The invention provides a marine active swing reduction type paying-off and taking-up mechanical arm based on impedance control. The marine active swing reduction type paying-off and taking-up mechanical arm based on impedance control aims to solve the problem that a marine mechanical arm swings due to interference in the working process. The marine active swing reduction type paying-off and taking-up mechanical arm based on impedance control mainly comprises a swing reduction conical lifting hook, a sling, a swing reduction mechanism Y, an improved impedance damper Y, a first fixing piece, a second fixing piece, a first bearing, a second bearing, a swing reduction mechanism X, a third bearing, an improved impedance damper X, a third fixing piece, a fourth fixing piece, a fifth fixing piece, a first folding arm, a fourth bearing, a second folding arm, a fifth bearing, a sixth fixing piece, a bracket, a supporting column, a sixth bearing, a permanent magnet asynchronous motor, a swing reduction and impedance comprehensive control box, a mother ship deck, a position sensor, a pulley, a force sensor, a slide block and a connecting rod. An active swing reduction and impedance comprehensive control system is designed to carry out active swing reduction on a hoisted object. The improved impedance dampers based on impedance control are adopted, the situation that a device is broken due to large-amplitude and high-frequency swing reduction is avoided, and the efficiency and safety of the marine paying-off and taking-up mechanical arm are improved.

    针对船用机械臂工作过程中因干扰产生摆动问题,发明一种基于阻抗控制的船用主动减摆收放机械臂。主要包括减摆锥形吊钩,吊索,减摆机构Y,改进阻抗阻尼器Y,固定件1,固定件2,轴承1,轴承2,减摆机构X,轴承3,改进阻抗阻尼器X,固定件3,固定件4,固定件5,折臂1,轴承4,折臂2,轴承5,固定件6,托架,支柱,轴承6,永磁异步电机,减摆阻抗综合控制箱,母船甲板,位置传感器,滑轮,力传感器,滑块,连杆。设计主动减摆阻抗综合控制系统对被吊物进行主动减摆;采用基于阻抗控制的改进阻抗阻尼器,避免大幅度和高频率减摆出现装置断裂情况,提高了船用收放机械臂效率和安全性。


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    Titel :

    Marine active swing reduction type paying-off and taking-up mechanical arm based on impedance control


    Weitere Titelangaben:

    一种基于阻抗控制的船用主动减摆收放机械臂


    Beteiligte:
    SUN MINGXIAO (Autor:in) / WANG WANPENG (Autor:in) / LUAN TIANTIAN (Autor:in) / JI CHANGYU (Autor:in) / HU ZHANYONG (Autor:in) / XIE CHUNWANG (Autor:in) / FU QIANG (Autor:in) / YUAN ZHANGJIE (Autor:in)

    Erscheinungsdatum :

    2021-06-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES / F16F SPRINGS , Federn



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