阅读说明：本技术 一种xyz三轴联动起重机 (Xyz triaxial linkage hoist ) 是由 王文豪 涂可森 邹杨治 丁紫薇 王兵 于 2020-05-29 设计创作，主要内容包括：本发明提供一种xyz三轴联动起重机,所述起重机包括框架和xy平台；所述框架上设有第一蜗杆、第二蜗杆和第三蜗杆；所述第一蜗杆、第二蜗杆和第三蜗杆均由电机驱动,蜗杆与蜗轮配合连接,蜗杆转动用于带动所述xy平台向上移动；所述框架底端的四个角落处还设有麦克纳姆轮,用于给三轴联动起重机提供驱动；本发明提供的xyz三轴联动起重机利用步进电机的精准控制特性来提高起重机通过障碍的精准度,通过带有停止即机械自锁的蜗轮蜗杆电机控制,可起升到任意位置停止实现自锁功能；通过添加角度传感器,实现PID闭环反馈调节,来确保同步起升,本发明的起重机可以实现xyz三个方向运动,提高了起重效率,增加了起重精度。(The invention provides an xyz three-axis linkage crane, which comprises a frame and an xy platform; the frame is provided with a first worm, a second worm and a third worm; the first worm, the second worm and the third worm are all driven by a motor, the worms are connected with the worm wheel in a matching way, and the worm rotates to drive the xy platform to move upwards; mecanum wheels are further arranged at four corners of the bottom end of the frame and used for driving the three-axis linkage crane; the xyz three-axis linkage crane provided by the invention utilizes the precise control characteristic of the stepping motor to improve the precision of the crane passing obstacles, and can be lifted to any position to stop to realize the self-locking function by the control of the worm gear motor with stopping, namely mechanical self-locking; by adding the angle sensor, PID closed loop feedback regulation is realized to ensure synchronous lifting, and the crane can realize the movement in three directions of xyz, thereby improving the lifting efficiency and increasing the lifting precision.)

1. An xyz three axis linked crane, the crane comprising a frame and an xy platform;

the frame is provided with a first worm, a second worm and a third worm;

the xy platform is positioned in the frame and penetrates through the first worm, the second worm and the third worm.

2. An xyz tri-axial linked crane, as claimed in claim 1, wherein the xy platform comprises a gantry; a worm wheel is arranged in the hoisting frame;

Preferably, there are three worm wheels, and the three worm wheels are respectively connected with the first worm, the second worm and the third worm in a matching manner to form a sliding pair.

3. An xyz tri-axial linked crane, as recited in claim 2, wherein the xy stage further comprises a first guide bar, a second guide bar and a third guide bar; the first guide rod, the second guide rod and the third guide rod are arranged on the lifting frame at equal intervals; the first guide rod, the second guide rod and the third guide rod are perpendicular to the first worm, the second worm and the third worm in the X-Z plane.

4. An xyz tri-axial linked crane, as claimed in claim 2, wherein the xy stage further comprises a cross guide; the cross guide table is connected with the first guide rod, the second guide rod and the third guide rod in a sliding mode.

5. An xyz tri-axial linked crane, as recited in claim 2, wherein the xy stage further comprises a first clamp plate and a second clamp plate;

the first clamping plate and the second clamping plate are positioned below the xy platform; the first clamping plate and the second clamping plate form a clamping mechanism; and the bottom ends of the first clamping plate and the second clamping plate are both provided with non-slip mats on the inner sides.

6. An xyz tri-axial linked crane, as claimed in claim 2, wherein the first worm, the second worm and the third worm are all controlled by motors.

Technical Field

The invention belongs to the field of port transportation equipment, and particularly relates to an xyz three-axis linkage crane.

Background

In the present year, the crane industry in China enters the periods of excess capacity, saturated market and structure adjustment. The market demand of the crane is developed from low end to middle-high end, and is developed from homogeneity to differentiation and market segmentation. Many manufacturers that produce low end products and are predominantly price competitive are gradually phased out by the market.

