CN104692262A - Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container - Google Patents
Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container Download PDFInfo
- Publication number
- CN104692262A CN104692262A CN201510124124.5A CN201510124124A CN104692262A CN 104692262 A CN104692262 A CN 104692262A CN 201510124124 A CN201510124124 A CN 201510124124A CN 104692262 A CN104692262 A CN 104692262A
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- Prior art keywords
- arm
- hinged
- link
- rocking bar
- connecting rod
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- 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.)
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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
- B66C23/04—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 with jibs the effective length of which is variable in operation, e.g. longitudinally displaceable, extensible
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- 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
- B66C23/06—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 with jibs mounted for jibbing or luffing movements
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- 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
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a plane three-degree-of-freedom link closed chain type controllable front lifting crane for a container. The crane comprises a frame, a lifting arm and a lifting arm holding mechanism; the lifting arm comprises a rotating arm and a holding arm; the lifting arm holding mechanism comprises a front link assembly and a rear link assembly which are respectively positioned at two sides of the rotating arm; the front link assembly comprises a front rocking rod and a front link; the lower end of the front rocking rod is hinged to the front part of the frame; the lower end of the front link is hinged to the upper end of the front rocking rod, and while the upper end of the front link is hinged to a holding arm body; the rear link assembly comprises a rear link, a rear rocking rod, a lifting link and a rotating arm link which are arranged at the back of the frame; the lower ends of the rotating arm and the rear rocking rod are respectively hinged to the middle part and the rear part of the frame; the holding link is hinged to the upper end of the rotating arm link; the upper end of the rear link is hinged to a rotating bracket, and while the lower end of the rear link forms a combined hinge with the upper end of the holding link and the upper end of the rotating arm link. The crane lowers down the cost of maintenance and the output track is flexible and variable.
Description
Technical field
The present invention relates to technical field of crane equipment, particularly relate to the controlled face-up transporting hoist of container hoisting crane of a kind of planar three freedom connecting rod closed chain formula.
Background technology
Face-up transporting hoist of container hoisting crane (container front crane) is a kind of important harbour machinery, has easy to operate, stacking tier advantages of higher, in the operations such as all kinds of harbour container carrying, piling and transport, played important operation.Face-up transporting hoist of container hoisting crane disclosed in CN103332220A, CN101723256A, CN202322093U, CN2773035, CN201890746U is all to be finished the work task by the driving of combining of telescopic oil cylinder, pitching oil cylinder.
Above-mentioned container front crane is pure hydraulic driven.It is high that fluid pressure type also exists the requirement of parts machining assembly precision, and safeguard, maintain Chen Bengao, the life-span is not long, the conventional technical drawback such as leakage of oil.Further, the hoisting crane of this quasi-tradition fisher's formula cascaded structure is because of the restriction of himself structure, and there is the problems such as component heaviness, poor rigidity, inertia are large, joint error accumulation, dynamic performance is poor.
Summary of the invention
Main purpose of the present invention is to provide a kind of planar three freedom connecting rod closed chain formula controlled face-up transporting hoist of container hoisting crane, is intended to reduce and safeguards and while upkeep cost, make its output trajectory flexible and changeable.
For achieving the above object, the invention provides the controlled face-up transporting hoist of container hoisting crane of a kind of planar three freedom connecting rod closed chain formula, comprise vehicle frame and the arm that is installed on described vehicle frame and arm lifting mechanism, wherein,
Described arm comprises swivel arm and lift arm, and the lower end of described swivel arm and the middle part of described vehicle frame are hinged, and upper end and the swinging mounting of described swivel arm are hinged, and the rear end of described lift arm is hinged on described swinging mounting, and front end and container clamping device are hinged;
Described arm lifting mechanism comprises the front rod assembly and rear linking rod assembly that lay respectively at described swivel arm both sides, described front rod assembly comprises and is positioned at front rocking bar below described lift arm and front rod, the lower end of described front rocking bar and the front portion of described vehicle frame are hinged, the lower end of described front rod is hinged in the upper end of described front rocking bar, and upper end is hinged on the arm body of described lift arm; Described rear linking rod assembly comprises the rear linking rod being located at described vehicle frame rear, rear rocking bar, lifting connecting rod and tumbler connecting rod, the lower end of described swivel arm and rear rocking bar is hinged with the middle part of described vehicle frame and rear portion respectively, the upper end of described lifting connecting rod and the upper end of described tumbler connecting rod are hinged, upper end and the described swinging mounting of described rear linking rod are hinged, the upper end of its lower end and described lifting small end and tumbler connecting rod forms compound hinges, and described swivel arm, front rocking bar and rear rocking bar are all provided with driver train.
Preferably, the driver train of described front rocking bar and rear rocking bar is servomotor.
Preferably, described swinging mounting is spider, and three angles of this spider are hinged with lift arm, rear linking rod and swivel arm respectively.
