CN102659044B - Three-degree-of-freedom crane for assembly - Google Patents

Abstract

The invention discloses a three-degree-of-freedom crane for assembly and belongs to the field of assembly of heavy equipment. An L-shaped base bracket (200) is fixed on the ground; a hydraulic pump station (100) is arranged on the rear of the L-shaped base bracket (200); a swinging part (300) is hinged on the L-shaped base bracket (200); a swinging rack swings through a swinging hydraulic cylinder (306); a lifting hydraulic cylinder (401) winds around a chain wheel (404) on a lifting crossbeam (402) through a chain (405); a rotating part (500) which is arranged in a slideway of a swinging part (400) is pulled to lift; and a hydraulic motor (507) drives an assembled piece (600) to rotate through a reduction box (508) and a rotating support (509), so that the assembled piece (600) is controllably lifted, rotated and pitched, can be adjusted to an optimal position and posture and is conveniently assembled with other parts; and therefore, the production efficiency and assembling quality are improved.

Description

Three-degree-of-freedom crane for assembly

technical field

The invention belongs to the field of comprehensive test assembly, and is an assembly device capable of realizing three degrees of freedom motions of pitching, lifting and turning.

Background technique

Lifting devices are widely used equipment in industrial production, which can reduce the labor intensity of workers. At present, one type of lifting device commonly used in industrial production is to realize the lifting of heavy objects through crane cables. It can realize the lifting of heavy objects, but it is difficult to realize rotation, tilting and other actions, which cannot meet the needs of industrial production.

Existing patents such as CN02295585.2 refer to a large-scale equipment closing and centering device, which discloses a large-scale equipment centering device used in the shipbuilding industry, which can complete the attitude adjustment of the six degrees of freedom of the workpiece, but due to its It takes up a lot of space, and the lifting stroke is small, and it will greatly increase the economic cost when used in the general machinery industry.

Existing patent such as CN87208440U provides a kind of multifunctional movable electric hoist that can finish three kinds of work of crane, press machine and hoist on a set of devices in addition, can finish the lifting control of workpiece, but It is not possible to adjust the attitude of the workpiece such as pitch and rotation.

The invention provides a three-degree-of-freedom crane for assembly, which can adjust the three attitudes of pitching, lifting and turning of workpieces to meet the needs of industrial production.

Contents of the invention

The technical problem to be solved by the present invention is to provide a set of hydraulic operating system and actuator to realize the movement of the large mass object to be assembled in three degrees of freedom of pitching, lifting and turning;

In order to solve the above technical problems, the present invention discloses a three-degree-of-freedom crane for assembly, including:

Hydraulic pump station, L-shaped base bracket, swing part, lifting part and slewing part;

The L-shaped base bracket is placed on the ground, and the bolts are fixed to the ground through the through holes at the four corners of the three anchor bolt connection plates of the L-shaped base bracket;

The hydraulic pump station is placed at the rear of the L-shaped base bracket. The hydraulic pump station integrates the power components and control components of the hydraulic system. The output of the hydraulic pump station is connected to the two swing hydraulic cylinders of the swing part and the lift of the lifting part through hoses. The hydraulic cylinder and the hydraulic motor of the rotary part are connected;

The two swing shaft seats of the swing part are fixed to the two connecting square plates on the upper part of the L-shaped base bracket by bolts, and the bottom is connected by two swing hydraulic cylinders and the two swing hydraulic cylinder hinged supports on the L-shaped base bracket through pins. Hinged to form a revolving joint;

The two T-shaped guide rails of the lifting part are fixed to the rear side of the two M-shaped guide rail beams of the swinging part through three T-shaped guide rail supports on each side; the lower cylinder head of the lifting hydraulic cylinder of the lifting part is hinged to the lifting hydraulic cylinder of the swinging part The support is hinged by pins to form a rotating pair; the four spring chain connectors at the lower part of the lifting part are connected and fixed with the four holes a1, a2, a3 and a4 on the chain fixed end connecting plate of the swing part through springs and bolts;

The two U-shaped slide rails of the revolving part are installed into the two M-shaped guide rail beams of the swinging part, and cooperate with each other to form a sliding pair; The four chain connectors are fixed with bolts and nuts;

The assembled parts are connected to the inner ring of the slewing bearing by bolts, and can be driven to rotate when the hydraulic motor rotates.

