CN117486101A - Six-degree-of-freedom lifting appliance upper frame and container shore bridge - Google Patents

Six-degree-of-freedom lifting appliance upper frame and container shore bridge Download PDF

Info

Publication number
CN117486101A
CN117486101A CN202210887382.9A CN202210887382A CN117486101A CN 117486101 A CN117486101 A CN 117486101A CN 202210887382 A CN202210887382 A CN 202210887382A CN 117486101 A CN117486101 A CN 117486101A
Authority
CN
China
Prior art keywords
frame body
layer frame
trolley
transverse
hinge point
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.)
Pending
Application number
CN202210887382.9A
Other languages
Chinese (zh)
Inventor
赵迎九
肖强
邱兆国
王大为
龚嘉程
曹磊
陈煜�
刘江浩
赵建君
谢文宗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huadian Lanke Technology Co Ltd
Original Assignee
Huadian Lanke Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Huadian Lanke Technology Co Ltd filed Critical Huadian Lanke Technology Co Ltd
Priority to CN202210887382.9A priority Critical patent/CN117486101A/en
Publication of CN117486101A publication Critical patent/CN117486101A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention relates to the technical field of unloading equipment, in particular to a six-degree-of-freedom lifting appliance upper frame and a container quay crane. The six-degree-of-freedom spreader upper frame includes: an upper layer frame body; the middle layer frame body is suitable for moving relative to the upper layer frame body along the movement direction of the trolley; the movable trolley is suitable for moving relative to the middle layer frame body along the movement direction of the trolley; the lower layer frame body is suitable for fixing the lifting appliance; the pitching assembly is suitable for driving the lower layer frame body to incline longitudinally relative to the movable trolley; the transverse tilting assembly is suitable for driving the lower layer frame to tilt transversely relative to the mobile trolley. According to the six-degree-of-freedom lifting appliance upper frame, the upper layer frame body, the middle layer frame body, the movable trolley and the lower layer frame body are arranged, and the actions such as mutual sliding or relative tilting are realized through the connecting structure, so that the six-degree-of-freedom lifting appliance upper frame can realize the functions of translation, rotation, tilting and the like, the efficiency of the lifting appliance in case alignment is improved, the complicated step of moving a shore bridge in case alignment is avoided, and the energy consumption is reduced.

