CN105951905A - Electro-hydraulic controllable slip wood forklift - Google Patents
Electro-hydraulic controllable slip wood forklift Download PDFInfo
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- CN105951905A CN105951905A CN201610463420.2A CN201610463420A CN105951905A CN 105951905 A CN105951905 A CN 105951905A CN 201610463420 A CN201610463420 A CN 201610463420A CN 105951905 A CN105951905 A CN 105951905A
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- revolute pair
- fork
- linear actuator
- swing arm
- side chain
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Operation Control Of Excavators (AREA)
Abstract
An electro-hydraulic controllable slip wood forklift comprises a movable arm lifting mechanism, a fork bucket control mechanism and the like. Based on the Pascal's law, hydraulic cylinders are applied to the composition design of the movable arm lifting mechanism of the wood forklift as linkage, thereby effectively solving the problem that in the conventional design, two drive chains of lifting movable arms are subjected to uneven pressure and improving the bearing stability; the slip wood forklift has not only the high-transmission-efficiency, high-response-speed, high-motion-accuracy, high-controllability, energy-saving, environment-friendly and other characteristics of a controllable mechanism, but also a better anti-vibration property by introduction of hydraulic elements; meanwhile, the overload protection function is easy to achieve; and the slip wood forklift is relatively strong in engineering application prospect and development potential.
Description
Technical field
The present invention relates to sliding fork wood machine field, a kind of electro-hydraulic controlled skidding formula fork wood machine.
Background technology
Sliding fork wood machine is that one is widely used in the association areas such as forestry, agricultural, building, carry out carrying, the key equipments of handling operation such as timber, Caulis Sacchari sinensis, column building materials, because of its compact conformation, operating flexibility, played an important role in occasions such as agriculture, production of forestry and construction, conventional hydraulic formula sliding fork wood machine is designed and developed on the basis of conventional hydraulic formula loader, there is the shortcomings such as energy consumption is high, noise is big, exhaust emissions is serious, intelligent level is low.nullControllable mechanism is the product that traditional mechanism is combined with electronic technology，" a numerical control generation " equipment Innovation project carried out in recent years，Opportunity is brought to the upgrading of traditional mode of production mechanical technique，Shortcoming for fluid pressure type sliding fork wood machine，Controllable mechanism and robot correlation technique are applied in the design of tradition gross machine device，Propose a class controllable-mechanism type loading mechanization，Including controllable-mechanism type sugar-cane loader、Controllable-mechanism type carloader etc.，This type of controllable-mechanism type loading mechanization avoids the use of hydraulic system，It is made up of multiple degrees of freedom linkage and multiple controllable motor，The controllable motor that its output motion is controlled by multiple stage computer programming together decides on，The output trajectory of fork bucket is the function of independent variable more than，Complicated flexible track output can be realized easily，Compare fluid pressure type sliding fork wood machine，It is high that controllable-mechanism type loading mechanization has intelligence degree、Flexibility ratio is good、The advantages such as high transmission efficiency，For promoting sliding fork wood machine greenization、Intellectuality has great importance.
But, during the controllable-mechanism type loading mechanizations such as multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, cane car loader carry out engineering Application Research, it was found that a series of engineering problems not related to.First, controllable-mechanism type gross machine device is plane parallel mechanism, swing arm lifting side chain uses the configuration design form of driving lever connecting rod swing arm, during two lifting side chain lifting swing arms simultaneously, owing to manufacturing, process, assembling equal error, particularly when equipment bears unbalance loading, cause the two lifting side chain unbalance stress that swing arm is in parallel, have impact on lifting stability, it is easy to cause the overload of partial component to damage, affect the service life of controllable-mechanism type timber handling machinery；Secondly, the existing each component of controllable-mechanism type loading mechanization typically uses the type of attachment of revolute pair, compares the fluid pressure type sliding containing moving sets and pitches the equipment of wood machine, lacks effective overload protection and absorbing means.Above-mentioned reason has a strong impact on and constrains research and development and the engineer applied of controllable-mechanism type sliding fork wood machine.
