The invention discloses a stable adjusting mechanism of a flexible cable parallel lifting robot. The stable adjusting mechanism comprises wheels, a lifting hydraulic oil cylinder, a telescopic electric cylinder, a universal joint and a guide rail. The upper ends of the wheels are hinged to cylinder bodies of the hydraulic oil cylinders, and the lower ends are matched with the arc-shaped guide rails and can move along the guide rails. Push rods of the lifting hydraulic oil cylinders are hinged to the two ends of a universal joint, and the upper end of the universal joint is fixed to a lifting robot suspension arm. The two ends of the electric cylinder are hinged to cylinder bodies of the hydraulic oil cylinders correspondingly, the supporting angle between the hydraulic oil cylinders can be adjusted by adjusting the telescopic amount of the electric cylinder, self-locking is achieved through a speed reducer on the electric cylinder, and the stable supporting effect is achieved. The working stability of the flexible cable parallel hoisting robot can be enhanced, and different working condition modes can be changed according to different task requirements of hoisting, rotation, variable-amplitude motion and the like of the hoisting robot.

    本发明公开了柔索并联起重机器人的稳定调节机构,包括车轮、起重液压油缸、伸缩电动缸、万向节和导轨。车轮的上端与液压油缸的缸体铰接,下端与圆弧形导轨配合,可沿导轨移动。起重液压油缸的推杆与万向节两端铰接,万向节上端固定在起重机器人吊臂上。电动缸的两端分别与液压油缸的缸体铰接,可通过调节电动缸的伸缩量调节液压油缸之间的支撑角度,并通过电动缸上的减速器自锁,实现稳定支撑的作用;本发明能够增强柔索并联起重机器人在工作时的稳定性,能够根据起重机器人起吊、回转以及变幅运动等不同任务需求,转变不同的工况模式。


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    Title :

    Stable adjusting mechanism and method for flexible cable parallel hoisting robot


    Additional title:

    柔索并联起重机器人的稳定调节机构及调节方法


    Contributors:
    ZHOU BIN (author) / SHI KE (author) / BIN (author) / ZENG YISHAN (author) / ZHAO JIAHAO (author)

    Publication date :

    2023-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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