CN103787216A - Two-degree-of-freedom driving controllable hoisting crane - Google Patents
Two-degree-of-freedom driving controllable hoisting crane Download PDFInfo
- Publication number
- CN103787216A CN103787216A CN201410068850.5A CN201410068850A CN103787216A CN 103787216 A CN103787216 A CN 103787216A CN 201410068850 A CN201410068850 A CN 201410068850A CN 103787216 A CN103787216 A CN 103787216A
- Authority
- CN
- China
- Prior art keywords
- arm
- lifting
- hinged
- rocking bar
- protracts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Jib Cranes (AREA)
Abstract
The invention discloses a two-degree-of-freedom driving controllable hoisting cane comprising a hoisting arm arranged based on a frame, a hoisting arm lifting mechanism and a hoisting arm extending mechanism, wherein the hoisting arm comprises a rotating arm and an extending arm, the lower end of the rotating arm is hinged with the rear middle part of the frame, the rear end of the extending arm is hinged with the upper end of the rotating arm, and a clamping device is installed at the front end of the extending arm; the hoisting arm lifting mechanism is arranged at the front lower part of the hoisting arm and comprises a lifting rocker rod and a lifting connection rod, the lower end of the lifting rocker rod is hinged to the front part of the frame, the lower end of the lifting connection rod is hinged with the upper end of the lifting rocker rod, and the upper end of the lifting connection rod is hinged with the rear middle part of the extending arm; the hoisting arm extending mechanism is arranged at the rear upper part of the hoisting arm and comprises a protraction rocker rod and a protraction connection rod, the lower end of the protraction connection rod is hinged to the rear part of the frame, the rear end of the protraction connection rod is hinged to the upper end of the protraction rocker rod, and the front end of the protraction connection rod is hinged with the middle front part of the extending arm. The crane has the advantages of small movement inertia, flexible track output, high precision, good rigidity, good dynamic performance, high reliability and the like.
Description
(1) technical field:
The present invention relates to port crane, specifically the controlled handling mobile crane of a kind of two-freedom combination drive.
(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 not shortcoming such as length, leakage of oil of life-span.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 present invention proposes the controlled handling mobile crane of a kind of two-freedom combination drive, mainly solve conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble require high, maintaining cost is high, the not technical matters such as length, leakage of oil of life-span.
Can realize the controlled handling mobile crane of two-freedom combination drive of above-mentioned purpose, comprise arm, arm lifting mechanism and arm based on the vehicle frame setting mechanism of protracting, difference is that described arm comprises swivel arm and extending arm, described swivel arm lower end is hinged in vehicle frame postmedian, cut with scissors in swivel arm upper end the rear end of described extending arm, and extending arm front end is installed fixing device; Described arm lifting mechanism is located at arm front lower place and in the setting of arm bilateral symmetry, comprise lifting rocking bar and lifting linking member, the lower end of described lifting rocking bar is hinged in vehicle frame front portion, the upper end of the lower end of described lifting linking member and lifting rocking bar is hinged, and the upper end of lifting linking member is hinged in the postmedian of extending arm; Described arm protracts that mechanism is located at arm back upper place and in the setting of arm bilateral symmetry, comprise protract rocking bar and the connecting rod that protracts, the lower end of the described rocking bar that protracts is hinged in vehicle frame rear portion, described in the be hinged rocking bar upper end of protracting, the rear end of connecting rod of protracting, the front end of the connecting rod that protracts is hinged in the middle front part of extending arm; The common driver train of described lifting rocking bar is the high-power conventional motor of being located on vehicle frame, the common driver train of the described rocking bar that protracts is the miniwatt servomotor of being located on vehicle frame, or the common driver train of described lifting rocking bar is the miniwatt servomotor of being located on vehicle frame, described in the common driver train of rocking bar that protracts be the high-power conventional motor of being located on vehicle frame.
In said structure, realize the rotation of swivel arm and the lifting of extending arm by the protract change in location of mechanism of arm lifting mechanism and arm, finally realize crawl, handling and the unloading of fixing device to freight container.
Beneficial effect of the present invention:
1, two-freedom seven bar combination drive front-handling mobile cranes of the present invention adopt the strategy of high-power conventional motor and the combination drive of miniwatt servomotor, compared with pure servomotor or hydraulically powered mode, there is larger power output and higher reliability, and complete machine cost is more cheap, maintaining cost is lower.
2, the present invention realizes handling, lifting task by motor direct-drive, linkage transmission, can effectively overcome conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble and require the not shortcoming such as length, leakage of oil of high, life-span.
3, integral structure of the present invention is that outer revolute pair drives, closes chain-drive form, and all motors 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 be Fig. 1 embodiment stretch out crawl working state schematic representation.
Fig. 4 is the handling working state schematic representation of Fig. 1 embodiment.