Summary of the invention
It is an object of the invention to the problem that prior art exists, a kind of electro-hydraulic controlled skidding formula fork wood machine is provided, this kind of sliding fork wood machine utilizes controllable mechanism technology and uses brand-new configuration to design, it is made both to have had existing controllable-mechanism type loading mechanization intelligence degree high, flexibility ratio is good, transmission efficiency advantages of higher, solve controllable-mechanism type loading mechanization swing arm elevating mechanism poor stability simultaneously, lack the engineering problem such as effective overload protection and absorbing means, the mechanical efficiency effectively overcoming conventional hydraulic formula sliding fork wood machine to exist is low, noise pollution is serious, the problems such as intelligent level is low, these sliding fork wood facility are made to have preferable dynamic performance and bearing stability, there is stronger vibration resistance and overload protection performance simultaneously.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of electro-hydraulic controlled skidding formula pitches wood machine, including swing arm elevating mechanism, fork bucket controlling organization and frame.
Described swing arm elevating mechanism includes the first lifting side chain, second lifting side chain, swing arm, described first lifting side chain includes the first driving lever, first hydraulic cylinder, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first hydraulic cylinder one end by the second revolute pair, the described first hydraulic cylinder other end is connected with swing arm by the 3rd revolute pair, described second lifting side chain includes the second driving lever, second hydraulic cylinder, described second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second hydraulic cylinder one end by the 5th revolute pair, the described second hydraulic cylinder other end is connected with swing arm by the 6th revolute pair, described swing arm passes through the 7th revolute pair, 8th revolute pair is connected with frame.
During sliding fork wood machine operation, owing to swing arm elevating mechanism is plane parallel mechanism, first hydraulic cylinder and the second hydraulic cylinder are connected by hydraulic line, and then realize parallel connection, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, can be effectively improved the problem that swing arm elevating mechanism two lifts side chain unbalance stress, improve moved arm lifting stability, extend the service life of each component of swing arm elevating mechanism.The vibration resistance of swing arm elevating mechanism can be effectively improved, it addition, by introducing the auxiliary equipments such as relief valve on the cylinder body of hydraulic cylinder contained by swing arm elevating mechanism, the overload protection function of swing arm elevating mechanism can be realized easily by the introducing of Hydraulic Elements.
nullDescribed fork bucket controlling organization includes the first control side chain、Second controls side chain、Lower fork、Upper fork、3rd linear actuator、4th linear actuator，Described first controls side chain includes first connecting rod、First rocking arm、First linear actuator，Described first connecting rod is connected with frame by the 9th revolute pair，Described first one end is connected with first connecting rod by the tenth revolute pair，The other end is connected with swing arm by the 11st revolute pair，Described first linear actuator one end is connected with first connecting rod by the 12nd revolute pair，The other end is connected with lower fork by the 13rd revolute pair，Described second controls side chain includes second connecting rod、Second rocking arm、Second linear actuator，Described second connecting rod is connected with frame by the 14th revolute pair，Described second one end is connected with second connecting rod by the 15th revolute pair，The other end is connected with swing arm by the 16th revolute pair，Described second linear actuator one end is connected with second connecting rod by the 17th revolute pair，The other end is connected with lower fork by the 18th revolute pair，Described lower fork passes through the 19th revolute pair、20th revolute pair is connected with swing arm，Described upper fork is by the 21st revolute pair、22nd revolute pair is connected with lower fork，Described 3rd linear actuator one end is connected with lower fork 16 by the 23rd revolute pair，The other end is connected with upper fork by the 24th revolute pair，Described 4th linear actuator one end is connected with lower fork by the 25th revolute pair，The other end is connected with upper fork by the 26th revolute pair.
Described fork bucket controlling organization is driven controlling by the first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th linear actuator, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Each linear actuator that described fork bucket controlling organization comprises is servo electric jar.Scraper bowl controlling organization have employed the design of brand-new mechanism, can be effectively improved the lifting translation of this fork wood machine by scale Design.
This sliding fork wood machine not only has the features such as intelligence degree is high, energy consumption is low, maintaining is simple; and compare existing controllable loading mechanism; it is easier to realize overload protection function; and there is more preferable dynamic performance, bearing stability, vibration resistance and the more long life brought; it is suitable for manufacturing all kinds of sliding fork wood machines such as light-duty and heavy, there is stronger future in engineering applications and development potentiality.
