Movable circular track type series mechanical arm stabilization device

Abstract

The invention discloses a movable circular track type series connection mechanical arm stabilization device which comprises a crane located at the axis position, a circular track mechanical arm stabilization device body is arranged at the coaxial position of the crane and connected with two symmetrical stabilization cables, the stabilization cables are connected with a stabilization hanging scaffold, and the stabilization hanging scaffold is connected with the circular track mechanical arm stabilization device body. The stabilizing hanging scaffold is connected with the main sling, the other end of the main sling is connected to the crane, the two symmetrical stabilizing cables and the stabilizing hanging scaffold on the main sling form a triangular stable structure, and the stabilizing device of the circular track mechanical arm achieves stabilizing control over a hanging weight hung below the stabilizing hanging scaffold through dragging actions on the stabilizing cables. According to the device, the suppression of small-amplitude swinging of the hoisting weight can be further realized through the amplitude variation and rotation of the mechanical arm, and a good stabilization effect is realized, so that the space positioning control precision of the hoisting weight is improved. According to the invention, the original crane does not need to be transformed, so that the structural strength of the original crane is effectively protected. A good stabilization effect can be achieved through real-time control of the annular track mechanical arm stabilization device.

Description

technical field [0001] The invention relates to the technical field of crane control, in particular to a movable ring-rail type series manipulator arm anti-sway device. Background technique [0002] Cranes are widely used in operations such as ship replenishment, wind power installation, and manned submersible deployment. Due to the ship motion caused by wind and waves and the inherent underactuated characteristics of the hoisting system, the hoisting weight will sway significantly, and some heavy loads When the cargo collides with the crane itself or other structures on the deck due to sway, the result will be disastrous. The shortened operation window greatly increases the time and cost of hoisting operations. In hoisting operations, the operator's experience and manual dragging are usually used to suppress the sway of the hoisting weight, but the anti-swaying effect is very limited. High risk, low operating efficiency, and high operating intensity Existing anti-rolling e...

AI Technical Summary

Problems solved by technology

[0002] Cranes are widely used in operations such as ship replenishment, wind power installation, and manned submersible deployment. Due to the ship motion caused by wind and waves and the inherent underactuated characteristics of the hoisting system, the hoisting weight will sway significantly, and some heavy loads When the cargo collides with the crane itself or other structures on the deck due to sway, the result will be disastrous. The shortened operation window greatly increases the time and cost of hoisting operations. In hoisting operations, the operator's experience and manual dragging are usually used to suppress the sway of the hoisting weight, but the anti-swaying effect is very limited. High risk, low operating efficiency, and high operating intensity Existing anti-rolling equipment such as Maryland rigging, traction slider system, etc. affect the operating range of the crane, but the mechanism and control are relatively complicated, and certain adjustments must be made to the crane itself transform

Images