CN103848354B - Three Degree Of Freedom servo-drive face-up transporting hoist of container crane - Google Patents
Three Degree Of Freedom servo-drive face-up transporting hoist of container crane Download PDFInfo
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- CN103848354B CN103848354B CN201410104333.9A CN201410104333A CN103848354B CN 103848354 B CN103848354 B CN 103848354B CN 201410104333 A CN201410104333 A CN 201410104333A CN 103848354 B CN103848354 B CN 103848354B
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Abstract
The invention discloses a kind of Three Degree Of Freedom servo-drive face-up transporting hoist of container crane, comprise the cursor and upper and lower lift arm that arrange based on vehicle frame, described arm comprises cursor and upper and lower lift arm, and clamping device is installed in upper and lower lift arm front end; Described arm lifting mechanism be included in arm bilateral symmetry arrange before, during and after link assembly, described front rod assembly comprises quadric chain and drive link, described middle link assembly comprises middle rocking bar and middle connecting rod, and described back link assembly comprises rear rocking bar and back link; The driving of the front rocking bar of described quadric chain, middle rocking bar and rear rocking bar is respectively correspondence and is located at rocking bar servomotor on vehicle frame.The fluid pressure type face-up transporting hoist of container crane process and assemble that the present invention better solves traditional two-freedom requires high, life-span not technical problem such as length, leakage of oil, action underaction.
Description
(1) technical field:
The present invention relates to port crane, specifically a kind of Three Degree Of Freedom servo-drive face-up transporting hoist of container crane.
(2) background technology:
Face-up transporting hoist of container crane (also known as container front crane) is a kind of important harbour machinery, has easy to operate, stacking tier advantages of higher, in the operations such as all kinds of harbour container carrying, piling and transport, played important effect.Face-up transporting hoist of container crane disclosed in CN103332220A, CN101723256A, CN202322093U, CN2773035, CN201890746U is all to be finished the work task by the driving of combining of telescopic oil cylinder, pitching oil cylinder.
But above-mentioned this kind of container front side crane is pure hydraulic driven, its hydraulic system also exist parts machining matching requirements high, manufacture, safeguard, cost of upkeep high, life-span not shortcoming such as length, leakage of oil.Further, the jack machinism of this quasi-tradition fisher's formula cascaded structure is because of the restriction of himself structure, and there is the problems such as component heaviness, poor rigidity, inertia are large, joint error accumulation, dynamic performance is poor.Further, the lifting executing agency of traditional container front side crane all only has two frees degree, also there is output trajectory underaction changeable, the shortcomings such as inefficiency, is difficult to the high-speed overload job requirements meeting increasingly stringent.
(3) summary of the invention:
For this reason, the present invention proposes a kind of Three Degree Of Freedom servo-drive face-up transporting hoist of container crane, mainly solve traditional two-freedom fluid pressure type face-up transporting hoist of container crane process and assemble and require high, life-span not technical problem such as length, leakage of oil, action underaction.
The Three Degree Of Freedom servo-drive face-up transporting hoist of container crane that can solve the problems of the technologies described above, comprise the arm and arm lifting mechanism that arrange based on vehicle frame, difference is that described arm comprises cursor and upper, lower lift arm, described cursor lower end is hinged in vehicle frame middle front part, the inferior horn support body of tripod is hinged in cursor upper end, described upper lift arm rear end is hinged on the anterior angle support body of tripod, the hinge point of described lower lift arm rear end and cursor and tripod forms compound hinges, on, lower lift arm front end is by upper, lower two hinges connect clamping device respectively, before described arm lifting mechanism is included in the setting of arm bilateral symmetry, in, back link assembly, described front rod assembly comprises the quadric chain and drive link of being located at arm front lower place, described quadric chain comprises front rocking bar, front rod and front roll bar, described front rocking bar and front roll bar lower end are hinged in vehicle frame front portion, the two ends of described front rod are hinged with front rocking bar and front roll bar upper end respectively, the hinge point of described drive link lower end and front roll bar and front rod forms compound hinges, the arm body of drive link upper end and lower lift arm is hinged, described middle link assembly comprises middle rocking bar and middle connecting rod, described middle rocking bar lower end is hinged in vehicle frame postmedian, connecting rod lower end during middle rocking bar upper end is hinged, described middle small end is hinged on the relief angle support body of tripod, described back link assembly comprises rear rocking bar and back link, described rear rocking bar lower end is hinged in vehicle frame rear portion, rear rocking bar upper end and back link rear end are hinged, described back link front end is hinged on the arm body of cursor, the driving of described front rocking bar, middle rocking bar and rear rocking bar is respectively correspondence and is located at rocking bar servomotor on vehicle frame.