Description

Six-degree-of-freedom lifting appliance upper frame and container shore bridge
Technical Field
The invention relates to the technical field of unloading equipment, in particular to a six-degree-of-freedom lifting appliance upper frame and a container quay crane.
Background
With the rapid development of shipping industry, higher efficiency requirements are placed on the handling equipment. The container quay bridge is used as a key loading and unloading device of a container wharf, directly plays an important role in ship operation and overall loading and unloading efficiency of the wharf, and due to the operation interval of the quay bridge, simply increasing the operation quantity of the quay bridge can not meet the demand of shipping customers on the efficiency of ship time. Therefore, increasing the efficiency of a single quay bridge becomes a great issue. In the loading and unloading process of the quay crane using the traditional lifting appliance to be put on the shelf, the box alignment operation is needed, and the quay crane driver is needed to operate the quay crane to frequently perform operations such as translation or rotation on the lifting appliance, so that the time is long, automation is difficult to realize, the loading and unloading efficiency of a single quay crane is severely restricted at the two points, and in addition, the whole quay crane is sometimes even needed to be moved to finish the movement of the lifting appliance in the direction of a cart, and the energy consumption of the quay crane is increased.
Disclosure of Invention
Therefore, the invention aims to overcome the defects of frequent actions and lower efficiency when the container shore bridge performs the box operation in the prior art, thereby providing the six-degree-of-freedom lifting appliance upper frame which is simple and convenient to operate and improves the efficiency.
The invention aims to overcome the defects of frequent actions and low efficiency when the container quay crane performs the box operation in the prior art, thereby providing the container quay crane which is simple and convenient to operate and improves the efficiency.
In order to solve the technical problems, the invention provides a six-degree-of-freedom lifting appliance upper frame, which comprises:
the upper layer frame body is rotatably provided with a lifting pulley which is suitable for driving the upper layer frame body to move up and down;
the middle layer frame body is in sliding contact with the upper layer frame body and is suitable for moving relative to the upper layer frame body along the movement direction of the trolley;
the movable trolley is in sliding contact with the middle layer frame body and is suitable for moving relative to the middle layer frame body along the movement direction of the trolley;
the lower layer frame body is directly or indirectly hung below the movable trolley and is suitable for fixing a lifting appliance;
the pitching assembly is suitable for directly or indirectly connecting the lower layer frame body and the movable trolley, and is suitable for driving the lower layer frame body to incline longitudinally relative to the movable trolley;
and the transverse inclination assembly is suitable for directly or indirectly connecting the lower-layer frame body with the movable trolley and is suitable for driving the lower-layer frame body to incline transversely relative to the movable trolley.
Optionally, the six-degree-of-freedom lifting appliance upper frame further comprises:
the support roller is rotatably arranged on the upper layer frame body, and the upper end of the support roller is in rolling contact with the lower surface of the middle layer frame body;
the trolley direction translation oil cylinder is suitable for driving the middle layer frame body to move along the trolley moving direction relative to the upper layer frame body, the fixed end of the trolley direction translation oil cylinder is connected with one of the upper layer frame body or the middle layer frame body, and the movable end of the trolley direction translation oil cylinder is connected with the other of the upper layer frame body or the middle layer frame body.
Optionally, the middle layer frame body is constructed as a quadrilateral frame structure, and the connection points of two adjacent frames of the middle layer frame body are hinged through the hinge points of the middle layer frame body;
the number of the trolley direction translation cylinders is two, the two trolley direction translation cylinders are reversely arranged, and the two trolley direction translation cylinders are suitable for driving the middle layer frame body to integrally translate along the trolley moving direction when one side of the trolley direction translation cylinders stretches out and the other side of the trolley direction translation cylinders retracts.
Optionally, the middle layer frame body is constructed as a quadrilateral frame structure, and the connection points of two adjacent frames of the middle layer frame body are hinged through the hinge points of the middle layer frame body;
the number of the trolley direction translation cylinders is two, the two trolley direction translation cylinders are reversely arranged, and the two trolley direction translation cylinders are suitable for driving the middle layer frame body to rotate around the hinge point of the middle layer frame body when simultaneously extending or retracting.
Optionally, the six-degree-of-freedom lifting appliance upper frame further comprises:
the trolley rolling wheels are rotatably arranged on the trolley, and the trolley is in rolling contact with the upper surface of the middle layer frame body through the trolley rolling wheels;
the cart direction translation oil cylinder is suitable for driving the mobile cart to move along the cart movement direction relative to the middle layer frame body, the fixed end of the cart direction translation oil cylinder is connected with one of the mobile cart or the middle layer frame body, and the movable end of the cart direction translation oil cylinder is connected with the other of the mobile cart or the middle layer frame body.
Optionally, the pitch assembly includes:
one end of the pitching oil cylinder is hinged with the movable trolley, and the other end of the pitching oil cylinder is hinged with a pitching thrust hinge point of the first end of the driving pitching plate;
the driving pitching plate is suitable for rotating around a first pitching fixed hinge point and driving the second end of the driving pitching plate to lift relative to the first pitching fixed hinge point;
the second end of the active trim plate is directly or indirectly hinged with the lower layer frame body through a first trim suspension hinge point.
Optionally, the pitch assembly further comprises:
one end of the pitching connecting rod is hinged with the driving pitching plate through a first pitching linkage hinge point, and the other end of the pitching connecting rod is hinged with a driven pitching plate arranged opposite to the driving pitching plate along the movement direction of the cart through a second pitching linkage hinge point;