The L-shaped base support is welded into a rectangular base by four square steel pipes of equal length, and three anchor bolt connection plates with through holes at the four corners are welded at the bottom of the rectangular base, and two hinged supports of the swing hydraulic cylinder are welded in the middle. Two square steel pipes of equal length are vertically welded on both sides of one end of the rectangular base, and two square steel pipes are used to obliquely weld the vertical square steel pipe and the square steel pipe of the base to strengthen.

The swing part includes: two M-shaped guide rail beams, two fixed plates, a bottom plate, two swing shafts, two swing shaft seats, two swing hydraulic cylinders, two swing hydraulic cylinder hinged supports, supports, and lifting hydraulic cylinders Hinged support and chain fixed end connection plate;

The notches of the two M-shaped guide rail beams are opposite to each other, the upper part is fixed by two fixed plates on both sides with bolts, and the two ends of the bottom are fixed by the bottom plate through bolts, and the grooved track formed is matched with the two U-shaped slide rails of the rotary part. , to form a sliding pair; the flanges with evenly distributed through holes at one end of the two swing shafts are respectively fixed to the back of the middle part of the two M-shaped guide rail beams by bolts, and the short shafts at the other end match the holes of the two swing shaft seats to form a rotating pair; The square flange plate on the connecting plate at the fixed end of the chain is respectively fixed to the rear side of the middle part of the two M-shaped guide rail beams by bolts; one end of the hinged support of the two swing hydraulic cylinders is respectively fixed to the lower part of the two M-shaped guide rail beams by bolts, The other ends are respectively hinged with the heads of the two swing hydraulic cylinders through pins to form a rotating pair; when the swing hydraulic cylinder expands and contracts, the M-shaped guide rail beam is pushed and pulled to make the swing part swing around the swing axis;

The M-shaped guide rail beam is a guide rail beam with two grooves processed on one side of the steel with a rectangular cross-section to make the cross-section "M";

The swing shaft is a short shaft with a circular flange at one end and four through holes evenly distributed on the flange;

The swing shaft seat is a cuboid with a through hole matched with the swing shaft in the middle horizontal direction. Its lower end has a raised edge and four through holes are opened on the raised edge. These four through holes are connected with the four threads of the square plate. holes match

The connecting plate at the fixed end of the chain is a trapezoidal plate, the part that interferes with the lifting hydraulic cylinder and the rotating part is cut off, four holes a1, a2, a3 and a4 are opened in the middle of the trapezoidal plate, and the remaining parts on both sides of the bottom of the trapezoidal plate are welded. square flange plate to be bolted to the middle of the rear side of the M-shaped rail beam;

The lifting part includes: lifting hydraulic cylinder, lifting beam, two sliding shoes, four sprockets, four chains, four chain connectors, four spring chain connectors, two T-shaped guide rails, six T-shaped guide rail supports seat and bushing;

The upper end connector of the lifting hydraulic cylinder is sleeved on the boss in the middle of the lifting beam through a hinge ring; two sprockets are respectively installed on both sides of the lifting beam, and are positioned axially through the bushing; the blind hole ends of the two sliding shoes are respectively sleeved At both ends of the lifting beam, the other end is matched with two T-shaped guide rails to form a sliding pair; the two T-shaped guide rails are respectively fixed with three T-shaped guide rail supports by bolts; the four chains are respectively wound on the four sprockets On the top, the chain head is connected to the four chain connectors respectively, and the chain tail is connected to the four spring chain connectors respectively;

