Plane two-freedom-degree nine-rod closed-chain type reach stacker

The invention discloses a plane two-freedom-degree nine-rod closed-chain type reach stacker. The plane two-freedom-degree nine-rod closed-chain type reach stacker comprises a crane jib and a crane jib lifting telescopic mechanism. A rotatable jib of the crane jib is hinged to the rear portion of a vehicle machine. A telescopic jib is installed on the rotatable jib through a sliding pair. The front end of the telescopic jib is provided with a clamping device. The crane jib lifting telescopic mechanism, namely a five-connecting-rod mechanism assembly comprises front rocking rods, front connecting rods, rear connecting rods and a four-connecting-rod mechanism, wherein the front rocking rods are hinged to the front portion of the vehicle frame, the front connecting rods are hinged to the front rocking rods, the four-connecting-rod mechanism is arranged in the middle of the vehicle frame, and front four-connecting-rod mechanism rocking rods and rear four-connecting-rod mechanism rocking rods are hinged to the vehicle frame. The hinged point between each rear connecting rod and the corresponding rear four-connecting-rod mechanism rocking rod and the hinged point between each rear connecting rod and the corresponding four-connecting-rod mechanism connecting rod are composite hinges. The hinged point between each front connecting rod and the corresponding rear connecting rod is arranged on the telescopic jib. The plane two-freedom-degree nine-rod closed-chain type reach stacker has the advantages that the movement inertia is small, track output is flexible, the precision is high, the rigidity and the dynamic performance are good, and the reliability is high.