the second pitching linkage hinge point is arranged at the first end of the driven pitching plate, and the driven pitching plate is suitable for rotating around the second pitching fixed hinge point and driving the second end of the driven pitching plate to lift relative to the second pitching fixed hinge point;
the second end of the driven trim plate is directly or indirectly hinged with the lower layer frame body through a second trim suspension hinge point.
Optionally, the heel assembly includes:
the transverse inclination bracket is directly or indirectly connected with the mobile trolley in a hanging way;
one end of the transverse inclination oil cylinder is hinged with the transverse inclination bracket, and the other end of the transverse inclination oil cylinder is hinged with the first end head of the active transverse inclination plate;
the driving transverse plate is suitable for rotating around a first transverse fixed hinge point and driving the second end of the driving transverse plate to lift relative to the first transverse fixed hinge point;
the second end of the active transverse plate is directly or indirectly hinged with the lower layer frame body through a first transverse suspension hinge point.
Optionally, the heel assembly further includes:
one end of the transverse connecting rod is hinged with the driving transverse plate through a first transverse linkage hinge point, and the other end of the transverse connecting rod is hinged with a driven transverse plate arranged opposite to the driving transverse plate along the movement direction of the trolley through a second transverse linkage hinge point;
the second transverse inclination linkage hinge point is arranged at the first end of the driven transverse inclination plate, and the driven transverse inclination plate is suitable for rotating around the second transverse inclination fixed hinge point and driving the second end of the driven transverse inclination plate to lift relative to the second transverse inclination fixed hinge point;
the second end of the driven transverse inclined plate is directly or indirectly hinged with the lower layer frame body through a second transverse inclined suspension hinge point.
Optionally, the active trim plate is perpendicular to the axis of rotation of the active trim plate.
The invention provides a container shore bridge, comprising:
the large frame is suitable for driving the container shore bridge to move along the moving direction of the large vehicle;
the cantilever is erected on the large frame and extends along the movement direction of the trolley;
and the lifting trolley is suitable for moving along the extending direction of the cantilever, and suspends the six-degree-of-freedom lifting appliance upper frame through a lifting steel wire rope.
The technical scheme of the invention has the following advantages:
1. according to the six-degree-of-freedom lifting appliance upper frame, the upper layer frame body, the middle layer frame body, the movable trolley and the lower layer frame body are arranged, and the actions such as mutual sliding or relative tilting are realized through the connecting structure, so that the six-degree-of-freedom lifting appliance upper frame can realize the functions of translation, rotation, tilting and the like, the efficiency of the lifting appliance in case alignment is improved, the complicated step of moving a shore bridge in case alignment is avoided, and the energy consumption is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a container shore bridge of the present invention;
FIG. 2 is a schematic view of the six degree of freedom spreader upper frame of the present invention from the perspective of the direction of movement of the trolley;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a top view of the mobile cart and middle layer frame of the present invention;
FIG. 5 is a top view of a middle layer frame of the present invention;
FIG. 6 is a left side view of FIG. 2;
FIG. 7 is a schematic view in section A-A of FIG. 2;
FIG. 8 is a diagram illustrating a cross tilt state of the lower frame;
FIG. 9 is a schematic view of a pitch assembly of the present invention;
FIG. 10 is a schematic view of the lower deck frame pitching toward the first side;
fig. 11 is a schematic view of the lower deck frame pitching toward the second side.
Reference numerals illustrate:
100. a six-degree-of-freedom lifting appliance upper frame; 200. a container shore bridge; 201. a cantilever; 202. a lifting trolley; 203. a large frame; 300. goods;
1. an upper layer frame body; 2. a moving trolley; 3. a middle layer frame body; 4. a lower layer frame body; 5. a lifting appliance;
6. lifting pulleys; 7. a trolley roller; 8. supporting rollers;
9. a trolley direction translation oil cylinder; 10. a cart direction translation oil cylinder;
11. a trim cylinder; 12. a pitch link; 13. an active trim plate; 14. a first pitch suspension hinge point; 15. a first trim fixed hinge point; 16. the first trim linkage hinge point; 17. pitch thrust hinge point; 18. the second pitching linkage hinge point; 19. a second trim fixed hinge point; 20. a second pitch suspension hinge point; 21. a driven trim plate;
22. a connecting plate; 23. a transverse tilting bracket; 24. the second transverse inclination linkage hinge point; 25. a driven transverse plate; 26. a second transverse suspension hinge point; 27. the second transverse inclination fixing hinge point; 28. a suspension connection plate; 29. a fixed end connecting plate of the transverse tilting oil cylinder; 30. a transverse tilting connecting rod; 31. a transverse tilting oil cylinder; 32. a transverse support connecting rod; 33. an active transverse plate; 35. a first fixed pivot point; 37. a first transverse suspension hinge point; 38. the first transverse inclination linkage hinge point;
34. a middle layer frame body hinge point; 36. lifting the steel wire rope; 39. a pivot point of the rotation center; 40. and (5) rotating the central rod.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Example 1
Referring to fig. 1 to 11, a six-degree-of-freedom spreader upper frame 100 according to the present embodiment includes:
the upper layer frame body 1 is rotatably provided with a lifting pulley 6 which is suitable for driving the upper layer frame body 1 to move up and down;
the middle layer frame body 3 is in sliding contact with the upper layer frame body 1 and is suitable for moving relative to the upper layer frame body 1 along the movement direction of the trolley;
the movable trolley 2 is in sliding contact with the middle-layer frame body 3 and is suitable for moving relative to the middle-layer frame body 3 along the movement direction of the trolley;
the lower layer frame body 4 is directly or indirectly suspended below the movable trolley 2, and the lower layer frame body 4 is suitable for fixing a lifting appliance 5;
the pitching assembly is suitable for directly or indirectly connecting the lower-layer frame body 4 and the movable trolley 2, and is suitable for driving the lower-layer frame body 4 to incline longitudinally relative to the movable trolley 2;