In said structure, by before, during and after three groups of link assemblies change in location and realize the flexible of the rotation of cursor and lift arm, finally realize clamping device to the crawl of container, handling and unloading.
Beneficial effect of the present invention:
1, Three Degree Of Freedom servo-drive face-up transporting hoist of container crane of the present invention has three degree of freedom, combine driving by three servomotors, compared with the face-up transporting hoist of container crane of traditional two-freedom, there is output trajectory flexible and changeable, strong adaptability, operating efficiency advantages of higher.
2, the present invention realizes handling, lifting task by servomotor Direct driver, linkage transmission, effectively can overcome conventional hydraulic formula face-up transporting hoist of container crane process and assemble and require high, life-span not shortcoming such as length, leakage of oil.
3, overall structure of the present invention is that outer revolute pair drives, the form of link assembly transmission, drives servomotor to be installed in frame, effectively reduces the weight of each component, has that movement inertia is little, track exports flexibly, is active in one's movements, precision advantages of higher.
(4) accompanying drawing illustrates:
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, rear rocking bar; 3, back link; 4, middle rocking bar; 5, middle connecting rod; 6, front roll bar; 7, drive link; 8, front rocking bar; 9, front rod; 10, cursor; 11, tripod; 12, upper lift arm; 13, lower lift arm; 14, clamping device.
(5) detailed description of the invention:
Below in conjunction with accompanying drawing illustrated embodiment, technical scheme of the present invention is described further.
Three Degree Of Freedom servo-drive face-up transporting hoist of container crane of the present invention comprises the arm and arm lifting mechanism that arrange based on vehicle frame 1.
Described arm comprises cursor 10, upper lift arm 12 and lower lift arm 13, described cursor 10 lower end is hinged in vehicle frame 1 middle front part, cursor 10 upper end corresponds to cursor 10 upper end in tripod 11(and arranges) downward inferior horn support body is hinged, described upper lift arm 12 and the almost parallel setting of lower lift arm 13, upper lift arm 12 rear end is hinged on tripod 11 anterior angle support body forward, the hinge point of lower lift arm 13 rear end and cursor 10 upper end and tripod 11 forms compound hinges, on, lower lift arm 12, 13 front ends are by upper, lower two hinges connect clamping device 14 respectively, in concrete a kind of mode, cursor 10, upper lift arm 12 and lower lift arm 13 all adopt square steel tube, as shown in Figure 1.
Described arm lifting mechanism be included in arm bilateral symmetry arrange before, during and after three groups of link assemblies.
Described front rod assembly comprises the quadric chain and drive link 7 of being located at arm front lower place, described quadric chain comprises front rocking bar 8, front rod 9 and front roll bar 6, described front rocking bar 8 and front roll bar 6 lower end are hinged in vehicle frame 1 front portion, the two ends of described front rod 9 are hinged with front rocking bar 8 and front roll bar 6 upper end respectively, the hinge point of described drive link 7 lower end and front roll bar 6 and front rod 9 forms compound hinges, is hinged in the middle part of the arm body of drive link 7 upper end and lower lift arm 13; Described middle link assembly comprises middle rocking bar 4 and middle connecting rod 5, and described middle rocking bar 4 lower end is hinged in vehicle frame 1 postmedian, connecting rod 5 lower end during middle rocking bar 4 upper end is hinged, and described middle connecting rod 5 upper end is hinged on tripod 11 relief angle support body backward; Described back link assembly comprises rear rocking bar 2 and back link 3, and described rear rocking bar 2 lower end is hinged in vehicle frame 1 rear portion, and rear rocking bar 2 upper end and back link 3 rear end are hinged, and described back link 3 front end is hinged in the middle part of the arm body of cursor 10, as shown in Figure 1.
The driving of described front rocking bar 8, middle rocking bar 4 and rear rocking bar 2 is respectively correspondence and is located at rocking bar servomotor on vehicle frame 1.
As shown in Figure 2, the present invention is in the original state of preparation, and now cursor 10 turns to upright position, and upper lift arm 12 and lower lift arm 13 inwardly reclaim.
