Search

CN-122009768-A - Jacking transplanting device for cooperative operation of multiple groups of parallel connecting rods

CN122009768ACN 122009768 ACN122009768 ACN 122009768ACN-122009768-A

Abstract

The invention discloses a jacking transplanting device with a plurality of groups of parallel connecting rods for collaborative operation, wherein a jacking mechanism and a horizontal control mechanism for jacking a chassis are arranged on the inner side of a frame, a plurality of parallel belt conveying mechanisms are arranged on the chassis, the bottom of the chassis is provided with the horizontal control mechanism and the jacking mechanism, the jacking mechanism comprises a screw rod driven by a servo motor, the horizontal control mechanism comprises parallel horizontal connecting rods arranged on two sides of the bottom of the chassis, and the parallelogram connecting rod mechanism further comprises a connecting rod rigidity adjusting module, a load change and levelness monitoring module and a control module. The jacking transplanting device for the coordinated operation of the multiple groups of parallel connecting rods has good load adaptability, the MRE intelligent connecting rod system can automatically adapt to +/-20% of load change within 0.5 seconds, the levelness error is kept to be smaller than 0.3 degrees, the jacking process is stable, the conveying precision is obviously improved, and the shock resistance is strong.

Inventors

  • ZHANG KUNMING
  • YANG YUQI

Assignees

  • 江西盛昆智能装备有限公司

Dates

Publication Date
20260512
Application Date
20260126

Claims (10)

