CN104032781B - A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents - Google Patents
A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents Download PDFInfo
- Publication number
- CN104032781B CN104032781B CN201410298878.8A CN201410298878A CN104032781B CN 104032781 B CN104032781 B CN 104032781B CN 201410298878 A CN201410298878 A CN 201410298878A CN 104032781 B CN104032781 B CN 104032781B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- active
- pair
- rod
- rotating pair
- Prior art date
- 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.)
- Expired - Fee Related
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Earth Drilling (AREA)
Abstract
本发明公开了一种电磁制动主动变胞的多连杆可控挖掘机构，第一连杆一端与机架连接，另一端与第三连杆通过第三转动副连接；第二连杆一端与机架连接，另一端与第三连杆连接，第三连杆与大臂连接；第一主动杆一端与机架连接，另一端与斗杆连接，斗杆的另一端与挖斗连接；第二主动杆与机架连接，第二主动杆另一端与第四连杆连接，第四连杆另一端与大臂通过第六转动副连接，大臂的末端与铲斗连接；第三转动副和第六转动副上均安装有具备锁紧功能的电磁锁紧装置；本发明具备液压挖掘机的灵活性，而且利用两主动杆即可实现三自由度挖掘作业，降低了挖掘机构造价，适用于制造各类挖掘机及其他工程机械。
The invention discloses a multi-link controllable excavating mechanism with electromagnetic braking active transformation. One end of the first connecting rod is connected with the frame, and the other end is connected with the third connecting rod through the third rotating pair; one end of the second connecting rod is It is connected with the frame, the other end is connected with the third connecting rod, and the third connecting rod is connected with the boom; one end of the first active rod is connected with the frame, the other end is connected with the stick, and the other end of the stick is connected with the bucket; The second active rod is connected with the frame, the other end of the second active rod is connected with the fourth connecting rod, the other end of the fourth connecting rod is connected with the boom through the sixth rotating pair, and the end of the boom is connected with the bucket; the third rotating An electromagnetic locking device with a locking function is installed on the pair and the sixth turning pair; the present invention has the flexibility of a hydraulic excavator, and can realize three-degree-of-freedom excavation operations by using two active rods, reducing the construction cost of the excavator. It is suitable for manufacturing various excavators and other construction machinery.
Description
技术领域technical field
本发明涉及工程机械领域，特别是一种电磁制动主动变胞的多连杆可控挖掘机构。The invention relates to the field of engineering machinery, in particular to a multi-link controllable excavating mechanism with electromagnetic brake active transformation.
背景技术Background technique
挖掘机是一种常见的工程机械，主要用于各种土方施工中。其中液压挖掘机是应用最广泛的一类挖掘机，但是液压系统制造成本高，易出现漏油等问题，这些都是液压式挖掘机长期存在的棘手问题。而传统单自由度机械式挖掘机，俗称“电铲”，只能实现简单且不能变化的轨迹输出，因此不能像液压式挖掘机那样在广泛的领域获得应用。Excavator is a common construction machine, which is mainly used in various earthwork constructions. Among them, the hydraulic excavator is the most widely used type of excavator, but the manufacturing cost of the hydraulic system is high, and problems such as oil leakage are prone to occur. These are long-standing thorny problems of hydraulic excavators. However, traditional single-degree-of-freedom mechanical excavators, commonly known as "electric shovels", can only achieve simple and unchangeable trajectory output, so they cannot be used in a wide range of fields like hydraulic excavators.
