CN103569875A - Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers - Google Patents
Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers Download PDFInfo
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- CN103569875A CN103569875A CN201310574001.2A CN201310574001A CN103569875A CN 103569875 A CN103569875 A CN 103569875A CN 201310574001 A CN201310574001 A CN 201310574001A CN 103569875 A CN103569875 A CN 103569875A
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Abstract
The invention relates to a plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers. The plane two-degree-of-freedom seven-rod closed chain type reach stacker for the containers comprises a suspension arm and a suspension lifting and telescoping mechanism, wherein the suspension arm comprises a rotating arm and a telescopic arm; the rotating arm is hinged to the rear part of a frame; the telescopic arm is mounted on the rotating arm through a sliding pair; a clamping device is arranged at the front end of the suspension arm; the suspension arm lifting and telescoping mechanism comprises five-rod linkage mechanisms which are symmetrically arranged on the two sides of the suspension arm; each five-rod linkage mechanism comprises a front rocker, a front connecting rod, a rear connecting rod and a rear rocker; the front rockers and the rear rockers are hinged to the front part and the middle part of the frame respectively; the hinged points between the front connecting rods and the rear connecting rods are arranged on the telescopic arm. Ascending, telescoping and descending of the crane are realized under the drive of the five-rod linkage mechanisms. The plane two-degree-of-freedom seven-rod closed chain type reach stacker for the containers has the advantages of small movement inertia, flexible track output, high precision, high rigidity, excellent dynamic performance, high reliability and the like.
Description
(1) technical field:
The present invention relates to port crane, specifically a kind of plane two-freedom seven bar closed chain formula 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 closed chain formula 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 closed chain formula face-up transporting hoist of container hoisting cranes of above-mentioned purpose, comprise the arm and the arm lift telescopic 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 rear portion, described telescopic boom is installed on swivel arm by sliding pair, and telescopic boom front end arranges fixing device; Described arm lift telescopic mechanism is located at arm the place ahead, be included in the five-bar mechanism that arm bilateral symmetry arranges, described five-bar mechanism comprises front rocking bar, front rod, rear linking rod and rear rocking bar, the lower end of described front rocking bar and rear rocking bar is hinged in respectively front portion and the middle part of vehicle frame, the upper end of rocking bar before the lower end of described front rod is hinged, the upper end of rocking bar after the lower end of described rear linking rod is hinged, the upper end of front rod and the upper end of rear linking rod are hinged and hinge point is located on telescopic boom.
In described structure, the change in location by five-bar mechanism realizes the rotation of swivel arm and the movement of telescopic boom, finally realizes fixing device to the crawl of freight container, handling and unloading.
The power of described five-bar mechanism is located at respectively on front rocking bar and rear rocking bar, and the common driver train of described front rocking bar is the front rocking bar servomotor of being located on vehicle frame, and the common driver train of described rear rocking bar is the rear rocking bar servomotor of being located on vehicle frame.
Beneficial effect of the present invention:
1, plane two-freedom seven bar closed chain formula 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, and closes chain-drive form, and all servomotors are installed in frame, effectively reduce the weight of each member, have that movement inertia is little, track output flexibly, precision advantages of higher.
3, the present invention only drives by a closed loop attitude adjustment side chain, just can realize traditional face-up transporting hoist of container hoisting crane by lifting, flexible, the lower degradation task that driving just can complete of combining of telescopic oil cylinder, pitching oil cylinder.
4, the present invention compares with acyclic structure, and this version containing closed loop subchain has the reliability of better stiffness characteristics and Geng Gao.
(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 lifting working state schematic representation of Fig. 1 embodiment.
Fig. 4 is the unloaded operation view of Fig. 1 embodiment.
Figure number sign: 1, vehicle frame; 2, swivel arm; 3, telescopic boom; 4, fixing device; 5, front rocking bar; 6, front rod; 7, rear linking rod; 8, rear rocking bar.
