CN203667845U - Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker - Google Patents
Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker Download PDFInfo
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- CN203667845U CN203667845U CN201320724987.2U CN201320724987U CN203667845U CN 203667845 U CN203667845 U CN 203667845U CN 201320724987 U CN201320724987 U CN 201320724987U CN 203667845 U CN203667845 U CN 203667845U
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Abstract
The utility model discloses a planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker.The container reach stacker comprises a suspension arm, a suspension arm lifting mechanism and a suspension arm telescoping mechanism, wherein the suspension arm comprises a rotating arm and a telescopic arm, the lower end of the rotating arm is hinged with the middle of a frame, the telescopic arm is mounted on the rotating arm through a sliding pair, and a clamping device is arranged on the telescopic arm; the suspension arm telescoping mechanism is arranged in front of the suspension arm and comprises telescopic four-bar linkagesandtelescopic driving rods which are symmetrically arranged on two sides of the telescopic arm, front ends of the telescopic driving rods are hinged with the telescopic arm, and hinged points of the rear ends of the telescopic driving rods with telescopic connecting rods form a compound hinge; and the suspension arm lifting mechanism is arranged in the rear of the suspension arm and comprises lifting four-bar linkages and lifting driving rods which are symmetrically arranged on two sides of the rotating arm, the front ends of the lifting driving rods are hinged with the rotating arm, and hinged points of the rear ends of the lifting driving rods with lifting connecting rods form a compound hinge. The planar two-DOF eleven-bar servo-driven container reach stacker has the advantages of small movement inertia, flexible track output, high precision and the like.
Description
(1) technical field:
The utility model relates to port crane, specifically a kind of plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes.
(2) background technology:
Face-up transporting hoist of container hoisting crane (also claiming container front crane) is a kind of important harbour machinery, has easy to operately, and stacking tier advantages of higher has been brought into play important effect in the operations such as all kinds of harbour container carryings, piling and transportation.As CN103332220A, CN101723256A, CN202322093U, CN2773035, the disclosed face-up transporting hoist of container hoisting crane of CN201890746U, be all to drive by combining of telescopic oil cylinder, pitching oil cylinder the task of finishing the work.
But the container front side hoisting crane of above-mentioned this quasi-tradition is pure hydraulic driven, its hydraulic efficiency pressure system exists that parts machining matching requirements are high, manufacture, maintenance, cost of upkeep are high, the not shortcoming such as length, leakage of oil of life-span.And the hoist mechanism of this quasi-tradition fisher's formula cascaded structure is because of the restriction of himself structure, exist the problems such as member heaviness, poor rigidity, inertia are large, joint error accumulation, dynamic performance is poor, is difficult to meet the high-speed overload job requirements of increasingly stringent.
(3) utility model content:
The purpose of this utility model is to provide a kind of plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes, can better solve conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble require high, maintaining cost is high, the not shortcoming such as length, leakage of oil of life-span.
Can realize the plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes of above-mentioned purpose, comprise the arm, arm lifting mechanism and the hoisting arm expansion mechanism that arrange based on vehicle frame, described arm comprises swivel arm and telescopic boom unlike the prior art, described swivel arm lower end is hinged in vehicle frame middle part, described telescopic boom is installed on swivel arm by sliding pair, and telescopic boom front end arranges fixing device; Described hoisting arm expansion mechanism is located at arm front, be included in flexible four-bar linkage and flexible drive link that arm bilateral symmetry arranges, described flexible four-bar linkage be included in the anterior forward and backward flexible rocking bar being hinged of vehicle frame and respectively with the shrinking connecting-rod of forward and backward flexible rocking bar hinge, the front end hinge telescopic boom of described flexible drive link, a hinge point of the rear end of flexible drive link and shrinking connecting-rod forms compound hinges; Described arm lifting mechanism is located at arm rear, be included in lifting four-bar linkage and lifting drive link that arm bilateral symmetry arranges, described lifting four-bar linkage be included in forward and backward lifting rocking bar that vehicle frame rear portion is hinged and respectively with the lifting linking member of forward and backward lifting rocking bar hinge, the front end hinge swivel arm of described lifting drive link, a hinge point of the rear end of lifting drive link and lifting linking member forms compound hinges.
In said structure, the flexible drive link being driven by flexible four-bar linkage is realized stretching out and bouncing back of telescopic boom as the driving of arm; The lifting drive link being driven by lifting four-bar linkage is as the driving of arm and realize the lifting of swivel arm.
The drive crank of described flexible four-bar linkage is front stretching rocking bar, and the common driver train of described front stretching rocking bar is the flexible servomotor arranging on vehicle frame; The drive crank of described lifting four-bar linkage is front lifting rocking bar, and the common driver train of described front lifting rocking bar is the lifting servomotor arranging on vehicle frame.
The beneficial effects of the utility model:
1, the utility model plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes by servomotor directly drive, linkage transmission is realized handling, lifting task, can effectively overcome conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble require high, maintaining cost is high, the not shortcoming such as length, leakage of oil of life-span.
2, the utility model integral structure is that outer revolute pair drives, and closes chain-drive form, and all servomotors are installed in frame, effectively reduce the weight of each member, have that movement inertia is little, track output flexibly, precision advantages of higher.
(4) accompanying drawing explanation:
Fig. 1 is the structural representation of a kind of embodiment of the utility model.
Fig. 2 is initial, the reset working state schematic representation of Fig. 1 embodiment.
Fig. 3 is the flexible working state schematic representation of Fig. 1 embodiment.
Fig. 4 is the lifting working state schematic representation of Fig. 1 embodiment.
Figure number mark: 1, vehicle frame; 2, swivel arm; 3, telescopic boom; 4, fixing device; 5, flexible drive link; 6, front stretching rocking bar; 7, rear flexible rocking bar; 8, shrinking connecting-rod; 9, lifting drive link; 10, front lifting rocking bar; 11, rear lifting rocking bar; 12, lifting linking member.
(5) specific embodiment:
Below in conjunction with accompanying drawing illustrated embodiment, the technical solution of the utility model is described further.
The utility model plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes comprise the arm, arm lifting mechanism and the hoisting arm expansion mechanism that arrange based on vehicle frame 1.
Described arm comprises swivel arm 2 and telescopic boom 3, the lower end of described swivel arm 2 is hinged in the middle part of vehicle frame 1, described telescopic boom 3 is installed on swivel arm 2 by sliding pair, in concrete a kind of mode, swivel arm 2 and telescopic boom 3 all adopt square steel tube, telescopic boom 3 is snug fit in swivel arm 2 in the suitable for reading of swivel arm 2, and the fixing device 4 that freight container is captured is located at the front end of telescopic boom 3, as shown in Figure 1.
Described hoisting arm expansion mechanism is located at arm front, be included in flexible four-bar linkage and flexible drive link 5 that arm bilateral symmetry arranges, described flexible four-bar linkage is included in anterior front stretching rocking bar 6, rear flexible rocking bar 7 and the shrinking connecting-rod 8 being hinged of vehicle frame 1, described shrinking connecting-rod 8 is hinged with front stretching rocking bar 6 and rear flexible rocking bar 7 respectively, the front end hinge telescopic boom 3 of described flexible drive link 5, the flexible rear end of drive link 5 and the hinge point of shrinking connecting-rod 8 and rear flexible rocking bar 7 form compound hinges; The common driver train of both sides front stretching rocking bar 6 is the flexible servomotor of being located on vehicle frame 1, as shown in Figure 1.
Described arm lifting mechanism is located at arm rear, be included in lifting four-bar linkage and lifting drive link 9 that arm bilateral symmetry arranges, described lifting four-bar linkage is included in front lifting rocking bar 10, rear lifting rocking bar 11 and the lifting linking member 12 that vehicle frame 1 rear portion is hinged, described lifting linking member 12 is hinged with front lifting rocking bar 10 and rear lifting rocking bar 11 respectively, the front end hinge swivel arm 2 of described lifting drive link 9, the hinge point between the rear end of lifting drive link 9 and lifting linking member 12 and rear lifting rocking bar 11 forms compound hinges; Before both sides, the common driver train of lifting rocking bar 10 is the lifting servomotor of being located on vehicle frame 1, as shown in Figure 1.
As shown in Figure 2, the initial condition of the utility model in dead work, swivel arm 2 is flat stretching forward, and telescopic boom 3 bounces back in swivel arm 2.
As shown in Figure 3, the utility model is under the driving of hoisting arm expansion mechanism, and telescopic boom 3 stretches out, and realizes the clamping to dead ahead freight container.
As shown in Figure 4, the utility model is combined under driving arm lifting mechanism and hoisting arm expansion mechanism, realizes carrying, lifting operation to freight container.
The utility model completes after unloading task, resets to initial condition as shown in Figure 2, prepares the clamping of next freight container, transport operation.
Claims (2)
1. plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes, comprise the arm, arm lifting mechanism and the hoisting arm expansion mechanism that arrange based on vehicle frame (1), it is characterized in that: described arm comprises swivel arm (2) and telescopic boom (3), described swivel arm (2) lower end is hinged in vehicle frame (1) middle part, it is upper that described telescopic boom (3) is installed on swivel arm (2) by sliding pair, and telescopic boom (3) front end arranges fixing device (4); Described hoisting arm expansion mechanism is located at arm front, be included in flexible four-bar linkage and flexible drive link (5) that arm bilateral symmetry arranges, described flexible four-bar linkage be included in the anterior forward and backward flexible rocking bar (6,7) being hinged of vehicle frame (1) and respectively with the shrinking connecting-rod (8) of forward and backward flexible rocking bar (6,7) hinge, the front end hinge telescopic boom (3) of described flexible drive link (5), a hinge point of the rear end of flexible drive link (5) and shrinking connecting-rod (8) forms compound hinges; Described arm lifting mechanism is located at arm rear, be included in lifting four-bar linkage and lifting drive link (9) that arm bilateral symmetry arranges, described lifting four-bar linkage be included in forward and backward lifting rocking bar (10,11) that vehicle frame (1) rear portion is hinged and respectively with the lifting linking member (12) of forward and backward lifting rocking bar (10,11) hinge, the front end hinge swivel arm (2) of described lifting drive link (9), a hinge point of the rear end of lifting drive link (9) and lifting linking member (12) forms compound hinges.
2. plane two-freedom 11 bar servo-drive face-up transporting hoist of container hoisting cranes according to claim 1, is characterized in that: the common driver train of described front stretching rocking bar (6) is in the upper flexible servomotor arranging of vehicle frame (1); The common driver train of described front lifting rocking bar (10) is in the upper lifting servomotor arranging of vehicle frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320724987.2U CN203667845U (en) | 2013-11-15 | 2013-11-15 | Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320724987.2U CN203667845U (en) | 2013-11-15 | 2013-11-15 | Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker |
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| Publication Number | Publication Date |
|---|---|
| CN203667845U true CN203667845U (en) | 2014-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320724987.2U Withdrawn - After Issue CN203667845U (en) | 2013-11-15 | 2013-11-15 | Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker |
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| CN (1) | CN203667845U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104724612A (en) * | 2015-03-20 | 2015-06-24 | 武汉理工大学 | Planar two-DOF (Degree Of Freedom) bidirectional reversible connecting rod-type reach stacker for container |
-
2013
- 2013-11-15 CN CN201320724987.2U patent/CN203667845U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104724612A (en) * | 2015-03-20 | 2015-06-24 | 武汉理工大学 | Planar two-DOF (Degree Of Freedom) bidirectional reversible connecting rod-type reach stacker for container |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140625 Effective date of abandoning: 20140917 |
|
| RGAV | Abandon patent right to avoid regrant |