CN104032781A - Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism - Google Patents

Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism Download PDF

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Publication number
CN104032781A
CN104032781A CN201410298878.8A CN201410298878A CN104032781A CN 104032781 A CN104032781 A CN 104032781A CN 201410298878 A CN201410298878 A CN 201410298878A CN 104032781 A CN104032781 A CN 104032781A
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revolute pair
rod
link
arm
frame
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CN104032781B (en
Inventor
蔡敢为
范雨
张�林
黄院星
王麾
关卓怀
石慧
王少龙
王小纯
王湘
杨旭娟
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Guangxi University
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Guangxi University
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Abstract

The invention discloses an electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism. One end of a first link is connected with a frame; the other end of the first link is connected with a third link through a third revolute pair; one end of a second link is connected with the frame; the other end of the second link is connected with a third link which is connected with a large arm; one end of a first driving rod is connected with the frame; the other end of the first driving rod is connected with a bucket rod; the other end of the bucket rod is connected with a bucket; a second driving rod is connected with the frame; the other end of the second driving rod is connected with a fourth link; the other end of the fourth link is connected with the large arm through a sixth revolute pair; the tail end of the large arm is connected with the bucket; each of the third revolute pair and the sixth revolute pair is provided with an electromagnetic locking device having a locking function. The electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism is as flexible as a hydraulic excavator; three-DOF excavation can be achieved with two driving rods, manufacturing cost of the excavation mechanism is reduced, and the excavation mechanism is applicable to manufacturing of various excavators and other engineering machines.

