The invention designs a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension. The device mainly comprises a base, a balance platform, a left balance arm, a right balance arm, a tension sensor, a first connecting rod, a second connecting rod, a third connecting rod, a left auxiliary balance arm, a right auxiliary balancearm, a main sling, a left balance cable, a right balance cable, a left auxiliary balance cable, a right auxiliary balance cable, a visual sensor, a lifting ring, a grab hook and a PLC control box. Four balance cables are adopted, active constant tension control is achieved through a PLC, and automatic grabbing, collecting and releasing functions are achieved through the grab hook of the visual sensor. The device has the advantages that a multi-degree-of-freedom three-connecting-rod type mechanical arm is used, and the grabbing range is enlarged. Meanwhile, the influence of marine environmental factor interference force on the main sling, the grab hook and the hoisted object is considered. The four balance cables are adopted, so that the stabilization effect is improved. The visual sensoris applied, the marine mechanical arm can automatically grab, collect and release the hoisted object, and compared with a manually-operated marine crane, the device is more intelligent and suitable for various carriers.

    本发明设计一种主动控制恒张力的三连杆式船用自抓放机械臂装置。装置主要包括底座、平衡平台、左平衡臂、右平衡臂、张力传感器、连杆一、连杆二、连杆三、左辅助平衡臂、右辅助平衡臂、主吊索、左平衡索、右平衡索、左辅助平衡索、右辅助平衡索、视觉传感器、吊环、抓钩、PLC控制箱。采用四条平衡索,利用PLC实现主动控制恒张力,并采用视觉传感器的抓钩实现自动抓取收放功能。本发明优点在于使用多个自由度的三连杆式机械臂,扩大抓取范围。同时考虑海洋环境因素干扰力对主吊索、抓钩和被吊物影响。采用四条平衡索,提升减摇效果。运用视觉传感器,船用机械臂可以自动抓取收放被吊物,且相比于人工操作的船用起重机更加智能化,适用于多种运载器。


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    Titel :

    Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension


    Weitere Titelangaben:

    一种主动控制恒张力的三连杆式船用自抓放机械臂装置


    Beteiligte:
    SUN MINGXIAO (Autor:in) / WANG WANPENG (Autor:in) / LUAN TIANTIAN (Autor:in) / HU ZHANYONG (Autor:in) / XIE CHUNWANG (Autor:in) / WANG HANXU (Autor:in) / WANG HAO (Autor:in) / MA SHUANG (Autor:in)

    Erscheinungsdatum :

    2021-01-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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