One end of the sliding shoe has a groove matching the T-shaped guide rail, and the other end has a cylindrical blind hole matching the lifting beam;

The spring chain connector is a connector where the spring is first loaded into the nut end of the chain connector, and then screwed into the nut;

The T-shaped guide rail is a long guide rail with a "T" shape in section;

The rotary part includes: front plate, two side plates, bottom plate, top plate, middle plate, two U-shaped slide rails, hydraulic motor, reduction box and slewing support;

The front plate is a rectangular plate with a round hole matching the inner diameter of the outer ring of the slewing support in the center, and threaded holes matching the through holes on the outer ring of the slewing support are evenly distributed on the circumference concentric with the round hole;

The top plate has four holes b1, b2, b3 and b4;

The U-shaped slide rail is a groove that is processed in the middle of one side of the square steel with a square cross-section to make the cross-section a "U"-shaped slide rail. The groove size of the cross-section matches the cross-section size of the M-shaped guide rail beam. The two constitute a sliding pair;

The front plate, two side plates, the bottom plate, and the top plate are welded into a rectangular frame with only one end open; the middle plate is parallel to the top plate and the bottom plate and welded on the inner side of the side plate and the front plate, and the upper cavity and the lower cavity are divided into rectangular frames with equal volume; Two U-shaped slide rails are respectively welded on the side plates on both sides of the above-mentioned rectangular frame; the width of the rectangular frame makes the U-shaped slide rails on both sides match with the inner slideways formed by two M-shaped guide rail beams to form a sliding pair ;

The flange of the hydraulic motor is fixed on the reduction box by bolts, and the output shaft of the hydraulic motor is inserted into the hole of the input shaft of the reduction box, and connected together by a key, so that the hydraulic motor drives the reduction box to rotate; the reduction box is connected by bolts and nuts Fixed on the middle plate, gear teeth are formed at the output end of the reduction box, which meshes with the inner ring teeth of the slewing support, so that the inner ring of the slewing support rotates under the action of the hydraulic motor and driven by the reduction box.

Compared with the prior art, the present invention has the following advantages:

The invention provides a three-degree-of-freedom crane for assembly, which can adjust three postures of a workpiece, including pitching, lifting and turning, taking into account both work efficiency and economic cost, so as to meet the needs of industrial production and improve production efficiency.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a crane with three degrees of freedom for assembly;

Fig. 2 is a schematic diagram of the structure of the L-shaped base support of the three-degree-of-freedom crane for assembly;

Fig. 3 is a structural schematic diagram of the swing part of the three-degree-of-freedom crane for assembly;

Fig. 4 is a top view of the chain fixed end connecting plate 310;

Fig. 5 is a structural schematic diagram of the lifting part of the three-degree-of-freedom crane for assembly;

Fig. 6 is the C-C sectional view of Fig. 6;

Fig. 7 is a structural schematic diagram of the rotating part of the three-degree-of-freedom crane for assembly;

Fig. 8 is a D-D sectional view of Fig. 8;

Fig. 9 is a hydraulic system diagram of a three-degree-of-freedom crane for assembly.

Among Fig. 1 to Fig. 9, comprise: square steel pipe 201, anchor bolt connecting plate 202, vertical square steel pipe 203, square steel pipe 204, connect square plate 205, swing hydraulic cylinder hinge support 206, M shape guide rail beam 301, fix Plate 302, bottom plate 303, swing shaft 304, swing shaft seat 305, swing hydraulic cylinder 306, swing hydraulic cylinder hinge support 307, support 308, lift hydraulic cylinder hinge support 309, chain fixed end connecting plate 310, lift hydraulic cylinder 401, lifting beam 402, sliding shoe 403, sprocket 404, chain 405, chain connector 406, chain spring connector 407, T-shaped guide rail 408, T-shaped guide rail support 409, bushing 410, front plate 501, side plate 502, bottom plate 503, top plate 504, middle plate 505, U-shaped slide rail 506, hydraulic motor 507, reduction box 508, slewing support 509, balance valve 601, balance valve 602.