随着电机技术的发展和控制技术的提高，可控机构为工程机械提供了广阔的发展空间，由控制电机驱动的多自由度可控机构不仅具有工作空间大、动作灵活、可完成复杂和可变的运动轨迹输出，同时还具有制造成本低，维护保养简单等优点，可控机构式挖掘机由于用多自由度连杆机构取代了液压传动，避免了液压系统加工精度要求高，维护保养成本高，容易产生漏油等问题。但是，现有可控机构式挖掘机主要依靠多自由度的连杆机构工作，以往对多自由度连杆机构进行控制，往往需要用与连杆机构自由度同等数量的控制电机进行驱动控制，不仅大大增加了制造成本，而且增加了机架传动系统的复杂性，这些缺点对多自由度可控机构在工程机械领域的应用有一定制约。With the development of motor technology and the improvement of control technology, the controllable mechanism provides a broad development space for construction machinery. The multi-degree-of-freedom controllable mechanism driven by the control motor not only has a large working space, flexible actions, and can complete complex and controllable structures. Variable motion trajectory output, and also has the advantages of low manufacturing cost and simple maintenance. The controllable mechanism excavator replaces the hydraulic transmission with a multi-degree-of-freedom linkage mechanism, which avoids the high machining accuracy of the hydraulic system and the maintenance cost. High, prone to problems such as oil leakage. However, the existing controllable mechanism excavators mainly rely on the multi-degree-of-freedom linkage mechanism to work. In the past, to control the multi-degree-of-freedom linkage mechanism, it was often necessary to use control motors with the same number of degrees of freedom as the linkage mechanism for drive control. It not only greatly increases the manufacturing cost, but also increases the complexity of the frame transmission system. These shortcomings restrict the application of multi-degree-of-freedom controllable mechanisms in the field of construction machinery.
发明内容Contents of the invention
本发明的目的在于提供一种电磁制动主动变胞的多连杆可控挖掘机构，首先应具有传统液压挖掘机工作空间大、挖掘力大、受力好的优点，克服传统液压挖掘机维修保养成本高、作业噪音大、液压元件成本高、反应不够灵敏的缺点，同时，还应降低主动杆的使用数量，以降低可控电机数量，降低挖掘机构制造成本。The purpose of the present invention is to provide a multi-link controllable excavation mechanism with electromagnetic brake active transformation. First, it should have the advantages of large working space, large excavation force and good force of the traditional hydraulic excavator, and overcome the traditional hydraulic excavator maintenance. The shortcomings of high maintenance cost, high operating noise, high cost of hydraulic components, and insufficient response. At the same time, the number of active rods should be reduced to reduce the number of controllable motors and reduce the manufacturing cost of excavating mechanisms.
本发明通过以下技术方案达到上述目的：一种电磁制动主动变胞的多连杆可控挖掘机构，包括机架、大臂摆动机构、斗杆举降机构和铲斗翻转机构；The present invention achieves the above object through the following technical solutions: a multi-link controllable excavating mechanism with electromagnetic brake active transformation, including a frame, a boom swing mechanism, a stick lifting mechanism and a bucket turning mechanism;
所述大臂摆动机构包括第一连杆、第二连杆和第三连杆，第一连杆一端与机架通过第一转动副连接，另一端与第三连杆第一端通过第三转动副连接；第二连杆一端与机架通过第二转动副连接，另一端与第三连杆第二端通过第四转动副连接，第三连杆第三端与大臂通过第五转动副连接；The boom swing mechanism includes a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is connected with the frame through the first rotating pair, and the other end is connected with the first end of the third connecting rod through the third connecting rod. Rotary pair connection; one end of the second connecting rod is connected with the frame through the second rotating pair, the other end is connected with the second end of the third connecting rod through the fourth rotating pair, and the third end of the third connecting rod is connected with the boom through the fifth rotating pair Secondary connection;
所述斗杆举降机构包括斗杆和第一主动杆，第一主动杆一端与机架通过第八转动副连接，另一端与斗杆通过第九转动副连接，斗杆的另一端与挖斗通过第十转动副连接；The arm lifting mechanism includes an arm and a first active rod. One end of the first active arm is connected to the frame through the eighth revolving pair, and the other end is connected to the arm through the ninth revolving pair. The other end of the arm is connected to the excavator. The buckets are connected through the tenth revolving pair;
所述铲斗翻转机构包括第二主动杆、第四连杆、大臂和铲斗，第二主动杆与机架通过第十一转动副连接，第二主动杆的另一端与第四连杆通过第十二转动副连接，第四连杆另一端与大臂通过第六转动副连接，大臂的末端与铲斗通过第十三转动副连接；The bucket turning mechanism includes a second active rod, a fourth connecting rod, a boom and a bucket, the second active rod is connected to the frame through the eleventh rotating pair, and the other end of the second active rod is connected to the fourth connecting rod It is connected through the twelfth rotating pair, the other end of the fourth connecting rod is connected with the boom through the sixth rotating pair, and the end of the boom is connected with the bucket through the thirteenth rotating pair;
所述第三转动副和第六转动副上均安装有具备锁紧功能的电磁锁紧装置；Electromagnetic locking devices with locking functions are installed on the third rotating pair and the sixth rotating pair;
所述第一主动杆和第二主动杆分别由伺服电机驱动。The first active rod and the second active rod are respectively driven by servo motors.