Figure number mark: 1, vehicle frame; 2, the rocking bar that protracts; 3, the connecting rod that protracts; 4, extending arm; 5, fixing device; 6, lifting rocking bar; 7, lifting linking member; 8, swivel arm.
(5) specific embodiment:
Below in conjunction with accompanying drawing illustrated embodiment, technical scheme of the present invention is described further.
The controlled handling mobile crane of two-freedom combination drive of the present invention comprises the arm, arm lifting mechanism and the arm that arrange based on vehicle frame 1 mechanism of protracting.
Described arm comprises swivel arm 8 and extending arm 4, described swivel arm 8 is in extending arm 4 bilateral symmetry settings, swivel arm 8 lower ends are hinged in vehicle frame 1 postmedian, the rear end of described extending arm 4 and both sides swivel arm 8 upper ends form compound hinges, extending arm 4 front ends are installed fixing device 5, in concrete a kind of embodiment, extending arm 4 adopts square steel tube, as shown in Figure 1.
Described arm lifting mechanism is located at arm front lower place, and arrange in arm bilateral symmetry, arm lifting mechanism comprises lifting rocking bar 6 and lifting linking member 7, the lower end of described lifting rocking bar 6 is hinged in vehicle frame 1 front portion, the upper end of the lower end of described lifting linking member 7 and lifting rocking bar 6 is hinged, the postmedian arm body of the upper end of both sides lifting linking member 7 and extending arm 4 forms compound hinges, and the common driving of both sides lifting rocking bar 6 is the lifting motor of being located in frame 1, as shown in Figure 1.
Described arm protracts that mechanism is located at arm back upper place and in the setting of arm bilateral symmetry, comprise protract rocking bar 2 and the connecting rod 3 that protracts, described lower end of protracting rocking bar 2 is hinged in vehicle frame 1 rear portion, rocking bar 2 upper ends of protracting that are hinged, the rear end of the described connecting rod 3 that protracts, the front end of connecting rod 3 and the middle front part arm body of extending arm 4 formation compound hinges protract in both sides, the protract common driving of rocking bar 2 of both sides is the motor that protracts of being located in frame 1, as shown in Figure 1.
Described lifting motor adopt high-power conventional motor, described in the motor that protracts adopt miniwatt servomotor and form the combination drive of hoisting crane; Or contrary, described lifting motor adopts miniwatt servomotor, described in the motor that protracts adopt high-power conventional motor.
As shown in Figure 2, the initial condition of the present invention in dead work, the rocking bar 2 that now protracts rotates forward, and lifting rocking bar 6 rotates forward trend level attitude.
As shown in Figure 3, the present invention is protracted under mechanism's effect at arm lifting mechanism and arm, and the connecting rod 3 that protracts further protracts, and dead ahead freight container is captured to operation.
As shown in Figure 4, the present invention is protracted under mechanism's effect at arm lifting mechanism and arm, and swivel arm 8 liftings, complete the lifting operation to dead ahead freight container.
The present invention is protracted under mechanism's effect at arm lifting mechanism and arm, swivel arm 8 declines, lifting rocking bar 6 forward, complete the unloading operation to dead ahead freight container.
Claims (1)
1. the controlled handling mobile crane of two-freedom combination drive, comprise arm, arm lifting mechanism and the arm mechanism of protracting arranging based on vehicle frame (1), it is characterized in that: described arm comprises swivel arm (8) and extending arm (4), swivel arm (8) lower end is hinged in vehicle frame (1) postmedian, cut with scissors in swivel arm (8) upper end the rear end of described extending arm (4), and extending arm (4) front end is installed fixing device (5); Described arm lifting mechanism is located at arm front lower place and in the setting of arm bilateral symmetry, comprise lifting rocking bar (6) and lifting linking member (7), the lower end of described lifting rocking bar (6) is hinged in vehicle frame (1) front portion, the upper end of the lower end of described lifting linking member (7) and lifting rocking bar (6) is hinged, and the upper end of lifting linking member (7) is hinged in the postmedian of extending arm (4); Described arm protracts that mechanism is located at arm back upper place and in the setting of arm bilateral symmetry, comprise the rocking bar that protracts (2) and the connecting rod that protracts (3), the lower end of the described rocking bar that protracts (2) is hinged in vehicle frame (1) rear portion, rocking bar (2) upper end of protracting that is hinged, the rear end of the described connecting rod that protracts (3), the front end of the connecting rod that protracts (3) is hinged in the middle front part of extending arm (4); The common driver train of described lifting rocking bar (6) is the high-power conventional motor of being located on vehicle frame (1), the common driver train of the described rocking bar that protracts (2) is the miniwatt servomotor of being located on vehicle frame (1), or the common driver train of described lifting rocking bar (6) is for being located at the miniwatt servomotor on vehicle frame (1), described in protract the common driver train of rocking bar (2) for being located at the high-power conventional motor on vehicle frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410068850.5A CN103787216B (en) | 2014-02-27 | 2014-02-27 | The controlled handling mobile crane of two-freedom combination drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410068850.5A CN103787216B (en) | 2014-02-27 | 2014-02-27 | The controlled handling mobile crane of two-freedom combination drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103787216A true CN103787216A (en) | 2014-05-14 |