(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 closed chain formula face-up transporting hoist of container hoisting cranes of the present invention comprise arm and the arm lift telescopic 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 rear portion 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 lift telescopic mechanism is located at arm the place ahead, for the five-bar mechanism arranging in arm bilateral symmetry, described five-bar mechanism comprises front rocking bar 5, front rod 6, rear linking rod 7 and rear rocking bar 8, the lower end of described front rocking bar 5 and rear rocking bar 8 is hinged in respectively front portion and the middle part of vehicle frame 1, the upper end of rocking bar 5 before the lower end of described front rod 6 is hinged, the upper end of rocking bar 8 after the lower end of described rear linking rod 7 is hinged, the upper end of the upper end of front rod 6 and rear linking rod 7 is hinged, and its hinge point is located on telescopic boom 3; Before both sides, the common driver train of rocking bar 5 is the front rocking bar servomotor of being located on vehicle frame 1, and the common driver train of two rear flank rocking bars 8 is the rear rocking bar 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 swivel arm 2 is in low level, and telescopic boom 3 bounces back in swivel arm 2.
As shown in Figure 3, the present invention is under the driving of five-bar mechanism, and swivel arm 2 liftings, telescopic boom 3 stretch out, and completes clamping and lifting operation dead ahead freight container.
As shown in Figure 4, the present invention five-bar mechanism driving under, swivel arm 2 declines, telescopic boom 3 reclaims, and completes the unloading operation to dead ahead freight container.
Claims (2)
1. plane two-freedom seven bar closed chain formula face-up transporting hoist of container hoisting cranes, comprise the arm and the arm lift telescopic 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) rear portion, it is upper that described telescopic boom (3) is installed on swivel arm (2) by sliding pair, and telescopic boom (3) front end arranges fixing device (4), described arm lift telescopic mechanism is located at arm the place ahead, be included in the five-bar mechanism that arm bilateral symmetry arranges, described five-bar mechanism comprises front rocking bar (5), front rod (6), rear linking rod (7) and rear rocking bar (8), the lower end of described front rocking bar (5) and rear rocking bar (8) is hinged in respectively front portion and the middle part of vehicle frame (1), the upper end of the lower end of described front rod (6) and front rocking bar (5) is hinged, the upper end of the lower end of described rear linking rod (7) and rear rocking bar (8) is hinged, the upper end of the upper end of front rod (6) and rear linking rod (7) is hinged and hinge point is located on telescopic boom (3).
2. plane two-freedom seven bar closed chain formula face-up transporting hoist of container hoisting cranes according to claim 1, is characterized in that: the common driver train of described front rocking bar (5) is to be located at the front rocking bar servomotor on vehicle frame (1); The common driver train of described rear rocking bar (8) is to be located at the rear rocking bar servomotor on vehicle frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574001.2A CN103569875B (en) | 2013-11-15 | 2013-11-15 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574001.2A CN103569875B (en) | 2013-11-15 | 2013-11-15 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
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| Publication Number | Publication Date |
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| CN103569875A true CN103569875A (en) | 2014-02-12 |
| CN103569875B CN103569875B (en) | 2014-09-17 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103787216A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-degree-of-freedom driving controllable hoisting crane |
| CN103787204A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane |
| CN103787207A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Closed chain type hybrid-driving front-surface lifting crane |
| CN103848351A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-degree-of-freedom servo drive loop-type container reach stacker crane |
| CN103848354A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-freedom-degree servo-driven front lifting crane for containers |
| CN103848355A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Link mechanism type hybrid-driven reach stacker with three freedom degrees |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
| CN104724611A (en) * | 2015-03-20 | 2015-06-24 | 武汉理工大学 | Planar three-degree-of-freedom eight-rod single closed-loop front-handling crane for chain-type container |
| WO2017190685A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Five-linkage material-pushing mechanism for use in packaging machine |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103787216A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-degree-of-freedom driving controllable hoisting crane |
| CN103787204A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane |
| CN103787207A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Closed chain type hybrid-driving front-surface lifting crane |
| CN103787204B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | Two-freedom seven bar combination drive front-handling mobile crane |
| CN103787207B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | Closed chain formula combination drive front-handling mobile crane |
| CN103848355B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
| CN103848351B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Three Degree Of Freedom servo-drive closed chain formula face-up transporting hoist of container crane |
| CN103848355A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Link mechanism type hybrid-driven reach stacker with three freedom degrees |
| 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 |
| CN103848354A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-freedom-degree servo-driven front lifting crane for containers |
| CN103848351A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-degree-of-freedom servo drive loop-type container reach stacker crane |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
| CN104724611A (en) * | 2015-03-20 | 2015-06-24 | 武汉理工大学 | Planar three-degree-of-freedom eight-rod single closed-loop front-handling crane for chain-type container |
| WO2017190685A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Five-linkage material-pushing mechanism for use in packaging machine |
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