and the two sets of drive mechanisms control the rotation of the left and right robotic arms respectively. The winch is mounted on the right robotic rod.

2. The dynamic compensation robotic arm mechanism for marine cranes according to claim 1, characterized in that, The drive mechanism includes two sets of hydraulic cylinders.

3. The dynamic compensation robotic arm mechanism for a marine crane according to claim 2, characterized in that, Two sets of hydraulic cylinders are spaced apart on a fixed base.

4. The dynamic compensation robotic arm mechanism for marine cranes according to claim 1, characterized in that, The left and right robotic arms are hinged to the fixed base and have protruding drive parts on both sides. The drive parts are rotatably connected to the drive mechanism.

5. The dynamic compensation robotic arm mechanism for marine cranes according to claim 1, characterized in that, The left robotic arm, the right robotic arm, and the fixed base are connected by bearings.

6. The dynamic compensation robotic arm mechanism for a marine crane according to claim 1, characterized in that, The drive mechanism is located on the upper and lower surfaces of the fixed base.

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