Detailed ways

The present invention will be described in further detail below in conjunction with accompanying drawings and examples.

The core concept of the present invention is to design a set of hydraulic operating system and actuator to realize the motion of three degrees of freedom of pitching, lifting and turning of a large mass object to be assembled, so as to meet the needs of position and attitude adjustment during assembly.

As shown in Figure 1, the three-degree-of-freedom crane for assembly is composed of a hydraulic pump station 100, an L-shaped base support 200, a swing part 300, a lifting part 400, and a slewing part 500;

The L-shaped base support 200 is placed on the ground, and is fixed to the ground through the through holes at the four corners of the three anchor bolt connecting plates 202 of the L-shaped base support 200 with bolts;

The hydraulic pump station 100 is placed at the rear of the L-shaped base bracket 200. The hydraulic pump station 100 integrates the power elements and control elements of the hydraulic system shown in FIG. A swing hydraulic cylinder 306, the lifting hydraulic cylinder 401 of the lifting part 400 and the hydraulic motor 507 of the rotary part 500 are connected;

The two swing shaft seats 305 of the swing part 300 are fixed on the two connecting square plates 205 on the top of the L-shaped base bracket 200 by bolts, and the bottom is composed of two swing hydraulic cylinders 306 and two swing hydraulic cylinders on the L-shaped base bracket 200 The hinged support 206 is hinged by pins to form a rotating pair;

The two T-shaped guide rails 408 of the lifting part 400 are fixed on the rear sides of the two M-shaped guide rail beams 301 of the swing part 300 through three T-shaped guide rail supports 409 on each side; The hinged support 309 of the lifting hydraulic cylinder of the swing part 300 is hinged by pins to form a rotating pair; the four spring chain connectors 407 at the bottom of the lift part 400 are connected to the four holes a1, a2, a3 and a4 are fixed by spring and bolt connection;

The two U-shaped slide rails 506 of the rotary part 500 are installed in the two M-shaped guide rail beams 301 of the swing part 300, and cooperate with each other to form a sliding pair; the rotary part 500 passes through the four holes b1 and b2 on the top plate 504 of the rotary part 500 , b3 and b4 are respectively connected with the four chain connectors 406 on the top of the lifting part 400 with bolts and nuts.

As shown in Figure 2, the L-shaped base support 200 is welded into a rectangular base by four square steel pipes 201 of equal length, and three anchor bolt connecting plates 202 with through holes at the four corners are welded at the bottom of the rectangular base, and two swing The hydraulic cylinder articulated support 206 is welded respectively on both sides of the anchor bolt connecting plate 202 in the middle; two square steel pipes 203 equal in length are vertically welded on both sides of one end of the rectangular base, and the vertical steel pipes 203 are connected by two square steel pipes 204 respectively. Rectangular steel pipe 203 and base square steel pipe 201 are obliquely welded and strengthened, and the connection between vertical square steel pipe 203 and base square steel pipe 201 and anchor bolt connecting plate 202 is welded and strengthened with triangular ribs, and the two vertical square steel pipes 203 Two connecting square plates 205 with threaded holes at the four corners are respectively welded on the upper end surface;

As shown in Figure 3, the swing part 300 includes: two M-shaped guide rail beams 301, two fixed plates 302, a base plate 303, two swing shafts 304, two swing shaft seats 305, two swing hydraulic cylinders 306, two A swing hydraulic cylinder hinged support 307, a support 308, a lifting hydraulic cylinder hinged support 309 and a chain fixed end connecting plate 310;

The M-shaped guide rail beam 301 is a guide rail beam with an "M"-shaped cross section processed with two grooves on one side of a steel material with a rectangular cross section;

The swing shaft 304 is a short shaft with a circular flange at one end and four through holes evenly distributed on the flange;