  1. 1. The jacking transplanting device is characterized by comprising a frame, wherein a chassis (12) is arranged at the upper part of the frame, a plurality of parallel belt conveying mechanisms are arranged on the chassis (12), and a horizontal control mechanism and a jacking mechanism are arranged at the bottom of the chassis (12); The jacking mechanism comprises a screw rod (42) driven by a servo motor (41), wherein the screw rod (42) and a nut (43) form a screw rod nut transmission mechanism, and the nut (43) is fixedly connected with the bottom of the chassis (12) through a connecting piece; The horizontal control mechanism comprises horizontal connecting rods (20) which are arranged on two sides of the bottom of the chassis (12) and are parallel, the connecting rods (20) and the bottom of the chassis (12) form two parallel sides of a synchronous parallelogram connecting rod mechanism, and the parallelogram connecting rod mechanism further comprises: the connecting rod rigidity adjusting module is used for changing and adjusting the local rigidity of the connecting rod, the connecting rod (20) is a flexible connecting rod made of a silicon rubber-based MRE material containing 30-40% of carbonyl iron powder, and a miniature electromagnetic coil is embedded in the connecting rod; The load change and levelness monitoring module is characterized in that a MEMS strain sensor array and a micro accelerometer are embedded in the connecting rod (20); and the control module adopts a self-adaptive control algorithm based on fuzzy PID, and realizes horizontal automatic compensation by adjusting the rigidity distribution of the MRE connecting rod.
  2. 2. The jacking transplanting device for collaborative operation of a plurality of groups of parallel connecting rods according to claim 1 is characterized in that the lead screws (42) are positioned at middle positions of the front end and the rear end of the bottom of the chassis (12), the two lead screws (42) have the same specification and are arranged vertically in parallel, and the servo motor (41) is fixed on a bottom beam (24) fixed on the inner side of the frame; A bearing seat ‌ is arranged between the top of the screw rod (42) and a connecting piece below the chassis (12), and an angular contact ball bearing is arranged in the bearing seat; The two sets of ball screws are connected in a differential mode.
  3. 3. The jacking transplanting device for the collaborative work of the plurality of groups of parallel connecting rods according to claim 2 is characterized in that the jacking mechanism further comprises an electronic cam synchronous control algorithm module, and the electronic cam synchronous control algorithm is used for electronically coupling two sets of screw systems through a virtual spindle technology based on feedforward compensation and real-time position error correction, so that the synchronization accuracy is improved.
  4. 4. The jacking transplanting device for collaborative work of multiple groups of parallel connecting rods according to claim 2, wherein a floating connecting mechanism is arranged at the interface of the screw driving system and the flexible connecting rod, and the floating connecting mechanism is used for compensating installation errors and operation deformation and comprises a spherical pair and a radial flexible element.
  5. 5. The jacking transplanting device for collaborative work of multiple groups of parallel connecting rods according to claim 2, further comprising a load self-adaptation module, wherein the load self-adaptation module estimates load change in real time by monitoring current of a servo motor (41) and adjusts local rigidity distribution of the flexible connecting rods according to a preset rigidity-load mapping relation.
  6. 6. The jacking transplanting device for the collaborative operation of the plurality of groups of parallel connecting rods according to claim 1 is characterized in that the MRE flexible connecting rod is of a coaxial multilayer composite structure and is divided into three layers from inside to outside, namely (1) a core layer (38) a hollow skeleton made of high-strength carbon fiber composite material, (2) a functional layer (40) a silicon rubber-based MRE material containing 35% carbonyl iron powder, and (3) a protective layer (39) a high-elasticity polyurethane film for preventing the MRE material from aging and damaging.
  7. 7. The jacking transplanting device for collaborative operation of multiple groups of parallel connecting rods according to claim 6, wherein miniature electromagnetic coils are embedded in the functional layer (40), the electromagnetic coils are arranged in a spiral type section mode, 6-8 miniature coils which are independently controlled are embedded in the connecting rods (20), the distance between the miniature coils is 50mm, and gradient magnetic field distribution is formed.
  8. 8. The jacking transplanting device for the collaborative operation of the plurality of groups of parallel connecting rods according to claim 7 is characterized in that flexible PCB substrates are embedded in the inner layers of the connecting rods (20), MEMS strain sensors of 8 multiplied by 3 arrays are integrated on the flexible PCB substrates and distributed in a spiral mode to capture multi-directional deformation, 4 groups of triaxial MEMS accelerometers and gyroscopes are circumferentially arranged at a position 2-3mm away from the surface to form an inertial measurement unit network, key stress points of the connecting rods are covered by flexible piezoresistive touch sensing arrays, and the sensing networks are connected to an embedded processing unit through miniature I2C buses.
  9. 9. The jacking transplanting device for the collaborative work of the plurality of parallel connecting rods according to claim 1, wherein the plurality of parallel belt conveying mechanisms comprise rollers (9), the rollers (9) are of a double-layer coaxial structure, an inner layer is a driving shaft (35) and connected with a motor, an outer layer is a driving roller (36) supported by an eccentric bearing, a torsion spring elastic element (37) is arranged between the two layers, the eccentric bearing is mounted on the shaft neck of the inner layer driving shaft (35) in an interference fit manner, and an outer ring is in clearance fit with a bearing seat of an end cover of the roller.
  10. 10. The jacking transplanting device for collaborative operation of multiple groups of parallel connecting rods according to claim 1, wherein the frame is rectangular, the horizontal control mechanism comprises a second rotating shaft (16) arranged between two opposite ends of a cross beam (2), bearings are arranged at two sides of the second rotating shaft (16), the bearings are arranged on a second bearing seat (17), the second bearing seat (17) is connected with the cross beam (2) through bolts, two ends of the second rotating shaft (16) are positioned at the inner sides of the second bearing seat (17) and are connected with connecting pieces (18) in a bending shape through pin shafts, the upper ends of the connecting pieces (18) are rotationally connected with upper fixing pieces (19), the upper fixing pieces (19) are fixedly connected with the chassis (12) and are perpendicular to the chassis (12), the lower ends of the connecting pieces (18) are rotationally connected with connecting rods (20), the connecting rods (20) are connected with the lower ends of the connecting pieces (18) on the other side of the second rotating shaft (16), the two sides of the connecting pieces (16) are in the same shape, the two side connecting pieces (18) are fixedly connected with the two identical sides of the chassis (12), the two side fixing pieces (19) are fixedly arranged on the two sides of the same side of the chassis (12), the two side fixing pieces (19) are identical in the two sides, the two side surfaces (12) are fixedly arranged on the same plane, and form, and are identical, and are the two side, two sets of synchronous parallelogram link mechanisms are arranged below the chassis (12).

