CN103569874B - Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers - Google Patents
Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers Download PDFInfo
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- CN103569874B CN103569874B CN201310573992.2A CN201310573992A CN103569874B CN 103569874 B CN103569874 B CN 103569874B CN 201310573992 A CN201310573992 A CN 201310573992A CN 103569874 B CN103569874 B CN 103569874B
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Abstract
The invention relates to a plane two-degree-of-freedom seven-rod servo drive reach stacker for containers. The plane two-degree-of-freedom seven-rod servo drive reach stacker for the containers comprises a suspension arm, a suspension arm lifting mechanism and a suspension arm telescoping mechanism, wherein the lower end of a rotating arm of the suspension arm is hinged to the middle of a frame; a telescopic arm of the suspension arm is mounted on the rotating arm in a sliding manner; the suspension arm lifting mechanism comprises a lifting rocker and a lifting connecting rod; the lower end of the lifting rocker is hinged to the front part of the frame; the upper end of the lifting connecting rod is hinged to the rotating arm; the lifting rocker is hinged to the other two ends of the lifting connecting rod; the suspension arm telescoping mechanism comprises a telescopic rocker and a telescopic connecting rod; the lower end of the telescopic rocker is hinged to the rear part of the frame; the front end of the telescopic connecting rod is hinged to the telescopic arm; the telescopic rocker is hinged to the other two ends of the telescopic connecting rod. The plane two-degree-of-freedom seven-rod servo drive reach stacker for the containers realizes clamping, lifting and carrying operation of the containers under the combined drive of the suspension arm lifting mechanism and the suspension arm telescopic mechanism, and has the advantages of small movement inertia, flexible track output, high precision and the like.
Description
(1) technical field:
The present invention relates to port crane, particularly a kind of plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes.
(2) background technology:
Face-up transporting hoist of container hoisting crane (also claiming container front crane) is a kind of important harbour machinery, has easy to operately, and stacking tier advantages of higher has been brought into play important effect in the operations such as all kinds of harbour container carryings, piling and transportation.As CN103332220A, CN101723256A, CN202322093U, CN2773035, the disclosed face-up transporting hoist of container hoisting crane of CN201890746U, be all to drive by combining of telescopic oil cylinder, pitching oil cylinder the task of finishing the work.
But the container front side hoisting crane of above-mentioned this quasi-tradition is pure hydraulic driven, its hydraulic efficiency pressure system exists that parts machining matching requirements are high, manufacture, maintenance, cost of upkeep are high, the life-span shortcoming such as length, leakage of oil not.And the hoist mechanism of this quasi-tradition fisher's formula cascaded structure is because of the restriction of himself structure, exist the problems such as member heaviness, poor rigidity, inertia are large, joint error accumulation, dynamic performance is poor, is difficult to meet the high-speed overload job requirements of increasingly stringent.
(3) summary of the invention:
The object of the present invention is to provide a kind of plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes, can better solve conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble require high, maintaining cost is high, the life-span shortcoming such as length, leakage of oil not.
Can realize the plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes of above-mentioned purpose, comprise the arm, arm lifting mechanism and the hoisting arm expansion mechanism that based on vehicle frame, arrange, described arm comprises swivel arm and telescopic boom unlike the prior art, the lower end of described swivel arm is hinged in vehicle frame middle part, described telescopic boom is by sliding pair connection of rotating arm, and the front end of telescopic boom arranges fixing device; Described arm lifting mechanism is located at arm the place ahead, be included in lifting rocking bar and lifting linking member that arm both sides arrange, both sides lifting rocking bar is symmetrical arranged, both sides lifting linking member is symmetrical arranged, the lower end of described lifting rocking bar is hinged in vehicle frame front portion, the upper end of described lifting linking member and swivel arm are hinged, and the upper end of lifting jack back and the lower end of lifting linking member are hinged; Described hoisting arm expansion mechanism is located at arm rear, be included in flexible rocking bar and shrinking connecting-rod that arm both sides arrange, the flexible rocking bar in both sides is symmetrical arranged, both sides shrinking connecting-rod is symmetrical arranged, the lower end of described flexible rocking bar is hinged in vehicle frame rear portion, the front end of described shrinking connecting-rod and telescopic boom are hinged, and the flexible upper end of rocking bar and the rear end of shrinking connecting-rod are hinged.
