CN103848355B - Three-freedom-degree connection rod mechanism type combination drive front swing-machine - Google Patents
Three-freedom-degree connection rod mechanism type combination drive front swing-machine Download PDFInfo
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- CN103848355B CN103848355B CN201410104334.3A CN201410104334A CN103848355B CN 103848355 B CN103848355 B CN 103848355B CN 201410104334 A CN201410104334 A CN 201410104334A CN 103848355 B CN103848355 B CN 103848355B
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Abstract
The invention discloses a kind of Three-freedom-degree connection rod mechanism type combination drive front swing-machine, its arm comprises cursor and upper and lower lift arm, and clamping device is installed in upper and lower lift arm front end; Its arm lifting mechanism is included in the front and rear connecting rods assembly that arm bilateral symmetry is arranged, front rod assembly comprises the front rocking bar and front rod of being located at arm front lower place, back link assembly comprises the quadric chain and drive link and rear rocking bar and back link of being located at arm rear, quadric chain comprises rocking bar, connecting rod and fork, the driving of rocking bar is the high-power conventional motor that correspondence is located on vehicle frame, and the driving of front rocking bar and rear rocking bar is the small-power servomotor that correspondence is located on vehicle frame.The present invention has three degree of freedom, and combine driving by high-power conventional motor and small-power servomotor, output trajectory is flexible and changeable, strong adaptability, operating efficiency is high, has larger Power output and the reliability of Geng Gao, and complete machine cost is more cheap, maintaining cost is lower.
Description
(1) technical field:
The present invention relates to port crane, specifically a kind of Three-freedom-degree connection rod mechanism type combination drive front swing-machine.
(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-freedom-degree connection rod mechanism type combination drive front swing-machine, 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-freedom-degree connection rod mechanism type combination drive front swing-machine 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, tripod is provided with corresponding to cursor upper end, the inferior horn support body of described 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, back link assembly, described front rod assembly comprises the front rocking bar and front rod of being located at arm front lower place, described front rocking bar lower end is hinged in vehicle frame front portion, rocking bar upper end before described front rod rear end is hinged, front rod upper end is hinged on the arm body of lower lift arm, described back link assembly comprises the quadric chain and drive link and rear rocking bar and back link of being located at arm rear, described quadric chain comprises rocking bar, connecting rod and fork, described rocking bar and fork lower end are hinged respectively at vehicle frame postmedian and rear portion, described connecting rod two ends are hinged with rocking bar and fork upper end respectively, the hinge point of described drive link rear end and connecting rod and fork forms compound hinges, the arm body of drive link front end and cursor is hinged, described rear rocking bar is hinged in vehicle frame postmedian, rocking bar upper end after described back link lower end is hinged, back link upper end is hinged on the relief angle support body of tripod, the driving of described rocking bar is the conventional motor that correspondence is located on vehicle frame, and the driving of described front rocking bar and rear rocking bar is respectively correspondence and is located at servomotor on vehicle frame.
The driving of described rocking bar adopts high-power conventional motor, and the driving of described front rocking bar and rear rocking bar adopts small-power servomotor respectively.
In said structure, realized the flexible of the rotation of cursor and lift arm by the change in location of arm lifting mechanism (three groups of link assemblies), finally realize clamping device to the crawl of container, handling and unloading.
Beneficial effect of the present invention:
1, Three-freedom-degree connection rod mechanism type combination drive front swing-machine of the present invention has three degree of freedom, driving is combined by a high-power conventional motor and two small-power servomotors, output trajectory is flexible and changeable, strong adaptability, operating efficiency is high, have larger Power output and the reliability of Geng Gao, and complete machine cost is more cheap, maintaining cost is lower.
2, the present invention realizes handling, lifting task by linkage, 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 rod hinge connection transmission, and all drive motors are installed in frame, effectively reduce 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, fork; 3, drive link; 4, rocking bar; 5, connecting rod; 6, rear rocking bar; 7, back 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-freedom-degree connection rod mechanism type combination drive front swing-machine 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, corresponding to cursor 10 upper end, tripod 11 is set, inferior horn support body hinge cursor 10 upper end that described tripod 11 is downward, 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 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 is included in forward and backward three groups of link assemblies that arm bilateral symmetry is arranged.
Described front rod assembly comprises is located at rocking bar 8 and front rod 9 before arm front lower place, and described front rocking bar 8 lower end is hinged in vehicle frame 1 front portion, and rocking bar 8 upper end before described front rod 9 rear end is hinged, front rod 9 upper end is hinged in the middle part of the arm body of lower lift arm 13.Described back link assembly is two groups, be respectively the quadric chain and drive link 3 and rear rocking bar 6 and back link 7 of being located at arm rear: described quadric chain comprises rocking bar 4, connecting rod 5 and fork 2, described rocking bar 4 and fork 2 lower end are hinged respectively at vehicle frame 1 postmedian and rear portion, described connecting rod 5 two ends are hinged with rocking bar 4 and fork 2 upper end respectively, the hinge point of described drive link 3 rear end and connecting rod 5 and fork 2 forms compound hinges, is hinged in the middle part of the arm body of drive link 3 front end and cursor 10; Described rear rocking bar 6 is hinged in vehicle frame 1 postmedian, and rocking bar 6 upper end after described back link 7 lower end is hinged, back link 7 upper end is hinged on tripod 11 relief angle support body backward, as shown in Figure 1.
The driving of described rocking bar 4 is the high-power conventional motor that correspondence is located on vehicle frame 1, and the driving of described front rocking bar 8 and rear rocking bar 6 is respectively correspondence and is located at small-power servomotor on vehicle frame 1.
As shown in Figure 2, the present invention is in the original state of preparation, and now cursor 10 rotates 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 (2)
1. Three-freedom-degree connection rod mechanism type combination drive front swing-machine, 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, tripod (11) is provided with corresponding to cursor (10) upper end, the inferior horn support body of described 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, described arm lifting mechanism is included in the front rod assembly that arm bilateral symmetry is arranged and the back link assembly arranged in arm bilateral symmetry, described front rod assembly comprises the front rocking bar (8) and front rod (9) of being located at arm front lower place, described front rocking bar (8) lower end is hinged in vehicle frame (1) front portion, rocking bar (8) upper end before described front rod (9) rear end is hinged, front rod (9) upper end is hinged on the arm body of lower lift arm (13), described back link assembly comprises the quadric chain and drive link (3) and rear rocking bar (6) and back link (7) of being located at arm rear, described quadric chain comprises rocking bar (4), connecting rod (5) and fork (2), described rocking bar (4) and fork (2) lower end are hinged respectively at vehicle frame (1) postmedian and rear portion, described connecting rod (5) two ends are hinged with rocking bar (4) and fork (2) upper end respectively, the hinge point of described drive link (3) rear end and connecting rod (5) and fork (2) forms compound hinges, the arm body of drive link (3) front end and cursor (10) is hinged, described rear rocking bar (6) is hinged in vehicle frame (1) postmedian, rocking bar (6) upper end after described back link (7) lower end is hinged, back link (7) upper end is hinged on the relief angle support body of tripod (11), the driving of described rocking bar (4) is the conventional motor that correspondence is located on vehicle frame (1), and the driving of described front rocking bar (8) and rear rocking bar (6) is respectively correspondence and is located at servomotor on vehicle frame (1).
2. Three-freedom-degree connection rod mechanism type combination drive front swing-machine according to claim 1, it is characterized in that: the driving of described rocking bar (4) is high-power conventional motor, and the driving of described front rocking bar (8) and rear rocking bar (6) is respectively small-power servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104334.3A CN103848355B (en) | 2014-03-20 | 2014-03-20 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104334.3A CN103848355B (en) | 2014-03-20 | 2014-03-20 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
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| Publication Number | Publication Date |
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| CN103848355A CN103848355A (en) | 2014-06-11 |
| CN103848355B true CN103848355B (en) | 2015-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410104334.3A Expired - Fee Related CN103848355B (en) | 2014-03-20 | 2014-03-20 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
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| CN110099738B (en) * | 2016-11-01 | 2022-03-29 | 生命科技股份有限公司 | Liquid mixing system with vertically adjustable mixing element and method of use thereof |
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| CN102094433A (en) * | 2010-12-10 | 2011-06-15 | 广西大学 | Hybrid-driven controllable excavation mechanism |
| 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 |
| CN103612997A (en) * | 2013-11-15 | 2014-03-05 | 钦州学院 | Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane |
| 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 |
| CN203754296U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-degree-of-freedom connecting-rod-mechanism-type hybrid-driven front-face lifting crane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9108825B2 (en) * | 2004-09-29 | 2015-08-18 | Oceaneering International, Inc. | Rig supply handler |
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2014
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102094433A (en) * | 2010-12-10 | 2011-06-15 | 广西大学 | Hybrid-driven controllable excavation mechanism |
| 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 |
| CN103612997A (en) * | 2013-11-15 | 2014-03-05 | 钦州学院 | Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane |
| 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 |
| CN203754296U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-degree-of-freedom connecting-rod-mechanism-type hybrid-driven front-face lifting crane |
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| CN103848355A (en) | 2014-06-11 |
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