Description

Jacking transplanting device for cooperative operation of multiple groups of parallel connecting rods Technical Field The invention relates to the technical field of conveying equipment and system control, in particular to a jacking transplanting device for cooperative operation of multiple groups of parallel connecting rods. Background With the continuous improvement of the modern industrial automation degree, the jacking transplanting device is widely applied to production lines as key equipment in a material conveying system. The jacking and transplanting device is mainly used for realizing vertical jacking and horizontal transplanting of materials and is an important link for connecting different stations or production lines. At present, the common jacking transplanting device in the market mainly adopts a mode of cylinder driving or motor driving to realize the jacking function. For example, chinese patent document with publication No. CN212799461U discloses a lifting transplanting device, which includes a mounting frame, a lifting mechanism disposed in the mounting frame, a lifting plate connected to the lifting mechanism in a transmission manner, a plurality of groups of transplanting mechanisms fixed on the lifting plate, and a transmission mechanism connected to the transplanting mechanisms in a transmission manner. In order to improve jacking stability, chinese patent document with publication number CN217731732U discloses an automatic transfer conveying device with jacking function, including whole main frame, controller, multiunit cylinder, transplanting transmission subassembly and jacking cylinder subassembly, every group of jacking cylinder subassembly contains connecting rod bearing frame, pivot, cylinder, kicking block, bent plate and connecting rod, realizes steady jacking through link mechanism. However, the existing jacking transplanting device still has the following technical problems: 1. The levelness control is inaccurate, namely the levelness of the platform is difficult to keep in the jacking process of the traditional device, particularly when the load is uneven or the load is changed, and the material is easy to incline or even slide. 2. The lifting process is unstable, namely the traditional rigid connecting rod structure is easy to generate impact and vibration due to mechanical gaps and manufacturing errors in the lifting process, and the stability of materials and the service life of equipment are influenced. 3. The adaptability is poor, the existing device has limited adaptability to loads with different weights and different distributions, and the existing device lacks self-adaptive adjustment capability and needs manual intervention and adjustment. 4. The synchronization precision is not high, and the synchronization among all driving points is difficult to ensure when the multi-point jacking is carried out, so that the platform is easy to incline or distort and deform. 5. The shock resistance is weak, and under sudden load change or external impact, the existing device lacks an effective buffering and compensating mechanism, and is easy to cause unstable system. 6. The monitoring capability is limited, the capability of real-time monitoring and feedback adjustment of load change and levelness in the jacking process is lacking, and intelligent control cannot be realized. These problems are particularly prominent in modern production lines with high precision and high efficiency, and seriously affect the production efficiency and the product quality. Therefore, there is a need for a jacking transplanting device that can maintain stable level, steady jacking, and has self-adaptive capability, so as to meet the requirements of modern industrial production. Disclosure of Invention In order to solve the problems of unstable levelness, unstable jacking process, low conveying precision, poor adaptability, weak impact resistance and the like of the conventional conveying equipment in the jacking process, particularly the problems that stable jacking and levelness are difficult to keep under the condition of load change, so that materials possibly slide down to influence the production efficiency and the product quality, the invention provides the parallel jacking transplanting conveying equipment. The technical scheme includes that the jacking transplanting device comprises a frame, wherein a chassis is arranged at the upper part of the frame, a jacking mechanism and a horizontal control mechanism for jacking the chassis are arranged at the inner side of the frame, and a plurality of parallel belt conveying mechanisms are arranged on the chassis; the jacking mechanism comprises a screw rod driven by a servo motor, and the screw rod and a nut form a screw rod nut transmission mechanism; The horizontal control mechanism comprises horizontal connecting rods which are arranged on two sides of the bottom of the chassis and are parallel, the connecting rods and the bottom of the chassis