| CN103787216B CN103787216B (en) | 2017-01-04 |
Family
ID=50663352
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410068850.5A Expired - Fee Related CN103787216B (en) | 2014-02-27 | 2014-02-27 | The controlled handling mobile crane of two-freedom combination drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103787216B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476539A (en) * | 2014-12-18 | 2015-04-01 | 广西大学 | Controllable mechanism type wheeled movable palletizing robot |
| 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 |
| CN107866792A (en) * | 2016-09-28 | 2018-04-03 | 青岛恒昌机器人科技有限公司 | A kind of inter-linked controlling method of cotton bucket transfer robot |
| CN110065890A (en) * | 2019-05-05 | 2019-07-30 | 东华大学 | A kind of combined type driving hoisting apparatus |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010077302A1 (en) * | 2008-12-15 | 2010-07-08 | Oceaneering International, Inc. | Rig supply handler |
| CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
| CN103569874A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
| CN103569873A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers |
| CN103569875A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
| CN203715130U (en) * | 2014-02-27 | 2014-07-16 | 钦州学院 | Hybrid-driven controllable lifting and conveying crane with two degrees of freedom |
-
2014
- 2014-02-27 CN CN201410068850.5A patent/CN103787216B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010077302A1 (en) * | 2008-12-15 | 2010-07-08 | Oceaneering International, Inc. | Rig supply handler |
| CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
| CN103569874A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
| CN103569873A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers |
| CN103569875A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
| CN203715130U (en) * | 2014-02-27 | 2014-07-16 | 钦州学院 | Hybrid-driven controllable lifting and conveying crane with two degrees of freedom |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476539A (en) * | 2014-12-18 | 2015-04-01 | 广西大学 | Controllable mechanism type wheeled movable palletizing robot |
| CN104476539B (en) * | 2014-12-18 | 2016-06-15 | 广西大学 | A kind of controllable-mechanism type wheel type mobile robot palletizer |
| 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 |
| CN107866792A (en) * | 2016-09-28 | 2018-04-03 | 青岛恒昌机器人科技有限公司 | A kind of inter-linked controlling method of cotton bucket transfer robot |
| CN110065890A (en) * | 2019-05-05 | 2019-07-30 | 东华大学 | A kind of combined type driving hoisting apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103787216B (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103569873B (en) | Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers | |
| CN203667843U (en) | Planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker | |
| CN103569874B (en) | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers | |
| CN103569875B (en) | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers | |
| CN103787216A (en) | Two-degree-of-freedom driving controllable hoisting crane | |
| CN103626044B (en) | Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane | |
| CN103787205B (en) | Two-freedom two close cycles combination drive front-handling mobile crane | |
| CN103626078B (en) | Plane two-freedom-degree nine-rod closed-chain type reach stacker | |
| CN103787204A (en) | Two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane | |
| CN203715130U (en) | Hybrid-driven controllable lifting and conveying crane with two degrees of freedom | |
| CN203715105U (en) | Two-freedom-grade seven-rod hybrid driven front side hoisting crane | |
| CN104692262A (en) | Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container | |
| CN203667844U (en) | Planar two-DOF (degree of freedom) eleven-bar double closed-loopsubchain type containerreach stacker | |
| CN103612997B (en) | Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane | |
| CN103787207B (en) | Closed chain formula combination drive front-handling mobile crane | |
| CN203715106U (en) | Hybrid-driven front lifting and conveying crane containing single closed-loop subchain with two degrees of freedom | |
| CN203754285U (en) | Heavy-load type container front-side hoisting crane | |
| CN103848352B (en) | Heavy-load type face-up transporting hoist of container crane | |
| CN103848354B (en) | Three Degree Of Freedom servo-drive face-up transporting hoist of container crane | |
| CN103848351B (en) | Three Degree Of Freedom servo-drive closed chain formula face-up transporting hoist of container crane | |
| CN203754286U (en) | Three-freedom servo-driven closed chain type container front-handling mobile crane | |
| CN203667845U (en) | Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker | |
| CN203699715U (en) | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers | |
| CN203715111U (en) | Closed chain type hybrid driven front side hoisting crane | |
| CN203754295U (en) | Three-freedom-degree hybrid driven container front-side hoisting crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20170227 |