and the transverse inclination assembly is suitable for directly or indirectly connecting the lower-layer frame body 4 with the movable trolley 2, and is suitable for driving the lower-layer frame body 4 to incline transversely relative to the movable trolley 2.
Referring to fig. 2, the six-degree-of-freedom lifting appliance upper frame 100 provided in this embodiment includes an upper frame body 1 as a main frame, a lifting pulley 6 adapted to drive the upper frame body 1 to move up and down is rotatably provided on the upper frame body 1, and the lifting pulley 6 is suspended by a lifting wire rope 36, so as to realize lifting of the upper frame body 1, and further drive lifting of the six-degree-of-freedom lifting appliance upper frame 100 as a whole. Optionally, the upper frame 1 is configured as a frame structure.
The middle layer frame body 3 is arranged inside the frame of the upper layer frame body 1, and optionally, the middle layer frame body 3 is in sliding contact with the upper layer frame body 1, and the middle layer frame body 3 can move along the movement direction of the trolley relative to the upper layer frame body 1, so that the six-degree-of-freedom lifting appliance upper frame 100 is realized to drive goods to translate along the movement direction of the trolley. Optionally, the middle layer frame 3 is configured as a frame structure.
The travelling car 2 is arranged inside or above the frame of the middle layer frame 3. And optionally, the mobile trolley 2 is in sliding contact with the middle layer frame body 3, so that the mobile trolley 2 moves relative to the middle layer frame body 3 along the movement direction of the cart, and the six-degree-of-freedom lifting appliance upper frame 100 is realized to drive the goods to translate along the movement direction of the cart.
The travelling car 2 is directly or indirectly connected to the lower frame 4 via a connection plate 22, the lower frame 4 being adapted to secure a spreader 5, the spreader 5 being adapted to directly suspend cargo.
The pitching assembly is suitable for driving the lower-layer frame body 4 to incline longitudinally relative to the travelling car 2, and the rolling assembly is suitable for driving the lower-layer frame body 4 to incline transversely relative to the travelling car 2. Wherein tilting in the longitudinal direction refers to a rotation action in a plane perpendicular to the direction of movement of the cart; tilting in the transverse direction refers to an action of rotating in a plane perpendicular to the direction of movement of the trolley. The pitch component and the yaw component are two independent actuating mechanisms, and do not interfere with each other, and at this time, the lower frame 4 can tilt longitudinally and laterally relative to the travelling car 2.
The six-degree-of-freedom lifting appliance upper frame provided by the embodiment realizes actions such as mutual sliding or relative tilting through the connecting structure by arranging the upper layer frame body 1, the middle layer frame body 3, the movable trolley 2 and the lower layer frame body 4, so that the six-degree-of-freedom lifting appliance upper frame can realize functions such as translation, rotation and tilting, the efficiency of the lifting appliance in case alignment is improved, complicated steps of moving a quay bridge in case alignment are avoided, and the energy consumption is reduced.
Unlike the conventional immovable spreader upper frame, the six-degree-of-freedom spreader upper frame provided in this embodiment adopts a structure of a multi-layered spreader upper frame, and cylinders, which are a cart-direction translation cylinder 10, a cart-direction translation cylinder 9, and a heel cylinder 31 and a trim cylinder 11, are provided between the layers. The oil cylinders can work independently or in a combined mode to drive the layers of the upper frame of the lifting appliance to move relatively, so that the lifting appliance connected with the lower frame body is driven to perform operations such as translation, plane rotation or tilting. Specifically, when the lifting appliance needs to translate, the translation oil cylinders in the corresponding directions work, and the oil cylinders push out or retract to drive the lower layer frame body 4 to translate. When the lifting appliance needs to tilt, the tilting oil cylinder acts on the tilting rod group, and corresponding connecting rods in the tilting rod group move around hinge points to drive the lower layer frame body 4 to tilt. When the lifting appliance needs to rotate in a plane, the trolley works towards the oil cylinders, and the two oil cylinders extend or retract simultaneously, so that one end of the left end and the right end of the middle layer frame body 3 moves to the sea side, the other end moves to the land side, and the middle layer frame body 3 rotates around a hinge point of the middle layer frame body to drive the lifting appliance to complete the rotation in the plane. The specific structure and the action process are described in detail below.
Specifically, the six-degree-of-freedom spreader upper frame further includes:
the support roller 8 is rotatably arranged on the upper layer frame body 1, and the upper end of the support roller 8 is in rolling contact with the lower surface of the middle layer frame body 3;
the trolley direction translation oil cylinder 9 is suitable for driving the middle layer frame body 3 to move along the trolley movement direction relative to the upper layer frame body 1, the fixed end of the trolley direction translation oil cylinder 9 is connected with one of the upper layer frame body 1 or the middle layer frame body 3, and the movable end of the trolley direction translation oil cylinder 9 is connected with the other one of the upper layer frame body 1 or the middle layer frame body 3.
The support roller 8 arranged on the upper frame body 1 can support the lower surface of the middle frame body 3 in a rotating manner, and the middle frame body 3 translates relative to the upper frame body 1, so that the middle frame body 3 is guided, friction resistance is reduced, and the middle frame body 3 is convenient to move.
As shown in fig. 3, the number of the trolley direction translation cylinders 9 may be two, in this embodiment, two trolley direction translation cylinders 9 may be set on two sides along the movement direction of the trolley, where the fixed end of the trolley direction translation cylinder 9 on the first side is connected with the upper frame 1, and the movable end of the trolley direction translation cylinder 9 on the first side is connected with the middle frame 3; the trolley direction translation oil cylinders 9 on the second side are reversely arranged with the trolley direction translation oil cylinders 9 on the first side, one of the connecting points of the two oil cylinders and the middle layer frame body 3 is on the sea side, the other is on the land side, the fixed end of the trolley direction translation oil cylinders 9 on the second side is connected with the upper layer frame body 1, and the movable end of the trolley direction translation oil cylinders 9 on the second side is connected with the middle layer frame body 3. Because the upper layer frame body 1 is in a relatively static state, when the trolley direction translation oil cylinders 9 on two sides act in the opposite direction, the trolley direction translation oil cylinders 9 on the first side extend, the trolley direction translation oil cylinders 9 on the second side retract, and the middle layer frame body 3 and the upper layer frame body 1 perform relative movement in the trolley movement direction, so that the middle layer frame body 3 slides on the supporting rollers 8, and the integral translation of the middle layer frame body 3 on the upper layer frame body 1 is realized. When the middle layer frame body 3 moves, the movable trolley 2 is driven to move together with the middle layer frame body in the trolley direction, so that the lower layer frame body 4 and the lifting appliance 5 are driven to move.