本发明在各挖掘工况作业中，大臂摆动时，第六转动副处的电磁锁紧装置打开，第六转动副获得自由度，第三转动副处的电磁锁紧装置锁紧，第三转动副失去自由度，此时，大臂在第二主动杆作用下摆动。铲斗单独摆动时，对第六转动副和第三转动副都进行锁紧，第六转动副和第三转动副均失去自由度。在整个挖掘作业过程中，两个电磁锁紧装置根据不同的作业工况，适当的锁紧、打开，共同完成挖掘作业。In the operation of each excavation working condition, when the boom swings, the electromagnetic locking device at the sixth rotating pair is opened, the sixth rotating pair obtains the degree of freedom, the electromagnetic locking device at the third rotating pair is locked, and the third rotating pair is locked. The rotating joint loses the degree of freedom, and at this moment, the boom swings under the action of the second active rod. When the bucket swings alone, both the sixth swivel pair and the third swivel pair are locked, and the sixth swivel pair and the third swivel pair both lose degrees of freedom. During the entire excavation operation, the two electromagnetic locking devices are properly locked and opened according to different operating conditions, and jointly complete the excavation operation.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、本发明利用连杆传动替代液压传动，解决了传统挖掘机保养成本高，液压元件成本高，作业噪音大等缺点；1. The invention uses connecting rod transmission instead of hydraulic transmission, which solves the shortcomings of traditional excavators such as high maintenance cost, high cost of hydraulic components, and large operating noise;
2、本发明采用在连杆机构上加装电磁锁紧装置实现挖掘机构主动变胞功能，使该挖掘机构根据不同工况锁定某些转动副，适时降低了挖掘机构的自由度，从而减少了可控电机的使用数量。相比其他多自由度可控挖掘机构，本发明利用两台可控电机即可完成三自由度挖掘作业，不仅大大降低了可控挖掘机构的造价，而且降低了机架传动系统的复杂性，更加适用于制造各类挖掘机及其他工程机械；2. The present invention adopts the addition of an electromagnetic locking device on the connecting rod mechanism to realize the active transformation function of the excavating mechanism, so that the excavating mechanism can lock certain rotating pairs according to different working conditions, and timely reduces the degree of freedom of the excavating mechanism, thereby reducing Controllable number of motors used. Compared with other multi-degree-of-freedom controllable excavation mechanisms, the present invention can complete three-degree-of-freedom excavation operations by using two controllable motors, which not only greatly reduces the cost of the controllable excavation mechanism, but also reduces the complexity of the frame transmission system. It is more suitable for manufacturing various excavators and other construction machinery;
3、本发明主动杆驱动方式灵活多变，可选用伺服电机驱动，混合驱动等驱动形式，不仅环保，而且易于实现远程控制，降低工人劳动强度。3. The drive mode of the active rod of the present invention is flexible and changeable, and the drive forms such as servo motor drive and hybrid drive can be selected, which is not only environmentally friendly, but also easy to realize remote control and reduce labor intensity of workers.
附图说明Description of drawings
图1为本发明所述的电磁制动主动变胞的多连杆可控挖掘机构示意图。Fig. 1 is a schematic diagram of a multi-link controllable excavating mechanism for electromagnetic brake active transformation according to the present invention.
