CN106049569A - Planar heavy-load electro-hydraulic controllable wood grasping machine - Google Patents
Planar heavy-load electro-hydraulic controllable wood grasping machine Download PDFInfo
- Publication number
- CN106049569A CN106049569A CN201610463326.7A CN201610463326A CN106049569A CN 106049569 A CN106049569 A CN 106049569A CN 201610463326 A CN201610463326 A CN 201610463326A CN 106049569 A CN106049569 A CN 106049569A
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- China
- Prior art keywords
- revolute pair
- swing arm
- fork
- linear actuator
- hydraulic cylinder
- 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.)
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Classifications
-
- 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
-
- 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
-
- 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
- E02F3/382—Connections to the frame; Supports for booms or arms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A planar heavy-load electro-hydraulic controllable wood grasping machine comprises a movable arm lifting mechanism and a fork bucket control mechanism. Based on the Pascal's principle, hydraulic cylinders are introduced as connecting rods into the mechanism design of the controllable wood grasping machine, and through introduction of the hydraulic elements, equal in-cylinder pressure is realized, thereby effectively solving the problem of unbalanced stress of two driving chains for lifting a movable arm in a previous design and increasing the bearing stability. The wood grasping machine has the characteristics of high controllable-mechanism transmission efficiency, high response speed, high motion precision, high controllability, energy conservation, environment protection and the like; and through introduction of the hydraulic elements, the sliding-type wood grasping machine has better vibration resistance, easily realizes an overload protection function and has good engineering application prospects and high development potential.
Description
Technical field
The present invention relates to pitch wood machine field, particularly a kind of plane electro-hydraulic controlled fork wood machine of heavy duty.
Background technology
Fork wood machine is that one is widely used in the association areas such as forestry, agricultural, building, carries out timber, Caulis Sacchari sinensis, column building materials
Deng carrying, the key equipment of handling operation, because of its compact conformation, operating flexibility, in occasions such as agriculture, production of forestry and construction
Played an important role, conventional hydraulic formula fork wood machine is designed and developed on the basis of conventional hydraulic formula loader, also exists
The shortcomings such as energy consumption is high, noise is big, exhaust emissions is serious, intelligent level is low.Controllable mechanism is that traditional mechanism is tied with electronic technology
The product closed, " the numerical control generation " carried out in recent years equipment Innovation project, bring opportunity to the upgrading of traditional mode of production mechanical technique,
For the shortcoming of fluid pressure type fork wood machine, controllable mechanism and robot correlation technique are applied to tradition gross machine device
In design, it is proposed that a class controllable-mechanism type loading mechanization, including controllable-mechanism type sugar-cane loader, controllable-mechanism type carloader
Deng, this type of controllable-mechanism type loading mechanization avoids the use of hydraulic system, and it is by multiple degrees of freedom linkage and multiple controlled
Motor forms, and the controllable motor that its output motion is controlled by multiple stage computer programming together decides on, and the output trajectory of fork bucket is one
The function of individual many independent variables, can realize complicated flexible track output easily, compares fluid pressure type fork wood machine, and controllable-mechanism type loads and unloads
Machinery has the advantages such as intelligence degree height, good, the high transmission efficiency of flexibility ratio, for promoting fork wood machine greenization, intelligent tool
There is important meaning.
But, enter at controllable-mechanism type loading mechanizations such as multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, cane car loaders
During row engineering Application Research, it was found that a series of engineering problems not related to.First, controllable-mechanism type loading mechanization
Equipment is plane parallel mechanism, and swing arm lifting side chain uses the configuration design form of driving lever connecting rod swing arm, and two
During lifting side chain lifting swing arm simultaneously, owing to manufacturing, process, assembling equal error, particularly bear the feelings of unbalance loading at equipment
Under shape, 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 mistake of partial component
Carry damage, affect the service life of controllable-mechanism type timber handling machinery；Secondly, the existing each component of controllable-mechanism type loading mechanization
The general type of attachment using revolute pair, compares the fluid pressure type 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 fork wood machine.
