CN103848355A - Link mechanism type hybrid-driven reach stacker with three freedom degrees - Google Patents
Link mechanism type hybrid-driven reach stacker with three freedom degrees Download PDFInfo
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- CN103848355A CN103848355A CN201410104334.3A CN201410104334A CN103848355A CN 103848355 A CN103848355 A CN 103848355A CN 201410104334 A CN201410104334 A CN 201410104334A CN 103848355 A CN103848355 A CN 103848355A
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Abstract
The invention discloses a link mechanism type hybrid-driven reach stacker with three freedom degrees. A lifting arm of the link mechanism type hybrid-driven reach stacker comprises a rotary arm, an upper lifting arm and a lower lifting arm; the front ends of the upper lifting arm and the lower lifting arm are respectively provided with a clamping device; a lifting arm lifting mechanism comprises a front connecting rod assembly and a rear connecting rod assembly which are symmetrically arranged at the two sides of the lifting arm; the front connecting rod assembly comprises a front rocking bar and a front connecting rod which are arranged under the front of the lifting arm; the rear connecting rod assembly comprises a four connecting rod mechanism and a transmission rod which are arranged behind the lifting arm, and a rear rocking bar and a rear connecting rod; the four connecting rod mechanism comprises a rocking bar, a connecting rod and an oscillating bar; the rocking bar is driven by a high-power conventional motor which is correspondingly arranged on a frame; the front rocking bar and the rear rocking bar are driven by a small-power servo motor which is correspondingly arranged on the frame. The link mechanism type hybrid-driven reach stacker has the three freedom degrees, is driven by the high-power conventional motor and the small-power servo motor in a combined way, and is flexible and changeable in output track, high in adaptability and working efficiency, high in power output and reliability and low in whole manufacturing cost and maintenance cost.
Description
(1) technical field:
The present invention relates to port crane, specifically a kind of Three-freedom-degree connection rod mechanism type combination drive front swing-machine.
(2) background technology:
Face-up transporting hoist of container 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 transport.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 above-mentioned this class container front side hoisting crane 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.And the lifting actuating unit of traditional container front side hoisting crane all only has two degree of freedom, also exists output trajectory underaction changeable, the shortcomings such as inefficiency, are difficult to meet the high-speed overload job requirements of increasingly stringent.
(3) summary of the invention:
For this reason, the present invention proposes a kind of Three-freedom-degree connection rod mechanism type combination drive front swing-machine, mainly solve traditional two-freedom fluid pressure type face-up transporting hoist of container hoisting crane process and assemble and require the not technical matters such as length, leakage of oil, action underaction of high, life-span.
The Three-freedom-degree connection rod mechanism type combination drive front swing-machine that can solve the problems of the technologies described above, comprise the arm and the arm lifting mechanism that arrange based on vehicle frame, difference is that described arm comprises swivel arm and upper, lower lift arm, described swivel arm lower end is hinged in vehicle frame middle front part, be provided with spider corresponding to swivel arm upper end, the inferior horn support body of described spider is hinged in swivel arm upper end, described upper lift arm rear end is hinged on the anterior angle support body of spider, the hinge point of described lower lift arm rear end and swivel arm and spider forms compound hinges, on, lower lift arm front end is by upper, lower two hinges connect respectively fixing device, described arm lifting mechanism be included in arm bilateral symmetry arrange before, rear linking rod assembly, described front rod assembly comprises front rocking bar and the front rod of being located at arm front lower place, described front rocking bar lower end is hinged in vehicle frame is anterior, rocking bar upper end before described front rod rear end is hinged, on the arm body of the lower lift arm of front rod upper end hinge, described rear linking rod assembly comprises four-bar linkage and drive link and rear rocking bar and the rear linking rod of being located at arm rear, described four-bar linkage comprises rocking bar, connecting rod and fork, described rocking bar and fork lower end are hinged respectively at vehicle frame postmedian and rear portion, described connecting rod two ends are hinged with rocking bar and fork upper end respectively, the hinge point of described drive link rear end and connecting rod and fork forms compound hinges, the arm body of drive link front end and swivel arm is hinged, described rear rocking bar is hinged in vehicle frame postmedian, rocking bar upper end after described rear linking rod lower end is hinged, rear linking rod upper end is hinged on the relief angle support body of spider, the driving of described rocking bar is that correspondence is located at the conventional motor on vehicle frame, and the driving of described front rocking bar and rear rocking bar is respectively correspondence and is located at the servomotor on vehicle frame.
The driving of described rocking bar adopts high-power conventional motor, and the driving of described front rocking bar and rear rocking bar adopts respectively miniwatt servomotor.
In said structure, realize the rotation of swivel arm and stretching of lift arm by the change in location of arm lifting mechanism (three groups of connecting rod assemblies), finally realize crawl, handling and the unloading of fixing device to freight container.