Description

A kind of electromagnetic braking initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents
Technical field
The present invention relates to engineering machinery field, particularly a kind of electromagnetic braking initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents.
Background technology
Excavator is a kind of common engineering machinery, is mainly used in various earthwork constructions.Wherein hydraulic crawler excavator is a most widely used class excavator, but hydraulic system manufacturing cost is high, is prone to the problems such as leakage of oil, and these are all the long-standing thorny problems of hydraulic excavator.And traditional single-degree-of-freedom mechanical digging machine is commonly called as by " power shovel ", can only realize track output simple and that can not change, therefore can not be in the application of field acquisition widely as hydraulic excavator.
Along with the development of motor technology and the raising of control technology, controllable mechanism provides wide development space for engineering machinery, by controlling motor-driven multiple degrees of freedom controllable mechanism, not only have that working space is large, flexible movements, can complete complicated and variable movement locus and export, also there is low cost of manufacture simultaneously, the advantages such as maintaining is simple, controllable-mechanism type excavator is owing to having replaced hydraulic drive with multiple degrees of freedom linkage, avoided hydraulic system requirement on machining accuracy high, maintaining cost is high, easily produces the problems such as leakage of oil.But, existing controllable-mechanism type excavator mainly relies on multivariant linkage work, multiple degrees of freedom linkage was controlled in the past, often need to use the control motor with linkage degree of freedom equivalent amount to drive control, not only greatly increased manufacturing cost, and having increased the complexity of frame transmission system, these shortcomings have certain restriction to multiple degrees of freedom controllable mechanism in the application of engineering machinery field.
Summary of the invention
The object of the present invention is to provide a kind of electromagnetic braking initiatively to become many connecting rods excavating mechanism of controllable of born of the same parents, first should have advantages of that conventional hydraulic excavator working space is large, digging force is large, stressed good, overcome the shortcoming that conventional hydraulic excavator maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not, simultaneously, also should reduce the usage quantity of driving lever, to reduce controllable motor quantity, reduce digging mechanism manufacturing cost.
The present invention achieves the above object by the following technical programs: a kind of electromagnetic braking initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents, comprises that frame, large arm swing mechanism, dipper lift descending mechanism and scraper bowl switching mechanism;
Described large arm swing mechanism comprises first connecting rod, second connecting rod and third connecting rod, and first connecting rod one end is connected by the first revolute pair with frame, and the other end is connected by the 3rd revolute pair with third connecting rod; Second connecting rod one end is connected by the second revolute pair with frame, and the other end is connected by the 4th revolute pair with third connecting rod, and the third connecting rod other end is connected by the 5th revolute pair with large arm;
Described dipper is lifted descending mechanism and is comprised dipper and the first driving lever, and first driving lever one end is connected by the 8th revolute pair with frame, and the other end is connected by the 9th revolute pair with dipper, and the other end of dipper is connected by the tenth revolute pair with bucket;
Described scraper bowl switching mechanism comprises the second driving lever, the 4th connecting rod, large arm and scraper bowl, the second driving lever is connected by the 11 revolute pair with frame, the other end of the second driving lever is connected by the 12 revolute pair with the 4th connecting rod, the 4th connecting rod other end is connected by the 6th revolute pair with large arm, and the end of large arm is connected by the 13 revolute pair with scraper bowl;
In described the 3rd revolute pair and the 6th revolute pair, the electromagnetic locking device that possesses locking function is all installed;
Described the first driving lever and the second driving lever are respectively by driven by servomotor.
The present invention is in each digging working condition operation, and during large arm swing, the 6th electromagnetic locking device that rotates vice division chief is opened, the 6th revolute pair degree of gaining freedom, the 3rd rotates the electromagnetic locking device locking of vice division chief, and the 3rd revolute pair loses degree of freedom, now, large arm is at the second driving lever effect lower swing.When scraper bowl swings separately, the 6th revolute pair and the 3rd revolute pair are all locked, the 6th revolute pair and the 3rd revolute pair all lose degree of freedom.In whole digging operation process, two electromagnetic locking devices are according to different working conditions, suitable locking, open, and jointly complete digging operation.
Outstanding advantages of the present invention is:
The shortcomings such as 1, the present invention utilizes link transmission to substitute hydraulic drive, has solved traditional excavator cost of upkeep high, and Hydraulic Elements cost is high, and operation noise is large;
2, the present invention adopts and on linkage, to install electromagnetic locking device additional and realize digging mechanism and initiatively become born of the same parents' function, make this digging mechanism lock some revolute pair according to different operating modes, reduce the degree of freedom of digging mechanism in good time, thereby reduced the usage quantity of controllable motor.Compare other multiple degrees of freedom excavating mechanism of controllable, the present invention utilizes two controllable motors can complete Three Degree Of Freedom digging operation, not only greatly reduce the cost of excavating mechanism of controllable, and reduced the complexity of frame transmission system, be more applicable for and manufacture all kinds of excavators and other engineering machinery;
3, driving lever type of drive of the present invention is flexible and changeable, can select the drive forms such as driven by servomotor, combination drive, not only environmental protection, and be easy to realize Long-distance Control, reduce labor strength.
Accompanying drawing explanation
Fig. 1 is many connecting rods excavating mechanism of controllable schematic diagram that electromagnetic braking of the present invention initiatively becomes born of the same parents.
Fig. 2 is the large arm swing structural scheme of mechanism of electromagnetic braking of the present invention many connecting rods excavating mechanism of controllable of initiatively becoming born of the same parents.
Fig. 3 is that the dipper of electromagnetic braking of the present invention many connecting rods excavating mechanism of controllable of initiatively becoming born of the same parents is lifted descending mechanism schematic diagram.
Fig. 4 is the scraper bowl switching mechanism schematic diagram of electromagnetic braking of the present invention many connecting rods excavating mechanism of controllable of initiatively becoming born of the same parents.
Fig. 5 is the stereogram that electromagnetic braking of the present invention initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents.
The specific embodiment
By drawings and Examples, technical scheme of the present invention is described further below.
Contrast Fig. 1 and Fig. 5, a kind of electromagnetic braking of the present invention initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents, comprises that frame 1, large arm swing mechanism, dipper lift descending mechanism, scraper bowl switching mechanism and two electromagnetic locking devices.
Contrast Fig. 1 and Fig. 2, described large arm swing mechanism comprises first connecting rod 23, second connecting rod 18 and third connecting rod 20, described first connecting rod 23 is connected by the first revolute pair 24 with frame 1, described second connecting rod 18 is connected by the second revolute pair 17 with frame 1, the other end of first connecting rod 23 is connected by the 3rd revolute pair 21 with third connecting rod 20, the other end of second connecting rod 18 is connected by the 4th revolute pair 19 with third connecting rod 20, and third connecting rod 20 is connected by the 5th revolute pair 9 with large arm 8.
Contrast Fig. 1 and Fig. 3, described dipper is lifted descending mechanism and is comprised dipper 13 and the first driving lever 15, described the first driving lever 15 is connected by the 8th revolute pair 16 with frame 1, the other end of the first driving lever 15 is connected by the 9th revolute pair 14 with dipper 13, and the other end of dipper 13 is connected by the tenth revolute pair 12 with bucket 11.
Contrast Fig. 1 and Fig. 4, described scraper bowl switching mechanism comprises the second driving lever 3, the 4th connecting rod 5, large arm 8 and scraper bowl 11, described the second driving lever 3 is connected by the 11 revolute pair 2 with frame 1, the other end of described the second driving lever 3 is connected by the 12 revolute pair 4 with the 4th connecting rod 5, described the 4th connecting rod 5 is connected with large arm 8 by the 6th revolute pair 6 with large arm 8, and the end of described large arm 8 is connected by the 13 revolute pair 10 with scraper bowl 11.
In described the 3rd revolute pair 21 and the 6th revolute pair 6, the electromagnetic locking device that possesses locking function is all installed, can locks according to the different operating mode of digging mechanism in good time.
Described the first driving lever 15 and the second driving lever 3 are respectively by driven by servomotor.
Described a kind of electromagnetic braking initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents in each digging working condition operation, when large arm 8 swings, the electromagnetic locking device 7 at the 6th revolute pair 6 places is opened, the 6th revolute pair 6 degree of gaining freedom, electromagnetic locking device 22 lockings at the 3rd revolute pair 21 places, the 3rd revolute pair 21 loses degree of freedom, and now, large arm 8 is at the second driving lever 3 effect lower swings.When scraper bowl 11 swings separately, the 6th revolute pair 6 and the 3rd revolute pair 21 are all locked, the 6th revolute pair 6 and the 3rd revolute pair 21 all lose degree of freedom.In whole digging operation process, the electromagnetic locking device at two places is according to different working conditions, suitable locking, opens, and jointly completes digging operation.

Claims (1)

1. electromagnetic braking initiatively becomes many connecting rods excavating mechanism of controllable of born of the same parents, comprises that frame, large arm swing mechanism, dipper lift descending mechanism and scraper bowl switching mechanism, it is characterized in that:
Described large arm swing mechanism comprises first connecting rod, second connecting rod and third connecting rod, and first connecting rod one end is connected by the first revolute pair with frame, and the other end is connected by the 3rd revolute pair with third connecting rod; Second connecting rod one end is connected by the second revolute pair with frame, and the other end is connected by the 4th revolute pair with third connecting rod, and the third connecting rod other end is connected by the 5th revolute pair with large arm;
Described dipper is lifted descending mechanism and is comprised dipper and the first driving lever, and first driving lever one end is connected by the 8th revolute pair with frame, and the other end is connected by the 9th revolute pair with dipper, and the other end of dipper is connected by the tenth revolute pair with bucket;
Described scraper bowl switching mechanism comprises the second driving lever, the 4th connecting rod, large arm and scraper bowl, the second driving lever is connected by the 11 revolute pair with frame, the other end of the second driving lever is connected by the 12 revolute pair with the 4th connecting rod, the 4th connecting rod other end is connected by the 6th revolute pair with large arm, and the end of large arm is connected by the 13 revolute pair with scraper bowl;
In described the 3rd revolute pair and the 6th revolute pair, the electromagnetic locking device that possesses locking function is all installed;
Described the first driving lever and the second driving lever are respectively by driven by servomotor.
CN201410298878.8A 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 Active CN104032781B (en)

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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
CN104480983A (en) * 2014-12-25 2015-04-01 广西大学 12R controllable excavating mechanism with actively and alternatively metamorphic big arm
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
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
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
CN104594407A (en) * 2014-12-25 2015-05-06 广西大学 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis 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
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
CN104594408A (en) * 2014-12-25 2015-05-06 广西大学 Electromagnetic type active metamorphic 5R-4R-4R controllable excavation mechanism
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
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
CN104631524A (en) * 2014-12-25 2015-05-20 广西大学 Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism
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
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
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
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
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
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
CN110670648A (en) * 2019-09-02 2020-01-10 芜湖职业技术学院 Spring metamorphic excavating mechanism

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CN103741734A (en) * 2013-12-16 2014-04-23 广西大学 Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism
CN103758164A (en) * 2013-12-07 2014-04-30 广西大学 Plane multi-freedom-degree controllable mechanism type face-shovel excavator
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CN103726524A (en) * 2013-12-16 2014-04-16 广西大学 Large-rigidity multi-connecting-rod controllable mechanical loading mechanism
CN103741734A (en) * 2013-12-16 2014-04-23 广西大学 Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism
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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
CN104480983A (en) * 2014-12-25 2015-04-01 广西大学 12R controllable excavating mechanism with actively and alternatively metamorphic big arm
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
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
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
CN104594407A (en) * 2014-12-25 2015-05-06 广西大学 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis 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
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
CN104594408A (en) * 2014-12-25 2015-05-06 广西大学 Electromagnetic type active metamorphic 5R-4R-4R controllable excavation mechanism
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
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
CN104631524A (en) * 2014-12-25 2015-05-20 广西大学 Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism
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
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
CN110670648A (en) * 2019-09-02 2020-01-10 芜湖职业技术学院 Spring metamorphic excavating mechanism

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