In said structure, the height that described arm lifting mechanism is realized fixing device by swivel arm together with the rotation of telescopic boom regulates, the described hoisting arm expansion mechanism front and back position that the telescopic moving on swivel arm realizes fixing device by telescopic boom regulates, and both resultant movements realize the handling of fixing device to freight container.
The common driver train of described lifting rocking bar is the lifting servomotor of being located on vehicle frame; The common driver train of described flexible rocking bar is the flexible servomotor of being located on vehicle frame.
Beneficial effect of the present invention:
1, plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes of the present invention by servomotor directly drive, linkage transmission is realized handling, lifting task, can effectively overcome conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble require high, maintaining cost is high, the life-span shortcoming such as length, leakage of oil not.
2, integral structure of the present invention is that outer revolute pair drives, closes chain-drive form, and all servomotors are installed on vehicle frame, effectively reduce the weight of each member, have that movement inertia is little, track output flexibly, precision advantages of higher.
(4) accompanying drawing explanation:
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is initial, the reset working state schematic representation of Fig. 1 embodiment.
Fig. 3 is the flexible working state schematic representation of Fig. 1 embodiment.
Fig. 4 is the lifting working state schematic representation of Fig. 1 embodiment.
Figure number sign: 1, vehicle frame; 2, swivel arm; 3, telescopic boom; 4, fixing device; 5, lifting rocking bar; 6, lifting linking member; 7, flexible rocking bar; 8, shrinking connecting-rod.
(5) specific embodiment:
Below in conjunction with accompanying drawing illustrated embodiment, technical scheme of the present invention is described further.
Plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes of the present invention comprise arm, arm lifting mechanism and the hoisting arm expansion mechanism arranging based on vehicle frame 1.
Described arm comprises swivel arm 2 and telescopic boom 3, the lower end of described swivel arm 2 is hinged in the middle part of vehicle frame 1, described telescopic boom 3 is installed on swivel arm 2 by sliding pair, in concrete a kind of mode, swivel arm 2 and telescopic boom 3 all adopt square steel tube, telescopic boom 3 is snug fit in swivel arm 2 in the suitable for reading of swivel arm 2, and the fixing device 4 that freight container is captured is located at the front end of telescopic boom 3, as shown in Figure 1.
Described arm lifting mechanism is located at swivel arm 2 the place aheads, be included in lifting rocking bar 5 and lifting linking member 6 that swivel arm 2 both sides arrange, both sides lifting rocking bar 5 is symmetrical arranged, both sides lifting linking member 6 is symmetrical arranged, the lower end of described lifting rocking bar 5 is hinged in the front portion of vehicle frame 1, and the upper end of described lifting linking member 6 and swivel arm 2 are hinged, and the lower end of the upper end of lifting rocking bar 5 and lifting linking member 6 is hinged mutually, the common driver train of both sides lifting rocking bar 5 is the lifting servomotor of being located on vehicle frame 1, as shown in Figure 1.
Described hoisting arm expansion mechanism is located at swivel arm 2 rears, be included in flexible rocking bar 7 and shrinking connecting-rod 8 that swivel arm 2 and telescopic boom 3 both sides arrange, the flexible rocking bar 7 in both sides is symmetrical arranged, both sides shrinking connecting-rod 8 is symmetrical arranged, the lower end of described flexible rocking bar 7 is hinged in the rear portion of vehicle frame 1, the front end of described shrinking connecting-rod 8 and telescopic boom 3 are hinged, the flexible upper end of rocking bar 7 and the rear end of shrinking connecting-rod 8 are hinged mutually, the driver train of the flexible rocking bar 7 in both sides is the flexible servomotor of being located on vehicle frame 1, as shown in Figure 1.
As shown in Figure 2, the initial condition of the present invention in dead work, now lifting jack back 5 and flexible rocking bar 7 turn to correct position, and swivel arm 2 and telescopic boom 3 levels are protracted, and telescopic boom 3 bounces back in swivel arm 2.
As shown in Figure 3, lifting rocking bar 5 is motionless, and swivel arm 2 keeps original position, and flexible rocking bar 7 rotates, and by shrinking connecting-rod 8, telescopic boom 3 is stretched out forward to swivel arm 2, by fixing device, realizes the clamping to freight container.
As shown in Figure 4, lifting rocking bar 5 and flexible rocking bar 7 joint rotation, realize the carrying of freight container and lifting operation.
Complete after unloading task, reset to initial condition as shown in Figure 2, prepare clamping and transport operation next freight container.
Claims (2)
1. plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes, comprise the arm, arm lifting mechanism and the hoisting arm expansion mechanism that based on vehicle frame (1), arrange, it is characterized in that: described arm comprises swivel arm (2) and telescopic boom (3), the lower end of described swivel arm (2) is hinged in vehicle frame (1) middle part, it is upper that described telescopic boom (3) is installed on swivel arm (2) by sliding pair, and the front end of telescopic boom (3) arranges fixing device (4); Described arm lifting mechanism is located at arm the place ahead, be included in lifting rocking bar (5) and lifting linking member (6) that arm both sides arrange, both sides lifting rocking bar (5) is symmetrical arranged, both sides lifting linking member (6) is symmetrical arranged, the lower end of described lifting rocking bar (5) is hinged in the front portion of vehicle frame (1), the upper end of described lifting linking member (6) and swivel arm (2) are hinged, and the lower end of the upper end of lifting rocking bar (5) and lifting linking member (6) is hinged; Described hoisting arm expansion mechanism is located at arm rear, be included in flexible rocking bar (7) and shrinking connecting-rod (8) that arm bilateral symmetry arranges, the lower end of described flexible rocking bar (7) is hinged in the rear portion of vehicle frame (1), the front end of described shrinking connecting-rod (8) and telescopic boom (3) are hinged, and the flexible upper end of rocking bar (7) and the rear end of shrinking connecting-rod (8) are hinged.
2. plane two-freedom seven bar servo-drive face-up transporting hoist of container hoisting cranes according to claim 1, is characterized in that: the common driver train of described lifting rocking bar (5) is to be located at the lifting servomotor on vehicle frame (1); The common driver train of described flexible rocking bar (7) is to be located at the flexible servomotor on vehicle frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310573992.2A CN103569874B (en) | 2013-11-15 | 2013-11-15 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310573992.2A CN103569874B (en) | 2013-11-15 | 2013-11-15 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
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| Publication Number | Publication Date |
|---|---|
| CN103569874A CN103569874A (en) | 2014-02-12 |
| CN103569874B true CN103569874B (en) | 2014-09-17 |
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| CN201310573992.2A Expired - Fee Related CN103569874B (en) | 2013-11-15 | 2013-11-15 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103787204B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | Two-freedom seven bar combination drive front-handling mobile crane |
| CN103787216B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | The controlled handling mobile crane of two-freedom combination drive |
| CN103787207B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | Closed chain formula combination drive front-handling mobile crane |
| CN103848354B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Three Degree Of Freedom servo-drive face-up transporting hoist of container crane |
| CN103848356B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Three Degree Of Freedom combination drive face-up transporting hoist of container crane |
| CN103848352B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Heavy-load type face-up transporting hoist of container crane |
| CN105195721A (en) * | 2015-09-30 | 2015-12-30 | 东南大学 | Safe vehicle-mounted ladle |
| CN116891123B (en) * | 2023-09-11 | 2023-11-28 | 山西建投建筑产业有限公司 | Semi-automatic conveying equipment for conveying plates |
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| DD116200A5 (en) * | 1975-02-07 | 1975-11-12 | ||
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203699715U (en) * | 2013-11-15 | 2014-07-09 | 钦州学院 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
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2013
- 2013-11-15 CN CN201310573992.2A patent/CN103569874B/en not_active Expired - Fee Related
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|---|---|---|---|---|
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| CN201567169U (en) * | 2009-09-29 | 2010-09-01 | 秦皇岛天业通联重工股份有限公司 | Parallel four bar linkage mechanism arm frame balance crane |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN102561426A (en) * | 2012-01-12 | 2012-07-11 | 广西大学 | 3-dof (three degrees of freedom) controllable mechanism type excavator |
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Granted publication date: 20140917 Termination date: 20191115 |