In this embodiment, by changing the action forms of the two trolley direction translation cylinders 9, two actions of the middle layer frame 3 can be realized, namely: translating or rotating about a hinge point.
Specifically, the middle layer frame body 3 is configured as a quadrilateral frame structure, and the connection points of two adjacent frames of the middle layer frame body 3 are hinged via a middle layer frame body hinge point 34; the number of the trolley direction translation oil cylinders 9 is two, the two trolley direction translation oil cylinders 9 are reversely arranged, and the two trolley direction translation oil cylinders 9 are suitable for driving the middle layer frame body 3 to integrally translate along the trolley moving direction when one side extends out and the other side retracts.
Specifically, the middle layer frame body 3 is configured as a quadrilateral frame structure, and the connection points of two adjacent frames of the middle layer frame body 3 are hinged via a middle layer frame body hinge point 34; the number of the trolley direction translation cylinders 9 is two, the two trolley direction translation cylinders 9 are reversely arranged, and the two trolley direction translation cylinders 9 are suitable for driving the middle layer frame body 3 to rotate around the middle layer frame body hinge point 34 when extending or retracting simultaneously.
Referring to fig. 5, the middle layer frame 3 is configured as a quadrilateral frame structure, and the connection points of two adjacent frames of the middle layer frame 3 are hinged via a middle layer frame hinge point 34; meanwhile, the middle parts of the frames on two sides of the middle layer frame body 3 along the moving direction of the trolley are respectively provided with a rotation center hinge point 39, and a rotation center rod 40 is connected between the two rotation center hinge points 39. The rotary center rod 40 is in a fixed state in the working state, at this time, the frames on two sides of the middle frame body 3 along the moving direction of the trolley can only rotate around the rotary center hinge point 39, and correspondingly, the frames on two sides of the middle frame body 3 along the moving direction of the trolley rotate in a follow-up manner, so that two adjacent frames deform around the middle frame body hinge point 34.
The whole translation action of the middle layer frame body 3 is simultaneously driven by the two trolley direction translation oil cylinders 9, and when one side of the two trolley direction translation oil cylinders 9 extends and the other side is retracted, the whole middle layer frame body 3 still keeps a rectangular state, and the middle layer frame body 3 integrally translates relative to the upper layer frame body 1 along the trolley movement direction.
The rotation action of the middle layer frame body 3 is also driven by the two trolley direction translation oil cylinders 9, when the two trolley direction translation oil cylinders 9 extend or retract together, the middle layer frame body 3 rotates around the middle layer frame body hinge point 34, the middle layer frame body 3 is changed into a parallelogram from a rectangle, one side of the two sides of the long side of the middle layer frame body 3 moves to the sea side, and the other side moves to the land side, so that the rotation of the lifting appliance is driven.
Specifically, the six-degree-of-freedom spreader upper frame further includes:
the movable trolley roller 7 is rotatably arranged on the movable trolley 2, and the movable trolley 2 is in rolling contact with the upper surface of the middle layer frame body 3 through the movable trolley roller 7;
the cart direction translation oil cylinder 10 is suitable for driving the movable cart 2 to move along the cart movement direction relative to the middle layer frame body 3, the fixed end of the cart direction translation oil cylinder 10 is connected with one of the movable cart 2 or the middle layer frame body 3, and the movable end of the cart direction translation oil cylinder 10 is connected with the other of the movable cart 2 or the middle layer frame body 3.
The trolley roller 7 rotatably arranged on the trolley 2 is abutted against the upper surface of the middle layer frame body 3, and the trolley roller 7 moves on the middle layer frame body 3, so that the trolley 2 moves relative to the middle layer frame body 3.
Referring to fig. 4, the number of the cart direction translation cylinders 10 may be one or more, in this embodiment, one cart direction translation cylinder 10 is disposed on one side along the cart movement direction, and the fixed end of the cart direction translation cylinder 10 is connected with the middle layer frame 3, and specifically, the fixed end of the cart direction translation cylinder 10 is hinged with the rotation center rod 40 of the middle layer frame 3. The movable end of the cart direction translation cylinder 10 is connected with the movable cart 2. If the lifting appliance needs to translate in the movement direction of the cart, the cart direction translation oil cylinder 10 stretches out or retracts in, the movable cart 2 moves relatively to the middle-layer frame body 3 in the movement direction of the cart, and the lower-layer frame body 4 and the lifting appliance 5 are driven to move in the movement direction of the cart, so that the position of the lifting appliance 5 is adjusted in the direction of the cart.
Specifically, the trim assembly includes:
one end of the pitching oil cylinder 11 is hinged with the mobile trolley 2, and the other end of the pitching oil cylinder is hinged with a pitching thrust hinge point 17 of the first end of the driving pitching plate 13;
the active trim plate 13 is adapted to rotate around a first trim fixed hinge point 15, and drives the second end of the active trim plate 13 to lift relative to the first trim fixed hinge point 15;
the second end of the active trim panel 13 is directly or indirectly hinged to the lower frame 4 via a first trim suspension hinge point 14.