The present invention has the prominent advantages that:
1, this kind of sliding fork wood machine uses brand-new configuration to design on the basis of based on controllable mechanism technology, meeting needed for timber handling operation under degree of freedom and work space requirement, there is preferable kinesiology and dynamic performance, swing arm elevating mechanism is by using plane-parallel type design and use Hydraulic Elements, not only greatly improve rigidity and the job stabilization of sliding fork wood machine, scraper bowl controlling organization, by using brand-new mechanism to design, is effectively increased the lifting translation of this fork wood machine.This sliding fork wood machine had both had the features such as controllable-mechanism type loading mechanization energy consumption is low, transmission efficiency is high, intelligence degree is high, good reliability, was provided simultaneously with the features such as fluid pressure type sliding fork wood machine equipment shock resistance good, overload protection performance strong, lifting good stability.
2, the electric drive system that this sliding fork wood machine uses computer programming to control is driven, and not only has higher intelligent level, it is achieved that operation NC postprocessing, and the introducing of Hydraulic Elements still ensure that higher mechanical efficiency and preferable reliability.It is applied to pitch in wood mechanism type design as connecting rod using hydraulic cylinder first, introduced hydraulic cylinder main uses is not as existing fluid pressure type engineering machinery, it is used for driving equipment to do work, but transmit power as connecting rod, and regulate unbalance loading by minute movement, improve swing arm elevating mechanism lifting stability, it is to avoid the problems such as hydraulic system mechanical efficiency is low, decrease the wear problem of Hydraulic Elements, compare fluid pressure type engineering machinery and there is longer service life and higher reliability.
3, comparing existing controlled charging crane, sliding fork wood facility of the present invention have more preferable dynamic property and reliability.The introducing of the Hydraulic Elements such as hydraulic cylinder makes this robot be provided with good antivibration and shock-absorbing capacity.Swing arm elevating mechanism is in parallel by cylinder body; achieve uneven loading action downward moving arm two and lift the stress balance of side chain; improve the problem that each member stress is uneven; improve the lifting stability of swing arm; extending the service life of each component, improve the reliability of sliding fork wood machine, sliding fork wood facility the most of the present invention have more overload protection means; by introducing the auxiliary equipments such as relief valve on swing arm elevating mechanism hydraulic cylinder, it is easier to realize the overload protection performance of sliding fork wood machine.
4, conventional hydraulic formula sliding fork wood machine is compared, sliding fork wood machine of the present invention not only has the features such as mechanical efficiency height, good reliability, and the employing of controllable mechanism technology is effectively increased sliding fork wood machine operation and the intelligence degree of operation, reduce the labor intensity of operator, the employing of electric drive system significantly reduces the mechanical complexity of sliding fork wood machine, reduces the manufacturing cost of sliding fork wood machine.These sliding fork wood facility have the features such as energy consumption is low, low noise, emission-free discharge, have great importance to promoting sliding fork wood machine greenization, intellectuality.
Accompanying drawing explanation
Fig. 1 is one of the present invention electro-hydraulic controlled skidding formula fork wood machine schematic diagram.
Fig. 2 is one of the present invention electro-hydraulic controlled skidding formula fork wood machine frame schematic diagram.
Fig. 3 is swing arm elevating mechanism schematic diagram of the present invention.
Fig. 4 is fork bucket controlling organization lower fork structural scheme of mechanism of the present invention.
Fig. 5 is to pitch structural scheme of mechanism on fork bucket controlling organization of the present invention.
Fig. 6 is one of the present invention electro-hydraulic controlled skidding formula fork wood machine plan view.
Fig. 7 is one of the present invention electro-hydraulic controlled skidding formula fork wood machine operating diagram.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
Comparison Fig. 1, one of the present invention electro-hydraulic controlled skidding formula fork wood machine, including swing arm elevating mechanism, fork bucket controlling organization and frame 1.
nullComparison Fig. 1、Fig. 2、Fig. 3，Described swing arm elevating mechanism includes the first lifting side chain、Second lifting side chain、Swing arm 19，Described first lifting side chain includes the first driving lever 30、First hydraulic cylinder 22，Described first driving lever 30 one end is connected with frame 1 by the first revolute pair 27，The other end is connected with first hydraulic cylinder 22 one end by the second revolute pair 24，Described first hydraulic cylinder 22 other end is connected with swing arm 19 by the 3rd revolute pair 21，Described second lifting side chain includes the second driving lever 29、Second hydraulic cylinder 23，Described second driving lever 29 one end is connected with frame 1 by the 4th revolute pair 26，The other end is connected with second hydraulic cylinder 23 one end by the 5th revolute pair 31，Described second hydraulic cylinder 23 other end is connected with swing arm 19 by the 6th revolute pair 33，Described swing arm 19 is by the 7th revolute pair 28、8th revolute pair 25 is connected with frame 1.
Described first driving lever the 30, second driving lever 29 is driven by electric drive system by controllable motor, during sliding fork wood machine operation, owing to swing arm elevating mechanism is plane parallel mechanism, first hydraulic cylinder 22 is connected by hydraulic line with the second hydraulic cylinder 23, and then realize parallel connection, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, the problem that swing arm elevating mechanism two lifts side chain unbalance stress can be effectively improved, improve swing arm 19 and lift stability, extend the service life of each component of swing arm elevating mechanism.The vibration resistance of swing arm elevating mechanism can be effectively improved, it addition, by introducing the auxiliary equipments such as relief valve on the cylinder body of hydraulic cylinder contained by swing arm elevating mechanism, the overload protection function of swing arm elevating mechanism can be realized easily by the introducing of Hydraulic Elements.
nullComparison Fig. 1、Fig. 2、Fig. 4、Fig. 5，Described fork bucket controlling organization includes the first control side chain、Second controls side chain、Lower fork 16、Upper fork 14、3rd linear actuator 11、4th linear actuator 42，Described first controls side chain includes first connecting rod 4、First Rocker arm 40、First linear actuator 8，Described first connecting rod 4 is connected with frame 1 by the 9th revolute pair 2，Described first Rocker arm 40 one end is connected with first connecting rod 4 by the tenth revolute pair 6，The other end is connected with swing arm 19 by the 11st revolute pair 32，Described first linear actuator 8 one end is connected with first connecting rod 4 by the 12nd revolute pair 7，The other end is connected with lower fork 16 by the 13rd revolute pair 9，Described second controls side chain includes second connecting rod 5、Second rocking arm 38、Second linear actuator 36，Described second connecting rod 5 is connected with frame 1 by the 14th revolute pair 3，Described second rocking arm 38 one end is connected with second connecting rod 5 by the 15th revolute pair 39，The other end is connected with swing arm 19 by the 16th revolute pair 20，Described second linear actuator 36 one end is connected with second connecting rod 5 by the 17th revolute pair 37，The other end is connected with lower fork 16 by the 18th revolute pair 15，Described lower fork 16 is by the 19th revolute pair 18、20th revolute pair 17 is connected with swing arm 19，Described upper fork 14 is by the 21st revolute pair 34、22nd revolute pair 35 is connected with lower fork 16，Described 3rd linear actuator 11 one end is connected with lower fork 16 by the 23rd revolute pair 10，The other end is connected with upper fork 14 by the 24th revolute pair 12，Described 4th linear actuator 42 one end is connected with lower fork 16 by the 25th revolute pair 41，The other end is connected with upper fork 14 by the 26th revolute pair 13.Each linear actuator that described fork bucket controlling organization comprises is servo electric jar.
Described fork bucket controlling organization is driven controlling by first linear actuator the 8, second linear actuator the 36, the 3rd linear actuator the 11, the 4th linear actuator 42, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Scraper bowl controlling organization have employed the design of brand-new mechanism, can be effectively improved the lifting translation of this fork wood machine by scale Design.
Comparison Fig. 6, Fig. 7; this sliding fork wood machine not only has the features such as intelligence degree is high, energy consumption is low, maintaining is simple; and compare existing controllable loading mechanism; it is easier to realize overload protection function; and there is more preferable dynamic performance, bearing stability, vibration resistance and the more long life brought; it is suitable for manufacturing all kinds of sliding fork wood machines such as light-duty and heavy, there is stronger future in engineering applications and development potentiality.
Claims (2)
1. an electro-hydraulic controlled skidding formula fork wood machine, including swing arm elevating mechanism, fork bucket controlling organization and frame, it is characterised in that:
Described swing arm elevating mechanism includes the first lifting side chain, second lifting side chain, swing arm, described first lifting side chain includes the first driving lever, first hydraulic cylinder, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first hydraulic cylinder one end by the second revolute pair, the described first hydraulic cylinder other end is connected with swing arm by the 3rd revolute pair, described second lifting side chain includes the second driving lever, second hydraulic cylinder, described second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second hydraulic cylinder one end by the 5th revolute pair, the described second hydraulic cylinder other end is connected with swing arm by the 6th revolute pair, described swing arm passes through the 7th revolute pair, 8th revolute pair is connected with frame,
nullDescribed fork bucket controlling organization includes the first control side chain、Second controls side chain、Lower fork、Upper fork、3rd linear actuator、4th linear actuator，Described first controls side chain includes first connecting rod、First rocking arm、First linear actuator，Described first connecting rod is connected with frame by the 9th revolute pair，Described first one end is connected with first connecting rod by the tenth revolute pair，The other end is connected with swing arm by the 11st revolute pair，Described first linear actuator one end is connected with first connecting rod by the 12nd revolute pair，The other end is connected with lower fork by the 13rd revolute pair，Described second controls side chain includes second connecting rod、Second rocking arm、Second linear actuator，Described second connecting rod is connected with frame by the 14th revolute pair，Described second one end is connected with second connecting rod by the 15th revolute pair，The other end is connected with swing arm by the 16th revolute pair，Described second linear actuator one end is connected with second connecting rod by the 17th revolute pair，The other end is connected with lower fork by the 18th revolute pair，Described lower fork passes through the 19th revolute pair、20th revolute pair is connected with swing arm，Described upper fork is by the 21st revolute pair、22nd revolute pair is connected with lower fork，Described 3rd linear actuator one end is connected with lower fork 16 by the 23rd revolute pair，The other end is connected with upper fork by the 24th revolute pair，Described 4th linear actuator one end is connected with lower fork by the 25th revolute pair，The other end is connected with upper fork by the 26th revolute pair.
Electro-hydraulic controlled skidding formula the most according to claim 1 fork wood machine, it is characterized in that: described first driving lever, the second driving lever are driven by controllable motor, described first hydraulic cylinder and the second hydraulic cylinder are in parallel, and described first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th linear actuator are servo electric jar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463420.2A CN105951905A (en) | 2016-06-24 | 2016-06-24 | Electro-hydraulic controllable slip wood forklift |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610463420.2A CN105951905A (en) | 2016-06-24 | 2016-06-24 | Electro-hydraulic controllable slip wood forklift |
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| CN105951905A true CN105951905A (en) | 2016-09-21 |
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| CN201610463420.2A Pending CN105951905A (en) | 2016-06-24 | 2016-06-24 | Electro-hydraulic controllable slip wood forklift |
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Citations (5)
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|---|---|---|---|---|
| CN101525888A (en) * | 2008-02-29 | 2009-09-09 | 株式会社小松制作所 | A lift arm for a skid-steel loader |
| US20130330161A1 (en) * | 2012-06-08 | 2013-12-12 | Caterpillar SARL LLC | Locking mechanism for lift arm assembly |
| CN103526786A (en) * | 2013-10-13 | 2014-01-22 | 临颍县颍机机械制造有限公司 | Grass-grabbing machine with bucket provided with grabbing teeth |
| CN104514233A (en) * | 2014-12-12 | 2015-04-15 | 广西大学 | Mobile controllable loading mechanism with active metamorphic function |
| WO2016006716A1 (en) * | 2015-08-07 | 2016-01-14 | 株式会社小松製作所 | Work vehicle |
-
2016
- 2016-06-24 CN CN201610463420.2A patent/CN105951905A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101525888A (en) * | 2008-02-29 | 2009-09-09 | 株式会社小松制作所 | A lift arm for a skid-steel loader |
| US20130330161A1 (en) * | 2012-06-08 | 2013-12-12 | Caterpillar SARL LLC | Locking mechanism for lift arm assembly |
| CN103526786A (en) * | 2013-10-13 | 2014-01-22 | 临颍县颍机机械制造有限公司 | Grass-grabbing machine with bucket provided with grabbing teeth |
| CN104514233A (en) * | 2014-12-12 | 2015-04-15 | 广西大学 | Mobile controllable loading mechanism with active metamorphic function |
| WO2016006716A1 (en) * | 2015-08-07 | 2016-01-14 | 株式会社小松製作所 | Work vehicle |
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