According to the marine anti-explosion power-assisted reversed loader, in the reversed loader, a lifting electric cylinder is adopted as a telescopic device used for driving one end of a first-stage arm hinged to the upper portion of a center stand column so that the other end of the first-stage arm can ascend and descend, and a second-stage arm servo motor is adopted as a rotation driving component used for driving a second-stage arm hinged to the other end of the first-stage arm to rotate in the horizontal direction; a rotary driving part for driving the upper part of the central stand column to rotate in the horizontal direction adopts a primary arm servo motor; the target positions of a lifting electric cylinder, a first-stage arm servo motor and a second-stage arm servo motor are obtained according to the target pose of the reversed loader and through mechanical arm kinematics inverse solution; according to respective target positions, position loop closed-loop control is carried out on a lifting electric cylinder, a first-stage arm servo motor and a second-stage arm servo motor so that a mechanical arm can reach the target pose of the reversed loader, control is carried out in cooperation with an operator, and a grabbing arm of the reversed loader lifts a load to follow the movement path of the operator; and flexible transfer of materials is realized in the ship explosion-proof cabin.
本发明涉及一种船用防爆助力转载机,转载机中用于驱动铰接在中心立柱上部的一级臂的一端,以使另一端升降的伸缩装置采用升降电缸,用于驱动铰接在一级臂另一端的二级臂在水平方向转动的旋转驱动部件采用二级臂伺服电机,用于驱动中心立柱上部水平方向转动的旋转驱动部件采用一级臂伺服电机;根据转载机目标位姿并通过机械臂运动学求逆解得到升降电缸、一级臂伺服电机和二级臂伺服电机的目标位置,根据各自的目标位置分别对升降电缸、一级臂伺服电机和二级臂伺服电机进行位置环的闭环控制以使机械臂到达转载机目标位姿,协同操作人员控制,使转载机抓取臂吊装负载跟随操作者的运动路径,在船舶防爆舱室内实现物资的灵活转运。
Marine anti-explosion power-assisted reversed loader
一种船用防爆助力转载机
29.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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