The swing shaft seat 305 is a cuboid with a through hole matched with the swing shaft 304 in the horizontal direction in the middle. Its lower end has a raised edge and four through holes are provided on the raised edge. The four threaded holes match;

As shown in Figure 4, the connecting plate 310 at the fixed end of the chain is a trapezoidal plate, the part that interferes with the lifting hydraulic cylinder 401 and the rotating part 500 is cut off, and four holes a1, a2, a3 and a4 are opened in the middle of the trapezoidal plate. The remaining parts on both sides of the bottom of the trapezoidal plate are welded with a square flange plate so as to be connected to the middle part of the rear side of the M-shaped guide rail beam 301 by bolts;

The notches of the two M-shaped guide rail beams 301 are opposite to each other, the upper part is fixed by two fixed plates 302 on both sides by bolts, and the two ends of the bottom are fixed by the bottom plate 303 by bolts, forming a grooved track and two U-shaped turning parts 500 The slide rails 506 cooperate to form a sliding pair; the flanges with through holes at one end of the two swing shafts 304 are respectively fixed on the back of the middle part of the two M-shaped guide rail beams 301 by bolts, and the short shafts at the other ends are connected to the two swing shaft seats 305. The holes are matched to form a rotating pair; the square flange plates on the connecting plate 310 at the fixed end of the chain are respectively fixed to the rear side of the middle part of the two M-shaped guide rail beams by bolts; one end of the two swing hydraulic cylinder hinge supports 307 is respectively fixed by bolts At the lower part of the two M-shaped guide rail beams 301, the other ends are respectively hinged with the heads of the two swing hydraulic cylinders 306 through pins to form a revolving pair; when the swing hydraulic cylinders 306 expand and contract, push and pull the M-shaped guide rail beams 301 to make the swing part 300 swings around a swing axis 304 .

As shown in Figure 5, the lifting part 400 includes: a lifting hydraulic cylinder 401, a lifting beam 402, two sliding shoes 403, four sprockets 404, four chains 405, four chain connectors 406, and four spring chain connectors 407, two T-shaped guide rails 408, six T-shaped guide rail supports 409 and axle sleeves 410;

One end of the sliding shoe 403 has a groove matching with the T-shaped guide rail 408, and the other end has a cylindrical blind hole matching with the lifting beam 402;

The spring chain connector 407 is to load spring at the nut end of the chain connector first, and then screw into the connector of the nut;

The T-shaped guide rail 408 is a long guide rail with a "T" shape in section;

As shown in Figure 6, the upper end connector of the lifting hydraulic cylinder 401 is sleeved on the boss in the middle of the lifting beam 402 through a hinge ring; two sprockets 404 are respectively installed on both sides of the lifting beam 402, and are axially positioned through the shaft sleeve 410 The blind hole ends of the two sliding shoes 403 are respectively set on the two ends of the lifting beam 402, and the other ends are respectively matched with two T-shaped guide rails 408 to form a sliding pair; the two T-shaped guide rails 408 are connected with three T-shaped guide rails respectively The seat 409 is fixed by bolts; the four chains 405 are respectively wound on the four sprockets 404, the chain heads are respectively connected with the four chain connectors 406, and the chain tails are respectively connected with the four spring chain connectors 407;

As shown in Figure 7, the rotary part 500 includes: a front plate 501, two side plates 502, a bottom plate 503, a top plate 504, a middle plate 505, two U-shaped slide rails 506, a hydraulic motor 507, a reduction box 508 and a slewing support 509;

The front plate 501 is a rectangular plate with a round hole matching the inner diameter of the outer ring of the slewing support 509 in the center, and threaded holes matching the through holes on the outer ring of the slewing support 509 are evenly distributed on the circumference concentric with the round hole;

The top plate 504 has four holes b1, b2, b3 and b4;

The U-shaped slide rail 506 is a groove that is processed in the middle of one side of the square steel with a square section, so that the section is a "U"-shaped slide rail. Matching, the two constitute a sliding pair;

The slewing support 509 is composed of an outer ring, an inner ring and balls. The inner and outer rings can rotate with each other. The inner and outer rings are evenly distributed with through threaded holes, and the inner ring is equipped with gear teeth. The outer ring of the slewing support 509 is fixed on the front plate by bolts. 501 on.