Summary of the invention
It is an object of the invention to the problem that prior art exists, it is provided that a kind of plane electro-hydraulic controlled fork wood machine of heavy duty, should
Plant fork wood machine utilize controllable mechanism technology and use brand-new configuration to design so that it is both there is existing controllable-mechanism type loading mechanization intelligence
Can change that degree is high, flexibility ratio is good, transmission efficiency advantages of higher, solve controllable-mechanism type loading mechanization swing arm elevating mechanism steady simultaneously
Qualitative difference, lack the engineering problem such as effective overload protection and absorbing means, effectively overcome conventional hydraulic formula fork wood machine to exist
The problems such as mechanical efficiency is low, noise pollution is serious, intelligent level is low, make these fork wood facility have preferable dynamic performance and hold
Carry 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 plane electro-hydraulic controlled fork wood machine of heavy duty, including
Swing arm elevating mechanism, fork bucket controlling organization and frame.
Described swing arm elevating mechanism includes the first swing arm lifting side chain, the second swing arm lifting side chain, swing arm, and described first moves
Arm lifting side chain includes the first driving lever, the first hydraulic cylinder, and described first driving lever one end is by the first revolute pair with frame even
Connecing, the other end is connected with first hydraulic cylinder one end by the second revolute pair, and the described first hydraulic cylinder other end is by the 3rd rotation
Pair is connected with swing arm, and described second swing arm lifting side chain includes the second driving lever, the second hydraulic cylinder, described second driving lever one end
Being connected with frame by the 4th revolute pair, the other end is connected with second hydraulic cylinder one end by the 5th revolute pair, described second liquid
The cylinder pressure other end is connected with swing arm by the 6th revolute pair, and described swing arm is by the 7th revolute pair, the 8th revolute pair with frame even
Connect.
Described first driving lever, the second driving lever are driven by electric drive system by controllable motor, in fork wood machine operation mistake
Cheng Zhong, owing to swing arm elevating mechanism is plane parallel mechanism, is connected the first hydraulic cylinder and the second hydraulic cylinder 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 swing arm elevating mechanism two liters
The problem of descending branch chain unbalance stress, improves moved arm lifting stability, extends the service life of each component of swing arm elevating mechanism.Pass through
The introducing of Hydraulic Elements can be effectively improved the vibration resistance of swing arm elevating mechanism, it addition, by contained by swing arm elevating mechanism
Introduce the auxiliary equipments such as relief valve on the cylinder body of hydraulic cylinder, the overload protection function of swing arm elevating mechanism can be realized easily.
Described fork bucket controlling organization include the first rocking arm, the second rocking arm, the first linear actuator, the second linear actuator,
First pull bar, the second pull bar, the 3rd linear actuator, the 4th linear actuator, lower fork, upper fork, described first rocking arm is by the
Nine revolute pairs are connected with swing arm, and described first linear actuator one end is connected with swing arm by the tenth revolute pair, and the other end passes through
11st revolute pair is connected with the first rocking arm, and described first pull bar one end is connected with the first rocking arm, separately by the 12nd revolute pair
One end is connected with lower fork by the 13rd revolute pair.Described second rocking arm is connected with swing arm by the 14th revolute pair, and described the
Two linear actuator one end are connected with swing arm by the 15th revolute pair, and the other end is by the 16th revolute pair with the second rocking arm even
Connecing, described second pull bar one end is connected with the second rocking arm by the 17th revolute pair, the other end pass through the 18th revolute pair and under
Fork connects, and described lower fork is connected with swing arm by the 19th revolute pair, the 20th revolute pair, and described upper fork is by the 21st turn
Dynamic pair, the 22nd revolute pair are connected with lower fork, and the 23rd revolute pair and lower fork is passed through in described 3rd linear actuator one end
Connecting, the other end is connected with upper fork by the 24th revolute pair, and described 4th linear actuator one end is straight by the 25th
Line drive is connected with lower fork, and the other end is connected with upper fork by the 26th linear actuator.
