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

The utility model relates to a planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker. The container reach stacker comprises a suspension arm, a suspension arm lifting mechanism and a suspension arm telescoping mechanism, wherein the suspension arm comprises a rotating arm and a telescopic arm, the lower end of the rotating arm is hinged with the middle of a frame, the telescopic arm is mounted on the rotating arm through a sliding pair, and a clamping device is arranged at the front end of the telescopic arm; the suspension arm telescoping mechanism comprises telescopic rocker bars and telescopic connecting rods, the telescopic rocker bars are hinged to the front part of the frame, and the telescopic connecting rods are hinged with the telescopic arm and the telescopic rocker bars; and the suspension arm lifting mechanism comprises lifting four-bar linkages and lifting driving rods, each lifting four-bar linkage comprises front and rear lifting rocker bars hinged with the rear part of the frame as well as lifting connecting rods, and the lifting driving rods are hinged with the rotating arm and a hinged point with one lifting connecting rod. Under combined drive of the suspension arm lifting mechanism and the suspension arm telescoping mechanism, the container reach stacker performs operation such as clamping, lifting, conveying and the like on containers, and has the advantages of small movement inertia, flexible track output, high precision and the like.