The front plate 501, two side plates 502, the bottom plate 503, and the top plate 504 are welded into a rectangular frame with only one end opening; the middle plate 505 is parallel to the top plate 504 and the bottom plate 503 and welded on the inside of the side plate 502 and the front plate 501, and the upper cavity and the front plate 501 are welded together. The lower chamber is divided into rectangular frames with equal volume; two U-shaped slide rails 506 are respectively welded on the side plates 502 on both sides of the above-mentioned rectangular frame; The inner slideway formed by the beam cooperates to form a sliding pair;

The hydraulic motor 507 is fixed on its flange on the reduction box 508 by bolts, and the output shaft of the hydraulic motor 507 is inserted in the hole of the input shaft of the reduction box, and is connected together by a key, so that the hydraulic motor 507 drives the reduction box 508 to rotate; The box 508 is fixed on the middle plate 505 by bolts and nuts, see FIG. 8 . Gear teeth are shaped on the output end of reduction box 508, and are meshed with the inner ring gear teeth of slewing support 509. In this way, the inner ring of the slewing bearing 509 is driven to rotate by the hydraulic motor 507 and through the reduction box 508 .

The assembled part 600 is connected to the inner ring of the slewing bearing 509 by bolts, and can be driven to rotate when the hydraulic motor 507 rotates.

The above is the various parts and connection methods of the present invention, and then its action mode combined with the hydraulic system shown in Figure 9 is introduced as follows:

Swing movement: when the electromagnet 5DT is energized, the two swing hydraulic cylinders 306 are extended simultaneously, thereby pushing the M-shaped guide rail beam 301 and the lifting part 400 carried on the swing part 300, and the rotating part 500 to swing around the swing axis 304 for a certain period of time. angle; when the electromagnet 6DT is energized, the two swing hydraulic cylinders 306 are shortened, thereby pulling the M-shaped guide rail beam 301 to reversely swing through a certain angle; Staying at any position, on the other hand, can prevent the swing hydraulic cylinder 306 from overshooting;

Lifting movement: when the electromagnet 1DT is energized, the lifting hydraulic cylinder 401 is extended, and the lifting beam 402 is pushed up along the two T-shaped guide rails 408 under the guidance of the two sliding shoes 405, thereby pulling the rotary part through the four chains 405 500 and the installed part 600 together rise along the M-shaped guide rail beam of the swing part 300 with a stroke twice that of the lifting hydraulic cylinder 401; The spring structure of the four spring chain connectors 407 makes the four chains 405 evenly stressed; the balance valve 602 keeps the lifting hydraulic cylinder 401 at any position on the one hand, and on the other hand prevents the lifting hydraulic cylinder 401 from falling overspeed;

Rotary motion: when the electromagnet 3DT is energized, the hydraulic motor 509 rotates to drive the reduction box 508 to drive the inner ring of the slewing bearing 509 and the assembled parts 600 installed on it to rotate together; when the electromagnet 4DT is energized, the hydraulic motor 509 reverses Rotate to drive the object 600 to be assembled to rotate in the opposite direction.