Described fork bucket controlling organization is by the first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th straight
Line drive is driven controlling, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Described fork bucket controlling organization comprise each directly
Line drive is servo electric jar.Scraper bowl controlling organization, by using brand-new mechanism to design, effectively reduces scraper bowl controlling organization
Rod member number, reduces manufacturing cost and controls complexity.
This fork wood machine not only has features such as intelligence degree is high, energy consumption is low, maintaining is simple, and compare existing can
Control loader mechanism, has more preferable dynamic performance, bearing stability, vibration resistance and the more long life brought, suitable
Close and manufacture all kinds of 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 fork wood machine uses brand-new configuration to design on the basis of based on controllable mechanism technology, is meeting timber handling operation
Under required degree of freedom and work space require, having 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 fork wood machine, and scraper bowl controls machine
Structure, by using brand-new mechanism to design, effectively reduces scraper bowl controlling organization rod member number, reduces manufacturing cost and controls multiple
Miscellaneous degree.This fork wood machine had both had that controllable-mechanism type loading mechanization energy consumption is low, transmission efficiency is high, intelligence degree is high, good reliability
Etc. feature, it is provided simultaneously with fluid pressure type fork wood machine equipment shock resistance is good, overload protection performance strong, lifting good stability etc.
Feature.
2, the electric drive system that this fork wood machine uses computer programming to control is driven, and not only has higher intellectuality
Level, it is achieved that operation NC postprocessing, and the introducing of Hydraulic Elements still ensure that higher mechanical efficiency is with the most reliable
Property.The hydraulic cylinder main uses introduced in this kind of fork wood machine brand-new configuration design, not as existing fluid pressure type engineering machinery, is used for
Driving equipment does work, but transmits power as connecting rod, and regulates unbalance loading by minute movement, improves swing arm elevating mechanism
Lifting stability, it is to avoid the problems such as hydraulic system mechanical efficiency is low, decreases the wear problem of Hydraulic Elements, compares fluid pressure type
Engineering machinery has longer service life and higher reliability.
3, comparing existing controlled charging crane, fork wood facility of the present invention have more preferable dynamic property and reliability.First
Secondary using hydraulic cylinder as connecting rod be incorporated into controlled fork wood machine mechanism design in, the introducing of the Hydraulic Elements such as hydraulic cylinder makes this robot
It is provided with good antivibration and shock-absorbing capacity.Swing arm elevating mechanism is in parallel by cylinder body, it is achieved that uneven loading action downward moving arm two liters
The stress balance of descending branch chain, improves the problem that each member stress is uneven, improves the lifting stability of swing arm, extend each structure
In the service life of part, improve the reliability of fork wood machine, 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 fork wood machine.
4, comparing conventional hydraulic formula fork wood machine, fork wood machine of the present invention not only has mechanical efficiency height, good reliability etc.
Feature, and the employing of controllable mechanism technology is effectively increased fork wood machine operation and the intelligence degree of operation, reduces manipulation
The labor intensity of personnel, the employing of electric drive system significantly reduces the mechanical complexity of fork wood machine, reduces the system of fork wood machine
Cause this.These fork wood facility have the features such as energy consumption is low, low noise, emission-free discharge, to promoting fork wood machine greenization, intelligent tool
There is important meaning.
Accompanying drawing explanation
Fig. 1 is a kind of plane electro-hydraulic controlled fork wood machine schematic diagram of heavy duty of the present invention.
Fig. 2 is a kind of plane electro-hydraulic controlled fork wood machine frame schematic diagram of heavy duty of the present invention.
Fig. 3 is swing arm elevating mechanism schematic diagram of the present invention.
Fig. 4 is scraper bowl controlling organization schematic diagram of the present invention
Fig. 5 is fork bucket controlling organization lower fork schematic diagram of the present invention.
Fig. 6 is to pitch schematic diagram on fork bucket controlling organization of the present invention.