With the rapid increase of international trade, the hoisting machinery is continuously developed. In order not to be eliminated by the market, the current development trend of port hoisting machinery is as follows:

(1) large-scale and special-purpose;

(2) the weight is lightened, and the self weight of the machine is reduced;

(3) the mechanical technology is combined with the electronic technology, and the single machine design is combined with a mechanized operation system;

(4) ergonomic applications;

(5) research on new loading, unloading and carrying technologies;

(6) normalization, standardization and serialization.

According to the invention, the precision of the crane passing obstacles is improved by utilizing the precision control characteristic of the stepping motor, and the crane can be lifted to any position to stop realizing a self-locking function by controlling the worm gear motor with stopping, namely mechanical self-locking; by adding the angle sensor, PID closed loop feedback regulation is realized to ensure synchronous lifting; the problems of low control precision and instability of the existing crane are solved to a great extent, and any form of obstacle avoidance and fixed-point clamping and storage at any position in space can be realized.

Disclosure of Invention

The invention aims to provide an xyz three-axis linkage crane to at least solve the problems of low control precision and instability of the existing crane.

In order to achieve the above purpose, the invention provides the following technical scheme:

An xyz tri-axial link crane, preferably, the crane comprises a frame and an xy platform;

the frame is provided with a first worm, a second worm and a third worm; the first worm, the second worm and the third worm are all driven by a motor, the worms are connected with the worm wheel in a matching way, and the worm rotates to drive the xy platform to move upwards; and Mecanum wheels are further arranged at four corners of the bottom end of the frame and used for driving the three-axis linkage crane.

The xy platform is positioned in the frame and penetrates through the first worm, the second worm and the third worm; and a worm wheel matched with each worm in the xy platform is arranged.

Preferably, the xy platform further comprises a first guide rod, a second guide rod and a third guide rod; the first guide rod, the second guide rod and the third guide rod are arranged on the lifting frame at equal intervals; the first guide rod, the second guide rod and the third guide rod are relatively vertical to the first worm, the second worm and the third worm in an X-Z plane; and the xy platform is also provided with a cross rod which is vertical to the guide rod in the x-y plane.

Preferably, the xy platform further comprises a cross guide table; and a gripper is arranged below the cross guide table, a fixed block is arranged in the middle of the cross guide table, and the gripper can move along the guide rod and also can move along the cross rod.

Preferably, the xy platform further comprises a first clamping plate and a second clamping plate;

the first clamping plate and the second clamping plate are positioned below the xy platform; the first clamping plate and the second clamping plate form a clamping mechanism; the inner sides of the bottom ends of the first clamping plate and the second clamping plate are provided with anti-slip pads; the non-slip mat is a rubber non-slip mat and is used for increasing the friction force of an object.

Compared with the closest prior art, the technical scheme provided by the invention has the following excellent effects:

the xyz three-axis linkage crane provided by the invention utilizes the precise control characteristic of the stepping motor to improve the precision of the crane passing obstacles, and can be lifted to any position to stop to realize the self-locking function by the control of the worm gear motor with stopping, namely mechanical self-locking; by adding the angle sensor, PID closed loop feedback regulation is realized to ensure synchronous lifting, and the crane can realize the movement in three directions of xyz, thereby improving the lifting efficiency and increasing the lifting precision.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:

FIG. 1 is a schematic structural diagram of an xyz three-axis linkage crane according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an xy platform according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a gripping device according to an embodiment of the present invention.

In the figure:

1. a frame; 11. a first worm; 12. a second worm; 13. a third worm; 2. an xy platform; 21. a hoisting frame; 22. a first guide bar; 23. a second guide bar; 24. a third guide bar; 25. a first splint; 26. a second splint; 27. a cross guide table.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.

According to the specific embodiment of the invention, as shown in fig. 1, a frame 1 of the xyz three-axis linkage crane is in a shape of a Chinese character 'men', and a splayed inner support is arranged on the frame 1. The bottom end of the frame 1 is also provided with four Mecanum wheels for providing driving force for the crane. The wheel is a universal wheel and can move in any direction. The clamping mechanism at the bottom is used for grabbing goods. When a space is divided into a three-dimensional x-y-z coordinate system, when the clamped goods moves to the z direction, the first worm 11, the second worm 12 and the third worm 13 are driven by the motor; the worm drives the worm wheel, can realize the goods and upwards remove arbitrary distance. When the goods are moved in the x-direction, the second guide bar 23 is also a worm by turning the second guide bar 23. A worm gear is arranged in the middle of the cross guide platform 27, and the rotation of the second guide rod 23 can realize that the goods move any distance in the x direction. When the goods moved to the y direction, can rotate the horizontal pole, the horizontal pole drives the tongs and realizes that the goods moved arbitrary distance to the y direction. The crane can realize the movement in three directions of xyz.

According to the specific embodiment of the present invention, as shown in fig. 2 to 3, the xy platform 2 is located in the frame 1, and the xy platform 2 penetrates through the first worm 11, the second worm 12 and the third worm 13; and each worm in the xy platform 2 is provided with a matched worm wheel. Preferably, the xy-platform 2 further comprises a first guide rod 22, a second guide rod 23 and a third guide rod 24; the first guide rod 22, the second guide rod 23 and the third guide rod 24 are equidistantly arranged on the lifting frame 21; the first guide rod 22, the second guide rod 23 and the third guide rod 24 are perpendicular to the first worm 11, the second worm 12 and the third worm 13 in the X-Z plane; the xy platform 2 is also provided with a cross bar which is vertical to the guide rod in the x-y plane.

According to the specific embodiment of the invention, the xyz three-axis linkage crane comprises a frame 1 and an xy platform 2; a first worm 11, a second worm 12 and a third worm 13 are arranged on the frame 1; the first worm 11, the second worm 12 and the third worm 13 are all driven by a motor, the worms are connected with worm wheels in a matching way, and the worms rotate to drive the xy platform 2 to move upwards; mecanum wheels are further arranged at four corners of the bottom end of the frame 1 and used for driving the three-axis linkage crane.

According to a specific embodiment of the invention, the xy-platform 2 further comprises a cross guide table 27; a gripper is arranged below the cross guide table 27, a fixed block is arranged in the middle of the cross guide table 27, and the gripper can move along the guide rod and also can move along the cross rod. The xy-platform 2 further comprises a first clamping plate 25 and a second clamping plate 26; the first clamping plate 25 and the second clamping plate 26 are located below the xy stage 2; the first clamping plate 25 and the second clamping plate 26 form a clamping mechanism; the bottom ends of the first clamping plate 25 and the second clamping plate 26 are provided with anti-slip pads on the inner sides; the non-slip mat is a rubber non-slip mat and is used for increasing the friction force of an object.

According to the specific embodiment of the invention, the middle part of the crane equipment is the xy platform 2, the movement in the x and y directions is controlled by the stepping motor, and the precision control characteristic of the stepping motor is fully utilized to improve the precision of the crane in passing obstacles. The rising and the falling of the xy platform 2 are controlled by a worm gear motor with stopping, namely mechanical self-locking, and the xy platform can rise to any position and stop to realize the self-locking function. In the lifting process, the load characteristic of a motor is considered, lifting imbalance is possibly generated, and the PID closed-loop feedback regulation is realized by adding an angle sensor to ensure synchronous lifting. Considering that the lifting and descending limit positions generate misoperation, an upper limit switch and a lower limit switch are added. Independently designed anchor clamps, the structure is ingenious, and it is more stable to press from both sides the clamp and get the heavy object, thereby has avoided traditional hoist to press from both sides and has produced the risk that acutely rocks when getting the heavy object and produce the collision. The crane has the biggest characteristic of accurate and stable lifting and positioning, and can realize obstacle avoidance in any form and fixed-point clamping and storage at any position in space.

In addition, the invention also has the following advantages:

1. a direct current motor is adopted to provide driving capability;

2. a stepping motor is adopted for accurate positioning;

3. the XY platform has high coaxial precision and light weight;

4. the stability is improved by closed loop feedback control;

5. the problem of cargo swing is solved by utilizing the guide rail;

6. can reach any position of the space where the crane is positioned

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.