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CN203667843U - Planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker - Google Patents

Planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker Download PDF

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Publication number
CN203667843U
CN203667843U CN201320723902.9U CN201320723902U CN203667843U CN 203667843 U CN203667843 U CN 203667843U CN 201320723902 U CN201320723902 U CN 201320723902U CN 203667843 U CN203667843 U CN 203667843U
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lifting
boom
telescopic
arm
hinged
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CN201320723902.9U
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潘宇晨
李尚平
吴彤峰
蔡敢为
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Qinzhou University
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Qinzhou University
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Abstract

本实用新型涉及一种平面两自由度九杆伺服驱动集装箱正面吊运起重机,包括吊臂、吊臂升降机构和吊臂伸缩机构,吊臂包括转动臂和伸缩臂,转动臂下端于车架中部铰连,伸缩臂通过滑动副安装于转动臂上,伸缩臂前端设置夹紧装置;吊臂伸缩机构包括伸缩摇杆和伸缩连杆,伸缩摇杆铰连于车架前部,伸缩连杆铰连伸缩臂与伸缩连杆;吊臂升降机构包括升降四连杆机构和升降传动杆,升降四连杆机构包括于车架后部铰连的前、后升降摇杆和升降连杆,升降传动杆铰连转动臂与升降连杆的一个铰连点。本实用新型在吊臂升降机构和吊臂伸缩机构的联合驱动下,实现对集装箱的夹装、举升、搬运等作业,具有运动惯量小、轨迹输出灵活、精度高等优点。

The utility model relates to a plane two-degree-of-freedom nine-rod servo-driven front-handling crane for containers, which includes a boom, a boom lifting mechanism and a boom telescopic mechanism. The boom includes a rotating arm and a telescopic arm. Hinged, the telescopic arm is installed on the rotating arm through a sliding pair, and the front end of the telescopic arm is provided with a clamping device; Connect the telescopic arm and the telescopic connecting rod; the lifting mechanism of the boom includes a lifting four-bar linkage mechanism and a lifting transmission rod. A hinge point between the pivoting arm and the lifting link. Under the combined drive of the boom lifting mechanism and the boom telescopic mechanism, the utility model realizes operations such as clamping, lifting, and transporting of containers, and has the advantages of small motion inertia, flexible track output, and high precision.

Description

Plane two-freedom nine bar servo-drive face-up transporting hoist of container hoisting cranes
(1) technical field:
The utility model relates to port crane, particularly a kind of plane two-freedom nine 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 nine 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 nine 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 rocking bar and shrinking connecting-rod that arm bilateral symmetry arranges, the lower end of described flexible rocking bar is hinged in vehicle frame front portion, the upper end hinge telescopic boom of described shrinking connecting-rod, and the flexible upper end of rocking bar and the lower end of shrinking connecting-rod are hinged; 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, hoisting arm expansion winding machine telescopic boom flexible, arm lifting mechanism passes motion to swivel arm by lifting drive link, and realizes the lifting of swivel arm with hoisting arm expansion mechanism combined action.
The common driver train of described flexible rocking bar is the flexible servomotor of being located on vehicle frame; The dynamic action of described lifting four-bar linkage is in front lifting rocking bar, and the common driver train of described front lifting rocking bar is the lifting servomotor of being located at vehicle frame.
The beneficial effects of the utility model:
1, the utility model plane two-freedom nine 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 rocking bar; 6, shrinking connecting-rod; 7, lifting drive link; 8, front lifting rocking bar; 9, rear lifting rocking bar; 10, 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 nine bar servo-drive face-up transporting hoist of container hoisting cranes comprise the arm and 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, for the flexible rocking bar 5 and the shrinking connecting-rod 6 that arrange in arm bilateral symmetry, the lower end of described flexible rocking bar 5 is hinged in vehicle frame 1 front portion, the upper end hinge telescopic boom 3 of described shrinking connecting-rod 6, the flexible upper end of rocking bar 5 and the lower end of shrinking connecting-rod 6 are hinged mutually; The flexible common driver train of rocking bar 5 in both sides 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, for the lifting four-bar linkage and the lifting drive link 7 that arrange in arm bilateral symmetry, described lifting four-bar linkage is included in front lifting rocking bar 8 and rear lifting rocking bar 9 and the lifting linking member 10 that vehicle frame 1 rear portion is hinged, the front and back ends of described lifting linking member 10 is hinged with front lifting rocking bar 8 and rear lifting rocking bar 9 respectively, the front end hinge swivel arm 2 of described lifting drive link 7, the hinge point of the rear end of lifting drive link 7 and lifting linking member 10 rear ends forms compound hinges; Before both sides, the common driver train of lifting rocking bar 8 is the lifting servomotor of being located on vehicle frame, as shown in Figure 1.
As shown in Figure 2, the initial condition of the utility model in dead work, now swivel arm 2 turns to low level, 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 completes clamping dead ahead freight container.
As shown in Figure 4, the utility model is under the driving of lifting four-bar linkage and lifting drive link 7 and the combined action of hoisting arm expansion mechanism, and swivel arm 2 rises, and completes the lifting operation to freight container.
Swivel arm 2 of the present utility model completes after unloading task, resets to initial condition as shown in Figure 2, prepares clamping and transport operation next freight container.