The pitching oil cylinder 11 is arranged on the mobile trolley 2, and drives the active pitching plate 13 to rotate through the expansion and contraction of the pitching oil cylinder 11, the active pitching plate 13 is suitable for rotating around the first pitching fixed hinge point 15, and drives the second end of the active pitching plate 13 to lift relative to the first pitching fixed hinge point 15, so that the lower-layer frame 4 is driven to incline longitudinally relative to the mobile trolley 2.
The number of the trim cylinders 11 may be one or more, and as shown in fig. 4, the number of the trim cylinders 11 may be two, and both the trim cylinders 11 are disposed on the same side in the traveling direction of the cart.
Specifically, the pitch assembly further comprises:
a pitch link 12 having one end connected to the driving pitch plate 13 by a first pitch linkage hinge point 16 and the other end connected to a driven pitch plate 21 provided opposite to the driving pitch plate 13 in the direction of movement of the vehicle by a second pitch linkage hinge point 18;
the second trim linkage hinge point 18 is disposed at a first end of the driven trim plate 21, and the driven trim plate 21 is adapted to rotate around the second trim fixed hinge point 19 and drive the second end of the driven trim plate 21 to lift relative to the second trim fixed hinge point 19;
the second end of the driven trim plate 21 is directly or indirectly hinged to the lower frame body 4 via a second trim suspension hinge point 20.
The driving pitch plate 13 and the driven pitch plate 21 are adapted to rotate in the same direction under the driving of the pitch link 12, but when the driving pitch plate and the driven pitch plate rotate in the same direction, the first pitch suspension hinge point 14 and the second pitch suspension hinge point 20 rise one by one and fall one by one, thereby realizing the overall pitch motion of the lower frame 4.
Optionally, the second end of the active trim plate 13 is connected to the trim assembly by a connection plate 22.
Specifically, the heel assembly includes:
the transverse inclination bracket 23 is directly or indirectly connected with the mobile trolley 2 in a hanging way;
one end of the transverse inclination oil cylinder 31 is hinged with the transverse inclination bracket 23, and the other end of the transverse inclination oil cylinder is hinged with the first end of the active transverse inclination plate 33;
the active transverse plate 33 is adapted to rotate around a first transverse fixed hinge point 35 and drive the second end of the active transverse plate 33 to lift relative to the first transverse fixed hinge point 35;
the second end of the active transverse plate 33 is directly or indirectly hinged with the lower frame 4 via a first transverse suspension hinge point 37.
As shown in fig. 7, the transverse support 23 is suspended below the connecting plate 22, the number of the transverse supports 23 is two, the two transverse supports 23 are oppositely arranged along the moving direction of the trolley, and a transverse support connecting rod 32 is arranged between the two transverse supports 23.
One end of the transverse tilting cylinder 31 is hinged with the transverse tilting bracket 23 through a transverse tilting cylinder fixed end connecting plate 29, and the other end of the transverse tilting cylinder is hinged with a first end of the active transverse tilting plate 33; the active transverse plate 33 is driven to rotate around the first transverse fixed hinge point 35 through the expansion and contraction of the transverse oil cylinder 31, and the second end of the active transverse plate 33 is driven to lift and fall relative to the first transverse fixed hinge point 35; thereby driving the lower layer frame body 4 to lift, the second end of the active transverse inclined plate 33 is connected with a suspension connecting plate 28, and the lower layer frame body 4 is driven to lift by the suspension connecting plate 28.
As shown in fig. 7, a moment arm structure is formed on the first end of the active transverse plate 33, one end of the moment arm structure is connected with the main body of the active transverse plate 33, the other end of the moment arm structure is hinged with the movable rod of the transverse oil cylinder 31, and the moment length of the active transverse plate 33 can be prolonged by arranging the moment arm structure on the active transverse plate 33, so that under the condition of smaller acting force, larger weight is driven to be lifted, and the leverage is achieved; and the space can be reasonably utilized, and the interference between the bottom of the active transverse tilting plate 33 and the lower layer frame body 4 is avoided.
Specifically, the heel assembly further comprises:
one end of the transverse connecting rod 30 is hinged with the driving transverse plate 33 through a first transverse linkage hinge point 38, and the other end of the transverse connecting rod is hinged with a driven transverse plate 25 which is arranged opposite to the driving transverse plate 33 along the movement direction of the trolley through a second transverse linkage hinge point 24;
the second transverse inclination linkage hinge point 24 is arranged at the first end of the driven transverse inclination plate 25, and the driven transverse inclination plate 25 is suitable for rotating around the second transverse inclination fixed hinge point 27 and drives the second end of the driven transverse inclination plate 25 to lift relative to the second transverse inclination fixed hinge point 27;
the second end of the driven transverse plate 25 is directly or indirectly hinged with the lower frame body 4 through a second transverse suspension hinge point 26.
The driving and driven transverse plates 33 and 25 are suitable for rotating in the same direction under the driving of the transverse connecting rod 30, but when the driving and driven transverse plates and the driven transverse plates rotate in the same direction, the first transverse linkage hinge point 38 and the second transverse linkage hinge point 24 rise one by one and fall down, so that the overall longitudinal tilting action of the lower frame body 4 is realized.
Specifically, the active trim plate 33 is perpendicular to the rotational axis of the active trim plate 13. So that the longitudinal tilt and the transverse tilt can rotate around two mutually perpendicular axes of rotation.
Optionally, the longitudinal tilting or transverse tilting of different angles is completed by the size of the telescopic quantity of the oil cylinder.
Example two
As shown in conjunction with fig. 1, this embodiment provides a container shore bridge 200, including:
the large frame 203 is suitable for driving the container shore bridge to move along the moving direction of the large vehicle;
the cantilever 201 is erected on the large frame 203 and extends along the movement direction of the trolley;
the trolley 202 is adapted to move in the extension direction of the boom 201, said trolley 202 suspending the six degree of freedom spreader upper frame as described in the above embodiment one via a hoisting cable 36.
Optionally, the lower frame body 4 is connected with a lifting appliance 5, and the lifting appliance 5 is used for lifting the goods 300, and the goods 300 can be a container.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (11)