Fig. 7 is a kind of plane electro-hydraulic controlled fork wood machine plan view of heavy duty of the present invention.
Fig. 8 is a kind of plane electro-hydraulic controlled fork wood machine operating diagram of heavy duty of the present invention.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
Comparison Fig. 1, a kind of plane electro-hydraulic controlled fork wood machine of heavy duty of the present invention, including swing arm elevating mechanism, fork bucket
Controlling organization and frame 1.
Comparison Fig. 1, Fig. 2, Fig. 3, described swing arm elevating mechanism includes that the first swing arm lifting side chain, the second swing arm rise descending branch
Chain, swing arm 10, described first swing arm lifting side chain includes first driving lever the 15, first hydraulic cylinder 13, described first driving lever 15
One end is connected with frame 1 by the first revolute pair 16, and the other end is connected with first hydraulic cylinder 13 one end by the second revolute pair 14,
Described first hydraulic cylinder 13 other end is connected with swing arm 10 by the 3rd revolute pair 12, and described second swing arm lifts side chain and includes the
Two driving lever the 20, second hydraulic cylinders 21, described second driving lever 20 one end is connected with frame 1 by the 4th revolute pair 18, another
End is connected with second hydraulic cylinder 21 one end by the 5th revolute pair 19, and described second hydraulic cylinder 21 other end passes through the 6th revolute pair
22 are connected with swing arm 10, and described swing arm 10 is connected with frame 1 by the 7th revolute pair the 2, the 8th revolute pair 17.
Described first driving lever the 15, second driving lever 20 is driven by electric drive system by controllable motor, makees at fork wood machine
During industry, owing to swing arm elevating mechanism is plane parallel mechanism, the first hydraulic cylinder 13 and the second hydraulic cylinder 21 are passed through hydraulic pressure
Pipeline connects, and then realizes parallel connection, and according to pascal's principle, in two cylinder bodies, fluid pressure is identical, can be effectively improved swing arm liter
Descending mechanism two lifts the problem of side chain unbalance stress, improves swing arm 10 and lifts stability, extends each component of swing arm elevating mechanism
Service life.The vibration resistance of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements, it addition, by swing arm
Introduce the auxiliary equipments such as relief valve on the cylinder body of hydraulic cylinder contained by elevating mechanism, the overload of swing arm elevating mechanism can be realized easily
Defencive function.
Comparison Fig. 1, Fig. 2, Fig. 4, Fig. 5, Fig. 6, described fork bucket controlling organization include first rocking arm the 25, second rocking arm 27, the
One linear actuator the 3, second linear actuator the 29, first pull bar the 5, second pull bar the 32, the 3rd linear actuator the 38, the 4th straight line
Driver 36, lower fork 7, upper fork 41, described first rocking arm 25 is connected with swing arm 10 by the 9th revolute pair 23, described first straight line
Driver 3 one end is connected with swing arm 10 by the tenth revolute pair 11, and the other end passes through the 11st revolute pair 24 and the first rocking arm 25
Connecting, described first pull bar 5 one end is connected with the first rocking arm 25 by the 12nd revolute pair 4, and the other end is by the 13rd rotation
Secondary 6 are connected with lower fork 7.Described second rocking arm 27 is connected with swing arm 10 by the 14th revolute pair 26, described second linear drives
Device 29 one end is connected with swing arm 10 by the 15th revolute pair 30, and the other end is connected by the 16th revolute pair 28 and the second rocking arm 27
Connecing, described second pull bar 32 one end is connected with the second rocking arm 27 by the 17th revolute pair 31, and the other end is by the 18th rotation
Secondary 33 are connected with lower fork 7, and described lower fork 7 is connected with swing arm 10 by the 19th revolute pair the 8, the 20th revolute pair 9, described upper fork
41 are connected with lower fork 7 by the 21st revolute pair the 34, the 22nd revolute pair 40, and described 3rd linear actuator 38 one end leads to
Crossing the 23rd revolute pair 42 to be connected with lower fork 7, the other end is connected with upper fork 41 by the 24th revolute pair 39, and the described 4th
Linear actuator 36 one end is connected with lower fork 7 by the 25th linear actuator 35, and the other end is driven by the 26th straight line
Dynamic device 37 is connected with upper fork 41.