As shown in Figure 3, the present invention is under the effect of arm lifting mechanism, and cursor 10 forwards produces, and upper lift arm 12 and lower lift arm 13, outwards close to being stretched flat, carry out crawl operation to dead ahead container.
As shown in Figure 4, the present invention is under the effect of arm lifting mechanism, and the common lifting of cursor 10, upper lift arm 12 and lower lift arm 13, completes the lifting operation to dead ahead container.
The present invention is under the effect of arm lifting mechanism, and upper lift arm 12 and lower lift arm 13 decline, and cursor 10 turns round, and completes the unloading operation to dead ahead container.
The present invention resets to original state as shown in Figure 2, prepares clamping and transport operation next container after completing unloading task by cursor 10, upper lift arm 12 and lower lift arm 13.
Claims (1)
1. Three Degree Of Freedom servo-drive face-up transporting hoist of container crane, comprise the arm and arm lifting mechanism that arrange based on vehicle frame (1), it is characterized in that: described arm comprises cursor (10) and upper, lower lift arm (12, 13), described cursor (10) lower end is hinged in vehicle frame (1) middle front part, the inferior horn support body of tripod (11) is hinged in cursor (10) upper end, described upper lift arm (12) rear end is hinged on the anterior angle support body of tripod (11), the hinge point of described lower lift arm (13) rear end and cursor (10) and tripod (11) forms compound hinges, on, lower lift arm (12, 13) front end is by upper, lower two hinges connect clamping device (14) respectively, before described arm lifting mechanism is included in the setting of arm bilateral symmetry, in, back link assembly, described front rod assembly comprises the quadric chain and drive link (7) of being located at arm front lower place, described quadric chain comprises front rocking bar (8), front rod (9) and front roll bar (6), described front rocking bar (8) and front roll bar (6) lower end are hinged in vehicle frame (1) front portion, the two ends of described front rod (9) are hinged with front rocking bar (8) and front roll bar (6) upper end respectively, the hinge point of described drive link (7) lower end and front roll bar (6) and front rod (9) forms compound hinges, the arm body of drive link (7) upper end and lower lift arm (13) is hinged, described middle link assembly comprises middle rocking bar (4) and middle connecting rod (5), described middle rocking bar (4) lower end is hinged in vehicle frame (1) postmedian, connecting rod (5) lower end during middle rocking bar (4) upper end is hinged, described middle connecting rod (5) upper end is hinged on the relief angle support body of tripod (11), described back link assembly comprises rear rocking bar (2) and back link (3), described rear rocking bar (2) lower end is hinged in vehicle frame (1) rear portion, rear rocking bar (2) upper end and back link (3) rear end are hinged, described back link (3) front end is hinged on the arm body of cursor (10), the driving of described front rocking bar (8), middle rocking bar (4) and rear rocking bar (2) is respectively correspondence and is located at rocking bar servomotor on vehicle frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104333.9A CN103848354B (en) | 2014-03-20 | 2014-03-20 | Three Degree Of Freedom servo-drive face-up transporting hoist of container crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410104333.9A CN103848354B (en) | 2014-03-20 | 2014-03-20 | Three Degree Of Freedom servo-drive face-up transporting hoist of container crane |
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| CN103848354A CN103848354A (en) | 2014-06-11 |
| CN103848354B true CN103848354B (en) | 2015-11-25 |
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| CN201410104333.9A Expired - Fee Related CN103848354B (en) | 2014-03-20 | 2014-03-20 | Three Degree Of Freedom servo-drive face-up transporting hoist of container crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104692262A (en) * | 2015-03-20 | 2015-06-10 | 武汉理工大学 | Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container |
| CN106437562A (en) * | 2016-12-09 | 2017-02-22 | 北京海格立斯智能装备技术有限公司 | Portable and detachable racking platform automatic pipe arranging device for workover rig |
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| 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 |
| 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 |
| 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 |
| CN103626044A (en) * | 2013-11-15 | 2014-03-12 | 钦州学院 | Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane |
| CN203754294U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-degree-of-freedom servo-driven container face crane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9108825B2 (en) * | 2004-09-29 | 2015-08-18 | Oceaneering International, Inc. | Rig supply handler |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN103626044A (en) * | 2013-11-15 | 2014-03-12 | 钦州学院 | Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane |
| CN203754294U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-degree-of-freedom servo-driven container face crane |
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Granted publication date: 20151125 Termination date: 20170320 |