1. A six degree of freedom spreader upper frame comprising:
the upper layer frame body (1) is rotatably provided with a lifting pulley (6) which is suitable for driving the upper layer frame body (1) to move up and down;
the middle layer frame body (3) is in sliding contact with the upper layer frame body (1) and is suitable for moving relative to the upper layer frame body (1) along the movement direction of the trolley;
the movable trolley (2) is in sliding contact with the middle layer frame body (3) and is suitable for moving relative to the middle layer frame body (3) along the movement direction of the trolley;
the lower layer frame body (4) is directly or indirectly suspended below the movable trolley (2), and the lower layer frame body (4) is suitable for fixing the lifting appliance (5);
the pitching assembly is suitable for directly or indirectly connecting the lower-layer frame body (4) and the movable trolley (2), and is suitable for driving the lower-layer frame body (4) to incline longitudinally relative to the movable trolley (2);
and the transverse inclination assembly is suitable for directly or indirectly connecting the lower-layer frame body (4) with the movable trolley (2), and is suitable for driving the lower-layer frame body (4) to incline transversely relative to the movable trolley (2).
2. The six degree of freedom spreader upper frame of claim 1 further comprising:
the support roller (8) is rotatably arranged on the upper layer frame body (1), and the upper end of the support roller (8) is in rolling contact with the lower surface of the middle layer frame body (3);
the trolley direction translation oil cylinder (9) is suitable for driving the middle layer frame body (3) to move relative to the upper layer frame body (1) along the trolley moving direction, the fixed end of the trolley direction translation oil cylinder (9) is connected with one of the upper layer frame body (1) or the middle layer frame body (3), and the movable end of the trolley direction translation oil cylinder (9) is connected with the other of the upper layer frame body (1) or the middle layer frame body (3).
3. The six degree of freedom spreader upper frame according to claim 2, characterized in that the middle layer frame body (3) is constructed as a quadrangular frame structure, the connection points of two adjacent frames of the middle layer frame body (3) are hinged via a middle layer frame body hinge point (34);
the number of the trolley direction translation cylinders (9) is two, the two trolley direction translation cylinders (9) are reversely arranged, and the two trolley direction translation cylinders (9) are suitable for driving the middle layer frame body (3) to integrally translate along the trolley moving direction when one side extends and the other side retracts.
4. The six degree of freedom spreader upper frame according to claim 2, characterized in that the middle layer frame body (3) is constructed as a quadrangular frame structure, the connection points of two adjacent frames of the middle layer frame body (3) are hinged via a middle layer frame body hinge point (34);
the number of the trolley direction translation cylinders (9) is two, the two trolley direction translation cylinders (9) are reversely arranged, and the two trolley direction translation cylinders (9) are suitable for driving the middle layer frame body (3) to rotate around the middle layer frame body hinge point (34) when the two trolley direction translation cylinders (9) extend or retract simultaneously.
5. The six degree of freedom spreader upper frame of claim 1 further comprising:
the movable trolley roller (7) is rotatably arranged on the movable trolley (2), and the movable trolley (2) is in rolling contact with the upper surface of the middle layer frame body (3) through the movable trolley roller (7);
the trolley direction translation oil cylinder (10) is suitable for driving the movable trolley (2) to move along the trolley movement direction relative to the middle layer frame body (3), the fixed end of the trolley direction translation oil cylinder (10) is connected with one of the movable trolley (2) or the middle layer frame body (3), and the movable end of the trolley direction translation oil cylinder (10) is connected with the movable trolley (2) or the other one of the middle layer frame bodies (3).
6. The six degree of freedom spreader upper frame of any one of claims 1-5 wherein the trim assembly includes:
one end of the pitching oil cylinder (11) is hinged with the movable trolley (2), and the other end of the pitching oil cylinder is hinged with a pitching thrust hinge point (17) of the first end of the driving pitching plate (13);
the driving trim plate (13) is suitable for rotating around a first trim fixed hinge point (15) and driving the second end of the driving trim plate (13) to lift relative to the first trim fixed hinge point (15);
the second end of the active trim plate (13) is directly or indirectly hinged with the lower layer frame body (4) through a first trim suspension hinge point (14).
7. The six degree of freedom spreader upper frame of claim 6 wherein the trim assembly further comprises:
a pitch link (12) having one end connected to the driving pitch plate (13) by a first pitch linkage hinge point (16) and the other end connected to a driven pitch plate (21) provided opposite to the driving pitch plate (13) in the direction of movement of the vehicle by a second pitch linkage hinge point (18);
the second pitching linkage hinge point (18) is arranged at the first end of the driven pitching plate (21), and the driven pitching plate (21) is suitable for rotating around the second pitching fixed hinge point (19) and drives the second end of the driven pitching plate (21) to lift relative to the second pitching fixed hinge point (19);
the second end of the driven trim plate (21) is directly or indirectly hinged with the lower layer frame body (4) through a second trim suspension hinge point (20).
8. The six degree of freedom spreader upper frame of any one of claims 1-5 wherein the cross tilt assembly includes:
the transverse inclination bracket (23) is directly or indirectly connected with the mobile trolley (2) in a hanging way;
one end of the transverse inclination oil cylinder (31) is hinged with the transverse inclination bracket (23), and the other end of the transverse inclination oil cylinder is hinged with the first end of the active transverse inclination plate (33);
the active transverse tilting plate (33) is suitable for rotating around a first transverse tilting fixed hinge point (35) and driving the second end of the active transverse tilting plate (33) to lift relative to the first transverse tilting fixed hinge point (35);
the second end of the active transverse tilting plate (33) is directly or indirectly hinged with the lower layer frame body (4) through a first transverse tilting suspension hinge point (37).
9. The six degree of freedom spreader upper frame of claim 8 wherein the cross tilt assembly further comprises:
one end of the transverse connecting rod (30) is hinged with the driving transverse plate (33) through a first transverse linkage hinge point (38), and the other end of the transverse connecting rod is hinged with a driven transverse plate (25) arranged opposite to the driving transverse plate (33) along the movement direction of the trolley through a second transverse linkage hinge point (24);
the second transverse inclination linkage hinge point (24) is arranged at the first end of the driven transverse inclination plate (25), and the driven transverse inclination plate (25) is suitable for rotating around the second transverse inclination fixed hinge point (27) and drives the second end of the driven transverse inclination plate (25) to lift relative to the second transverse inclination fixed hinge point (27);
the second end of the driven transverse inclined plate (25) is directly or indirectly hinged with the lower layer frame body (4) through a second transverse inclined suspension hinge point (26).
10. The six degree of freedom spreader upper frame of claim 8 wherein the active spreader plate (33) is perpendicular to the axis of rotation of the active trim plate (13).
11. A container quay bridge comprising:
a large frame (203) which is suitable for driving the container shore bridge to move along the moving direction of the large vehicle;
the cantilever (201) is erected on the large frame (203) and extends along the movement direction of the trolley;
a trolley (202) adapted to move in the extension direction of the boom (201), the trolley (202) suspending the six degree of freedom spreader upper frame according to any one of the preceding claims 1-10 via a hoisting wire (36).
CN202210887382.9A 2022-07-26 2022-07-26 Six-degree-of-freedom lifting appliance upper frame and container shore bridge Pending CN117486101A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210887382.9A CN117486101A (en) 2022-07-26 2022-07-26 Six-degree-of-freedom lifting appliance upper frame and container shore bridge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210887382.9A CN117486101A (en) 2022-07-26 2022-07-26 Six-degree-of-freedom lifting appliance upper frame and container shore bridge