The controlled face-up transporting hoist of container hoisting crane of planar three freedom connecting rod closed chain formula that the present invention proposes, the flexible of the rotation of swivel arm and lift arm is realized, eventually through fixing device to the crawl of freight container, handling and unloading by the change in location of arm lifting mechanism.The hoisting crane that the present invention proposes has three degree of freedom, by three driver trains, driving is combined to lift arm, rear linking rod and swivel arm, for two degree of freedom, the output trajectory of this hoisting crane is more flexible and changeable, its task strong adaptability, efficiency is high, has larger Power output and the reliability of Geng Gao.In addition, this hoisting crane, because be realize handling, lifting task by connecting rod mechanism, effectively can overcome conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble and require high, life-span is not long, the technological deficiencies such as leakage of oil, and complete machine is cheap, maintaining cost is low.In addition, this hoisting crane integral structure is the form of the driving of outer revolute pair and rod hinge connection transmission, all driver trains are installed on vehicle frame, thus effectively reduce the weight of each component, have that movement inertia is little, track exports flexibly, is active in one's movements and precision advantages of higher.
Accompanying drawing explanation
Fig. 1 is the structural representation of planar three freedom connecting rod closed chain formula of the present invention controlled face-up transporting hoist of container hoisting crane preferred embodiment;
The structural representation of Fig. 2 for the hoisting crane shown in Fig. 1 is in during initial or reset mode of operation;
Fig. 3 stretches out structural representation when capturing mode of operation for the hoisting crane shown in Fig. 1 is in;
Fig. 4 is the structural representation when hoisting crane shown in Fig. 1 is in handling mode of operation.
Figure number: rocking bar after 1-; 2-lifting connecting rod; 3-tumbler connecting rod; 4-rear linking rod; 5-swivel arm; 6-spider; 7-lift arm; 8-front rod; Rocking bar before 9-; 10-container clamping device; 11-vehicle frame.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
It should be noted that, in describing the invention, term " transverse direction ", " longitudinal direction ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", the orientation of the instruction such as " outward " or position relationship be based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, be not indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.
With reference to the structural representation that Fig. 1, Fig. 1 are planar three freedom connecting rod closed chain formula of the present invention controlled face-up transporting hoist of container hoisting crane preferred embodiment.
In this preferred embodiment, the controlled face-up transporting hoist of container hoisting crane of a kind of planar three freedom connecting rod closed chain formula, comprises vehicle frame 11 and the arm be installed on vehicle frame 11 and arm lifting mechanism, wherein,
Arm comprises swivel arm 5 and lift arm 7, and the lower end of swivel arm 5 and the middle part of vehicle frame 11 are hinged, and upper end and the swinging mounting of swivel arm 5 are hinged, and the rear end of lift arm 7 is hinged on swinging mounting, and front end and container clamping device 10 are hinged;
Arm lifting mechanism comprises the front rod assembly and rear linking rod assembly that lay respectively at swivel arm 5 both sides, front rod assembly comprises and is positioned at front rocking bar 9 below lift arm 7 and front rod 8, the lower end of front rocking bar 9 and the front portion of vehicle frame 11 are hinged, the lower end of front rod 8 is hinged in the upper end of front rocking bar 9, and upper end is hinged on the arm body of lift arm 7; Rear linking rod assembly comprises rear linking rod 4, rear rocking bar 1, lifting connecting rod 2 and the tumbler connecting rod 3 of being located at vehicle frame 11 rear, the lower end of swivel arm 5 and rear rocking bar 1 is hinged with the middle part of vehicle frame 11 and rear portion respectively, the upper end of lifting connecting rod 2 and the upper end of tumbler connecting rod 3 are hinged, the upper end of rear linking rod 4 and swinging mounting are hinged, the upper end of its lower end and lifting connecting rod 2 upper end and tumbler connecting rod 3 forms compound hinges, and swivel arm 5, front rocking bar 9 and rear rocking bar 1 are all provided with driver train.
In front lifting mechanism and rear lifting mechanism, all rod members all adopt thin square-section steel pipe.Swivel arm 5 and lift arm 7 all need to adopt thick square-section steel pipe.In the present embodiment, swinging mounting is spider 6, and three angles of spider 6 are hinged with lift arm 7, rear linking rod 4 and swivel arm 5 respectively.
Further, the driver train of front rocking bar 9 and rear rocking bar 1 is servomotor, is beneficial to the Automated condtrol realizing front rocking bar 9 and rear rocking bar 1.The driver train of swivel arm 5 adopts common electric machine (non-servo motor), to save cost.
The working process of this hoisting crane is as follows: as shown in Figure 2, and when this hoisting crane is in the initial condition of dead work, swivel arm 5 is in vertical state, and lift arm 7 inwardly bounces back.As shown in Figure 3, under the effect of arm lifting mechanism, swivel arm 5 forwards tilts, and lift arm 7 is outwards stretched close to flat, carries out crawl operation to dead ahead freight container.As shown in Figure 4, this hoisting crane is under the effect of arm lifting mechanism, and swivel arm 5 and lift arm 7 lifting simultaneously, complete the lifting operation to dead ahead freight container.Under the effect of arm lifting mechanism, swivel arm 5 backswing, lift arm 7 declines after the unloading task that bounced back simultaneously, resets to initial condition as shown in Figure 2, thus completes handling circulation.