Claims (2)

1.平面两自由度九杆伺服驱动集装箱正面吊运起重机,包括基于车架(1)设置的吊臂、吊臂升降机构和吊臂伸缩机构,其特征在于:所述吊臂包括转动臂(2)和伸缩臂(3),所述转动臂(2)的下端于车架(1)中部铰连,所述伸缩臂(3)通过滑动副安装于转动臂(2)上,伸缩臂(3)前端设置夹紧装置(4);所述吊臂伸缩机构设于吊臂前方,包括于吊臂两侧对称设置的伸缩摇杆(5)和伸缩连杆(6),所述伸缩摇杆(5)的下端铰连于车架(1)前部,所述伸缩连杆(6)的上端铰连伸缩臂(3),伸缩摇杆(5)的上端与伸缩连杆(6)的下端铰连;所述吊臂升降机构设于吊臂后方,包括于吊臂两侧对称设置的升降四连杆机构和升降传动杆(7),所述升降四连杆机构包括于车架(1)后部铰连的前、后升降摇杆(8、9)和分别与前、后升降摇杆(8、9)铰连的升降连杆(10),所述升降传动杆(7)的前端铰连转动臂(2),升降传动杆(7)的后端与升降连杆(10)的一个铰连点形成复合铰链。1. Planar two-degree-of-freedom nine-rod servo-driven container reach-handling crane, including a boom set based on the frame (1), a boom lifting mechanism and a boom telescopic mechanism, characterized in that the boom includes a rotating arm ( 2) and the telescopic arm (3), the lower end of the rotating arm (2) is hinged in the middle of the frame (1), the telescopic arm (3) is installed on the rotating arm (2) through a sliding pair, and the telescopic arm ( 3) A clamping device (4) is installed at the front end; the boom telescopic mechanism is set in front of the boom, including telescopic rockers (5) and telescopic connecting rods (6) symmetrically arranged on both sides of the boom. The lower end of the rod (5) is hinged to the front of the frame (1), the upper end of the telescopic link (6) is hinged to the telescopic arm (3), and the upper end of the telescopic rocker (5) is connected to the telescopic link (6) The lower end of the boom is hinged; the boom lifting mechanism is arranged behind the boom, including a lifting four-bar linkage mechanism and a lifting transmission rod (7) symmetrically arranged on both sides of the boom, and the lifting four-bar linkage mechanism is included in the frame (1) The front and rear lifting rockers (8, 9) hinged at the rear and the lifting connecting rods (10) hinged with the front and rear lifting rockers (8, 9) respectively, the lifting transmission rod (7 ) hinges the rotating arm (2), and the rear end of the lifting transmission rod (7) forms a composite hinge with a hinge point of the lifting connecting rod (10). 2.根据权利要求1所述的平面两自由度九杆伺服驱动集装箱正面吊运起重机,其特征在于:所述伸缩摇杆(5)共同的驱动机构为设于车架(1)上的伸缩伺服电机;所述前升降摇杆(8)共同的驱动机构为设于车架(1)上的升降伺服电机。2. The planar two-degree-of-freedom nine-rod servo-driven container reach stacker crane according to claim 1, characterized in that: the common driving mechanism of the telescopic rocker (5) is a telescopic rocker installed on the frame (1). Servo motor; the common driving mechanism of the front lifting rocker (8) is the lifting servo motor arranged on the vehicle frame (1).
CN201320723902.9U 2013-11-15 2013-11-15 Planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker Expired - Lifetime CN203667843U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103569873A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers
CN104612192A (en) * 2014-12-12 2015-05-13 广西大学 Controllable loading mechanism with initiative metamorphism function
CN104612193A (en) * 2014-12-12 2015-05-13 广西大学 Movable and controllable loading mechanism with initiative metamorphism function
CN104724611A (en) * 2015-03-20 2015-06-24 武汉理工大学 Planar three-degree-of-freedom eight-rod single closed-loop front-handling crane for chain-type container
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
CN104909278A (en) * 2015-06-14 2015-09-16 侯学志 Self-adjusting mechanism type crane with cell changing function
CN104925674A (en) * 2015-06-09 2015-09-23 侯学志 Non-linear input mechanism type crane with metamorphic function
CN107032237A (en) * 2017-01-05 2017-08-11 江苏恒达工程检测有限公司 Portable road dental calculus carrying implement based on oil pressure pump

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103569873A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers
CN104612192A (en) * 2014-12-12 2015-05-13 广西大学 Controllable loading mechanism with initiative metamorphism function
CN104612193A (en) * 2014-12-12 2015-05-13 广西大学 Movable and controllable loading mechanism with initiative metamorphism function
CN104724611A (en) * 2015-03-20 2015-06-24 武汉理工大学 Planar three-degree-of-freedom eight-rod single closed-loop front-handling crane for chain-type container
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
CN104925674A (en) * 2015-06-09 2015-09-23 侯学志 Non-linear input mechanism type crane with metamorphic function
CN104909278A (en) * 2015-06-14 2015-09-16 侯学志 Self-adjusting mechanism type crane with cell changing function
CN107032237A (en) * 2017-01-05 2017-08-11 江苏恒达工程检测有限公司 Portable road dental calculus carrying implement based on oil pressure pump

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AV01 Patent right actively abandoned

Granted publication date: 20140625

Effective date of abandoning: 20140917

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