图2为本发明所述的电磁制动主动变胞的多连杆可控挖掘机构的大臂摆动机构示意图。Fig. 2 is a schematic diagram of the boom swing mechanism of the multi-link controllable excavating mechanism with electromagnetic brake active transformation according to the present invention.
图3为本发明所述的电磁制动主动变胞的多连杆可控挖掘机构的斗杆举降机构示意图。Fig. 3 is a schematic diagram of the stick lifting mechanism of the multi-link controllable excavating mechanism with electromagnetic brake active transformation according to the present invention.
图4为本发明所述的电磁制动主动变胞的多连杆可控挖掘机构的铲斗翻转机构示意图。Fig. 4 is a schematic diagram of the bucket turning mechanism of the multi-link controllable excavating mechanism with electromagnetic brake active transformation according to the present invention.
图5为本发明所述的电磁制动主动变胞的多连杆可控挖掘机构的立体图。Fig. 5 is a perspective view of the multi-link controllable excavating mechanism of the active transformation of the electromagnetic brake according to the present invention.
具体实施方式detailed description
以下通过附图和实施例对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below through the accompanying drawings and embodiments.
对照图1和图5，本发明所述的一种电磁制动主动变胞的多连杆可控挖掘机构，包括机架1、大臂摆动机构、斗杆举降机构、铲斗翻转机构以及两个电磁锁紧装置。Referring to Fig. 1 and Fig. 5, a multi-link controllable excavating mechanism with electromagnetic brake active transformation according to the present invention includes a frame 1, a boom swing mechanism, a stick lifting mechanism, a bucket turning mechanism and Two electromagnetic locking devices.
对照图1和图2，所述大臂摆动机构包括第一连杆23、第二连杆18和第三连杆20，所述第一连杆23与机架1通过第一转动副24连接，所述第二连杆18与机架1通过第二转动副17连接，第一连杆23的另一端与第三连杆20第一端通过第三转动副21连接，第二连杆18的另一端与第三连杆20第二端通过第四转动副19连接，第三连杆20第三端与大臂8通过第五转动副9连接。1 and 2, the boom swing mechanism includes a first link 23, a second link 18 and a third link 20, the first link 23 is connected to the frame 1 through a first rotating pair 24 , the second connecting rod 18 is connected with the frame 1 through the second rotating pair 17, the other end of the first connecting rod 23 is connected with the first end of the third connecting rod 20 through the third rotating pair 21, and the second connecting rod 18 The other end of the third connecting rod 20 is connected with the second end of the third connecting rod 20 through the fourth rotating pair 19, and the third end of the third connecting rod 20 is connected with the boom 8 through the fifth rotating pair 9.
对照图1和图3，所述斗杆举降机构包括斗杆13和第一主动杆15，所述第一主动杆15与机架1通过第八转动副16连接，第一主动杆15的另一端与斗杆13通过第九转动副14连接，斗杆13的另一端与挖斗11通过第十转动副12连接。1 and 3, the stick lifting mechanism includes a stick 13 and a first active rod 15, the first active rod 15 is connected with the frame 1 through the eighth rotating pair 16, the first active rod 15 The other end is connected with the arm 13 through the ninth revolving pair 14 , and the other end of the arm 13 is connected with the bucket 11 through the tenth revolving pair 12 .
对照图1和图4，所述铲斗翻转机构包括第二主动杆3、第四连杆5、大臂8和铲斗11，所述第二主动杆3与机架1通过第十一转动副2连接，所述第二主动杆3的另一端与第四连杆5通过第十二转动副4连接，所述第四连杆5与大臂8通过第六转动副6与大臂8连接，所述大臂8的末端与铲斗11通过第十三转动副10连接。1 and 4, the bucket turning mechanism includes the second active rod 3, the fourth connecting rod 5, the boom 8 and the bucket 11, the second active rod 3 and the frame 1 rotate through the eleventh pair 2, the other end of the second active rod 3 is connected with the fourth connecting rod 5 through the twelfth rotating pair 4, and the fourth connecting rod 5 is connected with the boom 8 through the sixth rotating pair 6 and the boom 8 The end of the boom 8 is connected to the bucket 11 through the thirteenth rotating pair 10 .