Publications (1)

Publication Number Publication Date
CN117486101A true CN117486101A (en) 2024-02-02

Family

ID=89669549

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210887382.9A Pending CN117486101A (en) 2022-07-26 2022-07-26 Six-degree-of-freedom lifting appliance upper frame and container shore bridge

Country Status (1)

Country Link
CN (1) CN117486101A (en)

Similar Documents

Publication Publication Date Title
CN101111447A (en) Head frame used for jointing with hanger
CN111498704A (en) Vehicle body type gantry crane
HU213557B (en) Lifting device
CN2373421Y (en) Three generation double-container sling for container
KR101275401B1 (en) Bridge crane or gantry crane comprising a revolving arrangement and lifting frames suspended thereunder
CN108840248A (en) A kind of new type mining pipeline snatch device
CN216426460U (en) Container spreader and container handling system
CN214653418U (en) But folding flexible insulating arm platform of fly arm formula double platform of multi-angle motion
CN117486101A (en) Six-degree-of-freedom lifting appliance upper frame and container shore bridge
WO2023016130A1 (en) Lifting tool and lifting equipment
CN214653419U (en) Crank arm type double-platform folding telescopic insulating arm capable of moving at multiple angles
CN114803816A (en) Lifting device and operation machine
CN212024509U (en) Vertical shaft tank leveling device for unilateral roadway mine
CN211056508U (en) Movable X-shaped hanger upper frame
CN217972308U (en) Anchor rod crane with lifting platform
CN218785942U (en) Battery replacing equipment
CN117509456A (en) Lifting appliance upper frame and lifting equipment
CN110790163A (en) Multi-dimensional lifting appliance for container
CN221370307U (en) Multi-angle cantilever crane for crane
CN218085454U (en) Battery replacing mechanism
CN210973670U (en) Multi-dimensional lifting appliance for container
CN220334616U (en) Omnidirectional multi-drive walking crane
CN212222338U (en) Bridge type container front lifting machine
CN221521863U (en) Cantilever crane
CN215364619U (en) Three-degree-of-freedom folding mechanical arm and crane

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination