CN103787216B - The controlled handling mobile crane of two-freedom combination drive - Google Patents
The controlled handling mobile crane of two-freedom combination drive Download PDFInfo
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- CN103787216B CN103787216B CN201410068850.5A CN201410068850A CN103787216B CN 103787216 B CN103787216 B CN 103787216B CN 201410068850 A CN201410068850 A CN 201410068850A CN 103787216 B CN103787216 B CN 103787216B
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- arm
- rocking bar
- hinged
- extension
- vehicle frame
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Abstract
The invention discloses the controlled handling mobile crane of two-freedom combination drive, including the arm arranged based on vehicle frame, boom luff mechanism and arm protract mechanism, arm includes cursor and extending arm, cursor lower end is hinged in vehicle frame postmedian, the rear end of described extending arm is cut with scissors in cursor upper end, and clamping device is installed in extending arm front end；Boom luff mechanism is located at arm front lower place, and including lifting rocking bar and lifting linking member, it is anterior that the lower end of lifting rocking bar is hinged in vehicle frame, and the lower end of lifting linking member is hinged with lifting rocking bar upper end, and the upper end of lifting linking member is hinged in the postmedian of extending arm；Arm extension mechanism is located at arm back upper place, and including extension rocking bar and extension connecting rod, the lower end of extension rocking bar is hinged in vehicle frame rear portion, and the rear end of extension connecting rod is hinged extension rocking bar upper end, and the front end of extension connecting rod is hinged in the middle front part of extending arm.The present invention has that movement inertia is little, track output flexibly, precision is high, rigidity and dynamic property is good, high reliability.
Description
(1) technical field:
The present invention relates to port crane, specifically a kind of two-freedom combination drive controlled handling lifting
Machine.
(2) background technology:
Face-up transporting hoist of container crane (also known as container front crane) is a kind of important harbour machinery,
Having easy to operate, stacking tier advantages of higher, in the carrying of all kinds of harbour containers, piling and transport etc.
Operation played an important role.As CN103332220A, CN101723256A, CN202322093U,
Face-up transporting hoist of container crane disclosed in CN2773035, CN201890746U, is all by flexible oil
Cylinder, the driving of combining of pitching oil cylinder complete task.
But, the container front side crane of this quasi-tradition above-mentioned is pure hydraulic driven, its hydraulic pressure system
System also exists that parts machining matching requirements are high, manufacture, safeguard, cost of upkeep is high, the life-span is long, leakage
The shortcomings such as oil.Further, the jack machinism of this quasi-tradition fisher's formula cascaded structure because of the restriction of himself structure,
There is the problems such as component heaviness, poor rigidity, big, the joint error accumulation of inertia, dynamic performance is poor,
It is difficult to meet the high-speed overload job requirements of increasingly stringent.
(3) summary of the invention:
The present invention proposes a kind of controlled handling mobile crane of two-freedom combination drive, mainly solves tradition liquid
The requirement of pressure type face-up transporting hoist of container crane process and assemble is high, maintaining cost is high, the life-span is long,
The technical problems such as leakage of oil.
It is capable of the controlled handling mobile crane of two-freedom combination drive of above-mentioned purpose, including based on vehicle frame
Arrange arm, boom luff mechanism and arm extension mechanism, except that described arm include rotate
Arm and extending arm, described cursor lower end is hinged in vehicle frame postmedian, and the rear end of described extending arm is cut with scissors in turning
Swing arm upper end, clamping device is installed in extending arm front end；Described boom luff mechanism is located at arm front lower place also
Arranging in arm lateral symmetry, including lifting rocking bar and lifting linking member, the lower end of described lifting rocking bar is hinged
Anterior in vehicle frame, the lower end of described lifting linking member is hinged with the upper end of lifting rocking bar, the upper end of lifting linking member
It is hinged in the postmedian of extending arm；Described arm extension mechanism be located at arm back upper place and in arm both sides pair
Claiming to arrange, including extension rocking bar and extension connecting rod, the lower end of described extension rocking bar is hinged in vehicle frame rear portion,
The hinge extension rocking bar upper end, rear end of described extension connecting rod, the front end of extension connecting rod is hinged in extending arm
Anterior；The common drive mechanism of described lifting rocking bar is the high-power conventional motor being located on vehicle frame, described
The extension common drive mechanism of rocking bar is the small-power servomotor being located on vehicle frame, or described lifting rocking bar
Common drive mechanism is the small-power servomotor being located on vehicle frame, the driving that described extension rocking bar is common
Mechanism is the high-power conventional motor being located on vehicle frame.
In said structure, protract the change in location of mechanism by boom luff mechanism and arm and realize rotating
The rotation of arm and the lifting of extending arm, finally realize clamping device crawl, handling and unloading to container.
Beneficial effects of the present invention:
1, two-freedom seven bar combination drive front-handling mobile crane of the present invention use high-power conventional motor and
The strategy of small-power servomotor combination drive, compared with pure servomotor or hydraulically powered mode,
Having bigger power output and higher reliability, and complete machine cost is the cheapest, maintaining becomes
This is lower.
2, the present invention is directly driven by a motor, linkage transmission realizes handling, lifting task, can be effective
Conventional hydraulic formula face-up transporting hoist of container crane process and assemble is overcome to require high, life-span not length, leakage of oil etc.
Shortcoming.
3, overall structure of the present invention is that outer revolute pair drives, closes chaindriven form, and all motors are respectively mounted
On vehicle frame, effectively reduce the weight of each component, have that movement inertia is little, track output is flexible, smart
Degree 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 identifies: 1, vehicle frame；2, extension rocking bar；3, extension connecting rod；4, extending arm；5, clamping
Device；6, lifting rocking bar；7, lifting linking member；8, cursor.
(5) detailed description of the invention:
Technical scheme is described further by illustrated embodiment below in conjunction with the accompanying drawings.
The controlled handling mobile crane of two-freedom combination drive of the present invention include based on vehicle frame 1 arrange arm,
Boom luff mechanism and arm extension mechanism.
Described arm includes cursor 8 and extending arm 4, and described cursor 8 is in extending arm 4 lateral symmetry
Arranging, cursor 8 lower end is hinged in vehicle frame 1 postmedian, and the rear end of described extending arm 4 rotates with both sides
Arm 8 upper end forms compound hinges, and clamping device 5, concrete a kind of embodiment party are installed in extending arm 4 front end
In formula, extending arm 4 uses square steel tube, as shown in Figure 1.
Described boom luff mechanism is located at arm front lower place, and arranges in arm lateral symmetry, boom luff
Mechanism includes lifting rocking bar 6 and lifting linking member 7, before the lower end of described lifting rocking bar 6 is hinged in vehicle frame 1
Portion, the lower end of described lifting linking member 7 is hinged with the upper end of lifting rocking bar 6, both sides lifting linking member 7 upper
End and the postmedian arm body of extending arm 4 form compound hinges, and being jointly driven to of both sides lifting rocking bar 6 sets
Lifting motor in frame 1, as shown in Figure 1.
Described arm extension mechanism be located at arm back upper place and in arm lateral symmetry arrange, shake including extension
Bar 2 and extension connecting rod 3, the lower end of described extension rocking bar 2 is hinged in vehicle frame 1 rear portion, and described extension is even
The rear end of bar 3 is hinged extension rocking bar 2 upper end, in the front end of both sides extension connecting rod 3 and extending arm 4 before
Portion's arm body forms compound hinges, the extension electricity being jointly driven to be located in frame 1 of both sides extension rocking bar 2
Machine, as shown in Figure 1.
Described lifting motor uses high-power conventional motor, described extension motor to use small-power servomotor
And form the combination drive of crane；Or contrary, the most described lifting motor uses small-power servomotor,
Described extension motor uses high-power conventional motor.
As in figure 2 it is shown, the present invention is in the original state of preparation, now extension rocking bar 2 forwards
Dynamic, lifting rocking bar 6 rotates forward trend horizontal level.
As it is shown on figure 3, the present invention is protracted under mechanism's effect in boom luff mechanism and arm, protract connecting rod
3 protract further, carry out dead ahead container capturing operation.
As shown in Figure 4, the present invention is protracted under mechanism's effect in boom luff mechanism and arm, cursor 8
Lifting, completes the lifting operation to dead ahead container.
The present invention is protracted under mechanism's effect in boom luff mechanism and arm, and cursor 8 declines, lifts and shake
Bar 6 forward, completes the unloading operation to dead ahead container.
Cursor 8 of the present invention, after completing unloading task, resets to original state as shown in Figure 2, accurate
Clamp and transport operation for next container.
Claims (1)
1. the controlled handling mobile crane of two-freedom combination drive, including hanging of arranging based on vehicle frame (1)
Arm, boom luff mechanism and arm extension mechanism, it is characterised in that: described arm includes cursor (8)
With extending arm (4), cursor (8) lower end is hinged in vehicle frame (1) postmedian, described extending arm (4)
Rear end cut with scissors in cursor (8) upper end, extending arm (4) front end install clamping device (5)；Described
Boom luff mechanism is located at arm front lower place and arranges in arm lateral symmetry, including lifting rocking bar (6)
With lifting linking member (7), it is anterior that the lower end of described lifting rocking bar (6) is hinged in vehicle frame (1), described
The lower end of lifting linking member (7) is hinged with the upper end of lifting rocking bar (6), lifting linking member (7) upper
End is hinged in the postmedian of extending arm (4)；Described arm extension mechanism be located at arm back upper place and in
Arm lateral symmetry is arranged, including extension rocking bar (2) and extension connecting rod (3), described extension rocking bar
(2) lower end is hinged in vehicle frame (1) rear portion, and the rear end of described extension connecting rod (3) is hinged and protracts
Rocking bar (2) upper end, the front end of extension connecting rod (3) is hinged in the middle front part of extending arm (4)；Institute
The drive mechanism stating lifting rocking bar (6) common is the high-power conventional motor being located on vehicle frame (1),
The drive mechanism that described extension rocking bar (2) is common is the small-power servomotor being located on vehicle frame (1),
Or the common drive mechanism of described lifting rocking bar (6) is the small-power servo electricity being located on vehicle frame (1)
Machine, the drive mechanism that described extension rocking bar (2) is common is the high-power routine being located on vehicle frame (1)
Motor.
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 CN103787216A (en) | 2014-05-14 |
| CN103787216B true CN103787216B (en) | 2017-01-04 |
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| 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 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2370925B1 (en) * | 2008-12-15 | 2021-03-03 | Oceaneering International, Inc. | Rig supply handler |
| CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
| CN103569875B (en) * | 2013-11-15 | 2014-09-17 | 钦州学院 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
| CN103569874B (en) * | 2013-11-15 | 2014-09-17 | 钦州学院 | Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers |
| CN103569873B (en) * | 2013-11-15 | 2014-09-17 | 钦州学院 | Plane two-degree-of-freedom nine-rod servo drive 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 |
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2014
- 2014-02-27 CN CN201410068850.5A patent/CN103787216B/en not_active Expired - Fee Related
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| CN103787216A (en) | 2014-05-14 |
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Granted publication date: 20170104 Termination date: 20170227 |