The controlled face-up transporting hoist of container hoisting crane of planar three freedom connecting rod closed chain formula that the present embodiment proposes, the flexible of the rotation of swivel arm 5 and lift arm 7 is realized, eventually through the crawl of container clamping device 10 pairs of freight containers, handling and unloading by the change in location of arm lifting mechanism.The hoisting crane that the present invention proposes has three degree of freedom, by three driver trains, driving is combined to lift arm 7, rear linking rod 4 and swivel arm 5, for two degree of freedom, the output trajectory of this hoisting crane is more flexible and changeable, its task strong adaptability, efficiency is high, has larger Power output and the reliability of Geng Gao.In addition, this hoisting crane, because be realize handling, lifting task by connecting rod mechanism, effectively can overcome conventional hydraulic formula face-up transporting hoist of container hoisting crane process and assemble and require high, life-span is not long, the technological deficiencies such as leakage of oil, and complete machine is cheap, maintaining cost is low.In addition, this hoisting crane integral structure is the form of the driving of outer revolute pair and rod hinge connection transmission, all driver trains are installed on vehicle frame 11, thus effectively reduce the weight of each component, and it has, and movement inertia is little, track exports flexibly, is active in one's movements and precision advantages of higher.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure transformation utilizing specification sheets of the present invention and accompanying drawing content to do, or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (3)
1. the controlled face-up transporting hoist of container hoisting crane of planar three freedom connecting rod closed chain formula, is characterized in that, comprises vehicle frame and the arm that is installed on described vehicle frame and arm lifting mechanism, wherein,
Described arm comprises swivel arm and lift arm, and the lower end of described swivel arm and the middle part of described vehicle frame are hinged, and upper end and the swinging mounting of described swivel arm are hinged, and the rear end of described lift arm is hinged on described swinging mounting, and front end and container clamping device are hinged;
Described arm lifting mechanism comprises the front rod assembly and rear linking rod assembly that lay respectively at described swivel arm both sides, described front rod assembly comprises and is positioned at front rocking bar below described lift arm and front rod, the lower end of described front rocking bar and the front portion of described vehicle frame are hinged, the lower end of described front rod is hinged in the upper end of described front rocking bar, and upper end is hinged on the arm body of described lift arm; Described rear linking rod assembly comprises the rear linking rod being located at described vehicle frame rear, rear rocking bar, lifting connecting rod and tumbler connecting rod, the lower end of described swivel arm and rear rocking bar is hinged with the middle part of described vehicle frame and rear portion respectively, the upper end of described lifting connecting rod and the upper end of described tumbler connecting rod are hinged, upper end and the described swinging mounting of described rear linking rod are hinged, the upper end of its lower end and described lifting small end and tumbler connecting rod forms compound hinges, and described swivel arm, front rocking bar and rear rocking bar are all provided with driver train.
2. the controlled face-up transporting hoist of container hoisting crane of planar three freedom connecting rod closed chain formula according to claim 1, it is characterized in that, the driver train of described front rocking bar and rear rocking bar is servomotor.
3. the controlled face-up transporting hoist of container hoisting crane of planar three freedom connecting rod closed chain formula according to claim 1 and 2, it is characterized in that, described swinging mounting is spider, and three angles of this spider are hinged with lift arm, rear linking rod and swivel arm respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510124124.5A CN104692262A (en) | 2015-03-20 | 2015-03-20 | Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510124124.5A CN104692262A (en) | 2015-03-20 | 2015-03-20 | Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container |
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| CN104692262A true CN104692262A (en) | 2015-06-10 |
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| CN201510124124.5A Pending CN104692262A (en) | 2015-03-20 | 2015-03-20 | Plane three-degree-of-freedom link closed chain type controllable front lifting crane for container |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106357198A (en) * | 2016-09-05 | 2017-01-25 | 广州途道信息科技有限公司 | General control method for steering engine and motor |
| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
| RU2770954C1 (en) * | 2021-10-27 | 2022-04-25 | Владимир Иванович Пожбелко | Folding hinged lift of suspended load |
| CN116891123A (en) * | 2023-09-11 | 2023-10-17 | 山西建投建筑产业有限公司 | Semi-automatic conveying equipment for conveying plates |
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| CN103848356A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-degree-of-freedom hybrid drive container reach stacker crane |
| CN103848352A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Heavy-load-type container reach stacker crane |
| CN203754286U (en) * | 2014-03-20 | 2014-08-06 | 钦州学院 | Three-freedom servo-driven closed chain type container front-handling mobile crane |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2770954C1 (en) * | 2021-10-27 | 2022-04-25 | Владимир Иванович Пожбелко | Folding hinged lift of suspended load |
| CN116891123A (en) * | 2023-09-11 | 2023-10-17 | 山西建投建筑产业有限公司 | Semi-automatic conveying equipment for conveying plates |
| CN116891123B (en) * | 2023-09-11 | 2023-11-28 | 山西建投建筑产业有限公司 | Semi-automatic conveying equipment for conveying plates |
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Application publication date: 20150610 |