所述第三转动副21和第六转动副6上均安装有具备锁紧功能的电磁锁紧装置，能够按照挖掘机构不同的工况进行适时锁紧。Both the third rotating pair 21 and the sixth rotating pair 6 are equipped with electromagnetic locking devices with a locking function, which can be locked in time according to different working conditions of the excavating mechanism.
所述第一主动杆15和第二主动杆3分别由伺服电机驱动。The first active rod 15 and the second active rod 3 are respectively driven by servo motors.
所述一种电磁制动主动变胞的多连杆可控挖掘机构在各挖掘工况作业中，大臂8摆动时，第六转动副6处的电磁锁紧装置7打开，第六转动副6获得自由度，第三转动副21处的电磁锁紧装置22锁紧，第三转动副21失去自由度，此时，大臂8在第二主动杆3作用下摆动。铲斗11单独摆动时，对第六转动副6和第三转动副21都进行锁紧，第六转动副6和第三转动副21均失去自由度。在整个挖掘作业过程中，两处的电磁锁紧装置根据不同的作业工况，适当的锁紧、打开，共同完成挖掘作业。The multi-link controllable excavating mechanism with active transformation of electromagnetic brake operates in various excavating conditions, when the boom 8 swings, the electromagnetic locking device 7 at the sixth rotating pair 6 is opened, and the sixth rotating pair 6 degrees of freedom are obtained, the electromagnetic locking device 22 at the third rotating pair 21 is locked, and the third rotating pair 21 loses the degree of freedom. At this time, the boom 8 swings under the action of the second active rod 3 . When the bucket 11 swings alone, both the sixth swivel pair 6 and the third swivel pair 21 are locked, and both the sixth swivel pair 6 and the third swivel pair 21 lose their degrees of freedom. During the whole excavation process, the two electromagnetic locking devices are properly locked and opened according to different operating conditions to jointly complete the excavation operation.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410298878.8A CN104032781B (en) | 2014-06-27 | 2014-06-27 | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410298878.8A CN104032781B (en) | 2014-06-27 | 2014-06-27 | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104032781A CN104032781A (en) | 2014-09-10 |
| CN104032781B true CN104032781B (en) | 2016-06-15 |
Family
ID=51463758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410298878.8A Expired - Fee Related CN104032781B (en) | 2014-06-27 | 2014-06-27 | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104032781B (en) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104480983A (en) * | 2014-12-25 | 2015-04-01 | 广西大学 | 12R controllable excavating mechanism with actively and alternatively metamorphic big arm |
| CN104452846A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Double metamorphic multi-closed-chain controllable excavation mechanism with large arm lifting function and bucket overturning function |
| CN104594406A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism |
| CN104631523A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | 5R-6R-4R three-closed-chain controllable excavation mechanism based on electromagnetism initiative metamorphism |
| CN104532889A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles |
| CN104480982A (en) * | 2014-12-25 | 2015-04-01 | 广西大学 | 15R four-closed-loop multi-connecting-rod controllable excavating mechanism with electromagnetically and actively metamorphic function |
| CN104594414A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 4R-5R-4R multi-closed-chain connecting rod controllable excavation mechanism |
| CN104594413A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 4R-5R-5R multi-closed-chain connecting rod controllable excavation mechanism |
| CN104480981A (en) * | 2014-12-25 | 2015-04-01 | 广西大学 | 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
| CN104594408A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 5R-4R-4R controllable excavation mechanism |
| CN104594402A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Dual-metamorphism multi-closed-chain connecting rod controllable excavating mechanism with 4R-5R big arm tilting mechanism |
| CN104594407A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis function |
| CN104532890A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Electromagnetic type initiative metamorphism (3R-4R)R-4R-4R closed-chain connecting rod controllable excavating mechanism |
| CN106607914A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm used for assembling work |
| CN106625645A (en) * | 2016-11-29 | 2017-05-10 | 广西大学 | Servo-motor-drive connecting-rod type variable-degree-of-freedom painting operation mechanical arm |
| CN106607866A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor |
| CN106695756A (en) * | 2016-12-05 | 2017-05-24 | 广西大学 | Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation |
| CN106607871A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo driving connection rod type variable degree-of-movement mechanism for oxygen-acetylene cutting machine |
| CN106938461A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state metamorphic mechanisms of eight connecting rod three with three kinds of mapping of freedom degree |
| CN106938458A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state of tilting-type full hydraulic drive three becomes the training of cell type trees and cut down trees robot |
| CN110670648B (en) * | 2019-09-02 | 2021-08-17 | 芜湖职业技术学院 | A spring metamorphic excavating mechanism |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201943097U (en) * | 2010-12-10 | 2011-08-24 | 广西大学 | Mechanical motor-driven excavation mechanism |
| CN102080391B (en) * | 2010-12-10 | 2012-02-01 | 广西大学 | A mechanical electric excavator |
| CN202194163U (en) * | 2011-07-07 | 2012-04-18 | 广西大学 | A multi-connecting rod loading mechanism |
| CN103758164B (en) * | 2013-12-07 | 2016-01-20 | 广西大学 | A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator |
| CN103741734A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism |
| CN103726524A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Large-rigidity multi-connecting-rod controllable mechanical loading mechanism |
| CN103790191B (en) * | 2014-02-27 | 2016-01-20 | 钦州学院 | Combination drive metamorphic mechanisms excavation machinery |
-
2014
- 2014-06-27 CN CN201410298878.8A patent/CN104032781B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104032781A (en) | 2014-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104032781B (en) | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents | |
| CN104612189A (en) | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function | |
| CN104594400A (en) | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function | |
| CN104032779A (en) | Multi-connecting-rod controllable mining mechanism with variable cell function | |
| CN104452840B (en) | Multiple degrees of freedom containing parallelogram scraper bowl maintaining body becomes born of the same parents' excavating mechanism of controllable | |
| CN104594406A (en) | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism | |
| CN104047318B (en) | Electromagnetic braking actively becomes born of the same parents' multi link excavating mechanism of controllable | |
| CN104047314A (en) | Controllable mechanism type loading machine with active metamorphic function | |
| CN104294868A (en) | Multi-freedom-degree controllable loading mechanism with active metamorphic function | |
| CN104047315A (en) | Loading mechanism with active metamorphic function | |
| CN104047316A (en) | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function | |
| CN104612191A (en) | MDOF movable loading mechanism with initiative metamorphism function | |
| CN104631524A (en) | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism | |
| CN104047310A (en) | Multi-connecting-rod loading mechanism with active metamorphic function | |
| CN104047309A (en) | Controllable multi-connecting-rod loading machine with active metamorphic function | |
| CN104612193A (en) | Movable and controllable loading mechanism with initiative metamorphism function | |
| CN104047313A (en) | Multi-connecting-rod controllable excavating mechanism with active metamorphic function | |
| CN104047320A (en) | High-reliability loading mechanism with active metamorphic function | |
| CN104047312A (en) | Simple multi-connecting-rod controllable loader with active metamorphic function | |
| CN104532888A (en) | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function | |
| CN104047311A (en) | Simple loading mechanism with active metamorphic function | |
| CN104594405B (en) | A kind of excavating mechanism of controllable realizing the holding of large arm attitude by actively becoming born of the same parents | |
| CN104594412A (en) | Multi-closed-chain connecting rod controllable excavating mechanism with double parallelogram mechanism | |
| CN104452845A (en) | Multi-closed-chain controllable excavation mechanism for keeping posture of bucket through metamorphism | |
| CN104929167A (en) | Active metamorphic mechanism type controllable excavating mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 |