Beneficial effect of the present invention:
1, Three-freedom-degree connection rod mechanism type combination drive front swing-machine of the present invention has three degree of freedom, combine driving by a high-power conventional motor and two miniwatt servomotors, output trajectory is flexible and changeable, strong adaptability, work efficiency is high, have larger power output and higher reliability, and complete machine cost is more cheap, maintaining cost is lower.
2, the present invention realizes handling, lifting task by connecting rod mechanism, can effectively overcome conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble and require the not shortcoming such as length, leakage of oil of high, life-span.
3, integral structure of the present invention is that outer revolute pair drives, the form of rod hinge connection transmission, and all drive motor are installed in frame, effectively reduce the weight of each member, have that movement inertia is little, track output flexibly, be active in one's movements, precision advantages of higher.
(4) brief description of the drawings:
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is initial, the reset working state schematic representation of Fig. 1 embodiment.
Fig. 3 be Fig. 1 embodiment stretch out crawl working state schematic representation.
Fig. 4 is the handling working state schematic representation of Fig. 1 embodiment.
Figure number mark: 1, vehicle frame; 2, fork; 3, drive link; 4, rocking bar; 5, connecting rod; 6, rear rocking bar; 7, rear linking rod; 8, front rocking bar; 9, front rod; 10, swivel arm; 11, spider; 12, upper lift arm; 13, lower lift arm; 14, fixing device.
(5) detailed description of the invention:
Below in conjunction with accompanying drawing illustrated embodiment, technical scheme of the present invention is described further.
Three-freedom-degree connection rod mechanism type combination drive front swing-machine of the present invention comprises the arm and the arm lifting mechanism that arrange based on vehicle frame 1.
Described arm comprises swivel arm 10, upper lift arm 12 and lower lift arm 13, described swivel arm 10 lower ends are hinged in vehicle frame 1 middle front part, corresponding to swivel arm 10 upper ends, spider 11 is set, inferior horn support body hinge swivel arm 10 upper ends that described spider 11 is downward, described upper lift arm 12 and lower lift arm 13 are close to and be arranged in parallel, upper lift arm 12 rear ends are hinged on spider 11 anterior angle support body forward, the hinge point of lower lift arm 13 rear ends and swivel arm 10 and spider 11 forms compound hinges, on, lower lift arm 12, 13 front ends are by upper, lower two hinges connect respectively fixing device 14, in concrete a kind of mode, swivel arm 10, upper lift arm 12 and lower lift arm 13 all adopt square steel tube, as shown in Figure 1.
Described arm lifting mechanism is included in forward and backward three groups of connecting rod assemblies that arm bilateral symmetry arranges.
Described front rod assembly comprises is located at rocking bar 8 and front rod 9 before arm front lower place, and described front rocking bar 8 lower ends are hinged in vehicle frame 1 is anterior, rocking bar 8 upper ends before described front rod 9 rear ends are hinged, and front rod 9 upper ends are hinged in the arm body middle part of lower lift arm 13.Described rear linking rod assembly is two groups, be respectively four-bar linkage and drive link 3 and rear rocking bar 6 and the rear linking rod 7 of being located at arm rear: described four-bar linkage comprises rocking bar 4, connecting rod 5 and fork 2, described rocking bar 4 and fork 2 lower ends are hinged respectively at vehicle frame 1 postmedian and rear portion, described connecting rod 5 two ends are hinged with rocking bar 4 and fork 2 upper ends respectively, the hinge point of described drive link 3 rear ends and connecting rod 5 and fork 2 forms compound hinges, and the arm body middle part of drive link 3 front ends and swivel arm 10 is hinged; Described rear rocking bar 6 is hinged in vehicle frame 1 postmedian, rocking bar 6 upper ends after described rear linking rod 7 lower ends are hinged, and rear linking rod 7 upper ends are hinged on spider 11 relief angle support body backward, as shown in Figure 1.
The driving of described rocking bar 4 is that correspondence is located at the high-power conventional motor on vehicle frame 1, and the driving of described front rocking bar 8 and rear rocking bar 6 is respectively correspondence and is located at the miniwatt servomotor on vehicle frame 1.
As shown in Figure 2, the initial condition of the present invention in dead work, now swivel arm 10 rotates upright position, and upper lift arm 12 and lower lift arm 13 inwardly reclaim.
As shown in Figure 3, the present invention is under the effect of arm lifting mechanism, and swivel arm 10 forwards produces, and upper lift arm 12 and lower lift arm 13 outwards approach and are stretched flat, and dead ahead freight container is captured to operation.
As shown in Figure 4, the present invention is under the effect of arm lifting mechanism, and swivel arm 10, upper lift arm 12 and the common lifting of lower lift arm 13, complete the lifting operation to dead ahead freight container.
The present invention is under the effect of arm lifting mechanism, and upper lift arm 12 and lower lift arm 13 decline, and swivel arm 10 turns round, and completes the unloading operation to dead ahead freight container.
The present invention completes after unloading task by swivel arm 10, upper lift arm 12 and lower lift arm 13, resets to initial condition as shown in Figure 2, prepares clamping and transport operation next freight container.
Claims (2)
1. Three-freedom-degree connection rod mechanism type combination drive front swing-machine, comprise the arm and the arm lifting mechanism that arrange based on vehicle frame (1), it is characterized in that: described arm comprises swivel arm (10) and upper, lower lift arm (12, 13), described swivel arm (10) lower end is hinged in vehicle frame (1) middle front part, be provided with spider (11) corresponding to swivel arm (10) upper end, the inferior horn support body of described spider (11) is hinged in swivel arm (10) upper end, described upper lift arm (12) rear end is hinged on the anterior angle support body of spider (11), the hinge point of described lower lift arm (13) rear end and swivel arm (10) and spider (11) forms compound hinges, on, lower lift arm (12, 13) front end is by upper, lower two hinges connect respectively fixing device (14), described arm lifting mechanism be included in arm bilateral symmetry arrange before, rear linking rod assembly, described front rod assembly comprises front rocking bar (8) and the front rod (9) of being located at arm front lower place, described front rocking bar (8) lower end is hinged in vehicle frame (1) is anterior, rocking bar (8) upper end before described front rod (9) rear end is hinged, on the arm body of the lower lift arm (13) of front rod (9) upper end hinge, described rear linking rod assembly comprises four-bar linkage and drive link (3) and rear rocking bar (6) and the rear linking rod (7) of being located at arm rear, described four-bar linkage comprises rocking bar (4), connecting rod (5) and fork (2), described rocking bar (4) and fork (2) lower end are hinged respectively at vehicle frame (1) postmedian and rear portion, described connecting rod (5) two ends are hinged with rocking bar (4) and fork (2) upper end respectively, the hinge point of described drive link (3) rear end and connecting rod (5) and fork (2) forms compound hinges, the arm body of drive link (3) front end and swivel arm (10) is hinged, described rear rocking bar (6) is hinged in vehicle frame (1) postmedian, rocking bar (6) upper end after described rear linking rod (7) lower end is hinged, rear linking rod (7) upper end is hinged on the relief angle support body of spider (11), the driving of described rocking bar (4) is that correspondence is located at the conventional motor on vehicle frame (1), and the driving of described front rocking bar (8) and rear rocking bar (6) is respectively correspondence and is located at the servomotor on vehicle frame (1).
2. Three-freedom-degree connection rod mechanism type combination drive front swing-machine according to claim 1, it is characterized in that: the driving of described rocking bar (4) is high-power conventional motor, the driving of described front rocking bar (8) and rear rocking bar (6) is respectively miniwatt servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104334.3A CN103848355B (en) | 2014-03-20 | 2014-03-20 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104334.3A CN103848355B (en) | 2014-03-20 | 2014-03-20 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
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| CN103848355A true CN103848355A (en) | 2014-06-11 |
| CN103848355B CN103848355B (en) | 2015-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410104334.3A Expired - Fee Related CN103848355B (en) | 2014-03-20 | 2014-03-20 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114471268A (en) * | 2016-11-01 | 2022-05-13 | 生命科技股份有限公司 | Liquid mixing system with vertically adjustable mixing element and method of use |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2010077302A1 (en) * | 2008-12-15 | 2010-07-08 | Oceaneering International, Inc. | Rig supply handler |
| CN102094433A (en) * | 2010-12-10 | 2011-06-15 | 广西大学 | Hybrid-driven controllable excavation mechanism |
| CN103569875A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
| CN103569873A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers |
| CN103612997A (en) * | 2013-11-15 | 2014-03-05 | 钦州学院 | Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane |
| CN103626044A (en) * | 2013-11-15 | 2014-03-12 | 钦州学院 | Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane |
| CN203754296U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-degree-of-freedom connecting-rod-mechanism-type hybrid-driven front-face lifting crane |
-
2014
- 2014-03-20 CN CN201410104334.3A patent/CN103848355B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010077302A1 (en) * | 2008-12-15 | 2010-07-08 | Oceaneering International, Inc. | Rig supply handler |
| CN102094433A (en) * | 2010-12-10 | 2011-06-15 | 广西大学 | Hybrid-driven controllable excavation mechanism |
| CN103569875A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers |
| CN103569873A (en) * | 2013-11-15 | 2014-02-12 | 钦州学院 | Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers |
| CN103612997A (en) * | 2013-11-15 | 2014-03-05 | 钦州学院 | Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane |
| CN103626044A (en) * | 2013-11-15 | 2014-03-12 | 钦州学院 | Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane |
| CN203754296U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-degree-of-freedom connecting-rod-mechanism-type hybrid-driven front-face lifting crane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114471268A (en) * | 2016-11-01 | 2022-05-13 | 生命科技股份有限公司 | Liquid mixing system with vertically adjustable mixing element and method of use |
| CN114471268B (en) * | 2016-11-01 | 2024-05-24 | 生命科技股份有限公司 | Liquid mixing system with vertically adjustable mixing element and method of use thereof |
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| CN103848355B (en) | 2015-11-25 |
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