Claims (1)

1. an assembling three degree of freedom hoisting crane, is characterized in that: be comprised of hydraulic power unit (100), L shaped base support (200), swing part (300), lifting part (400), rotating part (500);

L shaped base support (200) is placed in ground, and through hole and the ground of (202) four jiaos of three holding-down bolt connecting panels by L shaped base support (200) is fixed with bolt;

Hydraulic power unit (100) is placed in the rear portion of L shaped base support (200), hydraulic power unit (100) is integrated dynamical element and the control element of hydraulic efficiency pressure system, the output of hydraulic power unit (100) is connected with two oscillating motors (306) of swing part (300), the lifting hydraulic cylinder (401) of lifting part (400) and the HM Hydraulic Motor (507) of rotating part (500) respectively by flexible pipe;

Two of swing part (300) swing axle bed (305) and are secured by bolts on two blocks of connection side's plates (205) on L shaped base support (200) top, bottom is hinged by pin by two oscillating motors (306) and two the oscillating motor hinged supports (206) on L shaped base support (200), forms revolute pair;

Two T shape guide rails (408) of lifting part (400) are fixed in the trailing flank of two M shape guide rail beams (301) of swing part (300) by three T shape guide rail bearings of every side (409); The lifting hydraulic cylinder hinged support (309) of the lower cylinder head of the lifting hydraulic cylinder (401) of lifting part (400) and swing part (300) is hinged by pin, forms revolute pair; Four the spring chain connectors in bottom (407) of lifting part (400) are connected and fixed by spring and bolt with four holes (a1, a2, a3 and a4) on the chain fixed end connecting panel (310) of swing part (300);

Two U-shaped slide rails (506) of rotating part (500) are packed in two M shape guide rail beams (301) of swing part (300), complement each other to form sliding pair; Rotating part (500) is connected with bolt and nut with four chain connectors (406) on lifting part (400) top respectively by four holes (b1, b2, b3 and b4) on top board (504);

Assembly (600) is bolted on the inner ring of pivoting support (509), can when HM Hydraulic Motor (507) is rotated, be driven in rotation.

2. a kind of assembling three degree of freedom hoisting crane as claimed in claim 1, it is characterized in that: L shaped base support (200) is to be welded into rectangular base by four square steel tubes (201) equal in length, and at the three four jiaos connecting panels of the holding-down bolt with through hole of rectangular base bottom welding (202), the both sides of the holding-down bolt connecting panel (202) in the middle of two oscillating motor hinged supports (206) are welded on respectively; At equal two square steel tubes (203) of a vertical weld length in end both sides of rectangular base, and use respectively two square steel tubes (204) that the oblique welding of vertical square steel tube (203) and base square steel tube (201) is strengthened.

3. a kind of assembling three degree of freedom hoisting crane as claimed in claim 1, it is characterized in that: the notch of two M shape guide rail beams (301) is relative, top is bolted in both sides by two adapter plates (302), the bottom both ends of the surface are bolted by base plate (303), the channel suspending rail formed and two U-shaped slide rails (506) of rotating part (500) match, and form sliding pair; The flange of two uniform through holes of oscillating axle (304) one end is secured by bolts in respectively the back side, two M shape guide rail beams (301) middle part, and other end minor axis matches with two holes that swing axle bed (305), forms revolute pair; Square flange plate on chain fixed end connecting panel (310) is secured by bolts in respectively the trailing flank at two M shape guide rail beam middle parts; Two oscillating motor hinged support (307) one ends are secured by bolts in respectively the bottom of two M shape guide rail beams (301), and the other end is hinged by pin with the head of two oscillating motors (306) respectively, form revolute pair; When oscillating motor (306) was flexible, push-and-pull M shape guide rail beam (301) made swing part (300) swing around oscillating axle (304);

M shape guide rail beam (301) is in cross section, to be that a side of the steel of rectangle processes the twice groove, and making cross section is the guide rail beam of " M " shape;

Oscillating axle (304) is that an end is with on round flange and flange, being evenly distributed with the minor axis of four through holes;

Swinging axle bed (305) is the cuboid that a by-level direction has a through hole matched with oscillating axle (304), and its lower end is with having four through holes on convex edge and convex edge, and four tapped bore of these four through holes and connection side's plate (205) are complementary;

Chain fixed end connecting panel (310) is a trapezoidal plate, cut and the part of lifting hydraulic cylinder (401) and rotating part (500) interference, at the trapezoidal plate middle part, open four holes (a1, a2, a3 and a4), at the trapezoidal plate two bottom sides remainder square flange plate of burn-oning, in order to be bolted the trailing flank middle part of M shape guide rail beam (301).

4. a kind of assembling three degree of freedom hoisting crane as claimed in claim 1, it is characterized in that: described lifting part (400) comprising: lifting hydraulic cylinder (401), hoisting cross beam (402), two piston shoes (403), four sprocket wheels (404), four chains (405), four chain connectors (406), four spring chain connectors (407), two T shape guide rails (408), six T shape guide rail bearings (409) and axle sleeve (410); Lifting hydraulic cylinder (401) upper end connector is socketed on the middle boss of hoisting cross beam (402) by hinge eyes; In hoisting cross beam (402) both sides, two sprocket wheels (404) are installed respectively, and by axle sleeve (410) axial location; The blind hole end of two piston shoes (403) is enclosed within respectively hoisting cross beam (402) two ends, and the other end matches with two T shape guide rails (408) respectively, forms sliding pair; Two T shape guide rails (408) are bolted with three T shape guide rail bearings (409) respectively; Four chains (405) are upper around four sprocket wheels (404) respectively, and the chain head is connected with four chain connectors (406) respectively, and the chain afterbody is connected with four spring chain connectors (407) respectively;

Piston shoes (403) one ends have the groove matched with T shape guide rail (408), and the other end has the cylinder blind hole matched with hoisting cross beam (402);

Spring chain connector (407) is at the nut end of the chain connector spring of first packing into, then is screwed into the connector of nut;

T shape guide rail (408) is that cross section is "T"-shaped long guideway.

5. a kind of assembling three degree of freedom hoisting crane as claimed in claim 1, it is characterized in that: rotating part (500) comprising: (509) are supported in header board (501), two blocks of side plates (502), base plate (503), top board (504), middle plate (505), two U-shaped slide rails (506), HM Hydraulic Motor (507), drop-gear box (508) and revolution; Header board (501) is a rectangular plate, and center has and the circular hole that turns round support (509) outer ring internal diameter and be complementary, with the concentric circumference of circular hole on be evenly equipped with and turn round the tapped bore that on support (509) outer ring, through hole is complementary;

Top board (504) has four holes (b1, b2, b3 and b4);

U-shaped slide rail (506) is in cross section, to be to process groove one in the middle of foursquare square steel one side, and making cross section is the slide rail of " U " shape, and the size in the cross section of the groove size in this cross section and M shape guide rail beam (301) is complementary, and the two forms sliding pair;

Header board (501), two blocks of side plates (502), base plate (503), top board (504) are welded into the rectangular frame that only has an end opening; Middle plate (505) is parallel to the inboard that top board (504) and base plate (503) are welded on side plate (502) and header board (501), and epicoele and cavity of resorption are divided into to the rectangular frame that volume equates; Two U-shaped slide rails (506) are welded on respectively on the both sides side plate (502) of above-mentioned rectangular frame; The width of this rectangular frame makes the U-shaped slide rail (506) of both sides match with the inner slide that two M shape guide rail beams form, and forms sliding pair;

HM Hydraulic Motor (507) is fixed on its flange on drop-gear box (508) by bolt, and the output shaft of HM Hydraulic Motor (507) inserts in the hole of reduction box input shaft, and by key, link together, thereby HM Hydraulic Motor (507) drives drop-gear box (508) rotation; Drop-gear box (508) is fixed on middle plate (505) by screw bolt and nut, drop-gear box (508) mouth is shaped with the gear teeth, and be meshed with the inner ring gear teeth of revolution support (509), the inner ring of pivoting support (509) drives and rotates under the effect of HM Hydraulic Motor (507) and by drop-gear box (508) like this.

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