Described fork bucket controlling organization by first linear actuator the 3, second linear actuator the 29, the 3rd linear actuator 38,
4th linear actuator 36 is driven controlling, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Described fork bucket controlling organization bag
The each linear actuator contained is servo electric jar.Scraper bowl controlling organization, by using brand-new mechanism to design, effectively reduces scraper bowl
Controlling organization rod member number, reduces manufacturing cost and controls complexity.
Comparison Fig. 7, Fig. 8, this fork wood machine not only has the features such as intelligence degree is high, energy consumption is low, maintaining is simple, and
And compare existing controllable loading mechanism, have more preferable dynamic performance, bearing stability, vibration resistance and bring longer
In service life, it is suitable for manufacturing all kinds of fork wood machines such as light-duty and heavy, there is stronger future in engineering applications and development potentiality.
Claims (2)
1. the electro-hydraulic controlled fork wood machine of plane heavy duty, including swing arm elevating mechanism, fork bucket controlling organization and frame, its feature
It is:
Described swing arm elevating mechanism includes the first swing arm lifting side chain, the second swing arm lifting side chain, swing arm, described first swing arm liter
Descending branch chain includes the first driving lever, the first hydraulic cylinder, and described first driving lever one end is connected with frame, separately by the first revolute pair
One end is connected with first hydraulic cylinder one end by the second revolute pair, and the described first hydraulic cylinder other end is by the 3rd revolute pair and moves
Arm connects, and described second swing arm lifting side chain includes the second driving lever, the second hydraulic cylinder, and described second driving lever one end is by the
Four revolute pairs are connected with frame, and the other end is connected with second hydraulic cylinder one end by the 5th revolute pair, and described second hydraulic cylinder is another
One end is connected with swing arm by the 6th revolute pair, and described swing arm is connected with frame by the 7th revolute pair, the 8th revolute pair,
Described fork bucket controlling organization include the first rocking arm, the second rocking arm, the first linear actuator, the second linear actuator, first
Pull bar, the second pull bar, the 3rd linear actuator, the 4th linear actuator, lower fork, upper fork, described first rocking arm passes through the 9th turn
Dynamic pair is connected with swing arm, and described first linear actuator one end is connected with swing arm by the tenth revolute pair, and the other end passes through the tenth
One revolute pair is connected with the first rocking arm, and described first pull bar one end is connected with the first rocking arm by the 12nd revolute pair, the other end
Being connected with lower fork by the 13rd revolute pair, described second rocking arm is connected with swing arm by the 14th revolute pair, described second straight
Line drive one end is connected with swing arm by the 15th revolute pair, and the other end is connected with the second rocking arm by the 16th revolute pair,
Described second pull bar one end is connected with the second rocking arm by the 17th revolute pair, and the other end is by the 18th revolute pair with lower fork even
Connecing, described lower fork is connected with swing arm by the 19th revolute pair, the 20th revolute pair, and described upper fork rotates by the 21st
Secondary, the 22nd revolute pair is connected with lower fork, and described 3rd linear actuator one end is by the 23rd revolute pair with lower fork even
Connecing, the other end is connected with upper fork by the 24th revolute pair, and the 25th straight line is passed through in described 4th linear actuator one end
Driver is connected with lower fork, and the other end is connected with upper fork by the 26th linear actuator.
The plane the most according to claim 1 electro-hydraulic controlled fork wood machine of heavy duty, it is characterised in that: described first driving lever, the
Two driving levers are driven by controllable motor, and described first hydraulic cylinder and the second hydraulic cylinder are in parallel, described first linear actuator, 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 |
|---|---|---|---|
| CN201610463326.7A CN106049569A (en) | 2016-06-24 | 2016-06-24 | Planar heavy-load electro-hydraulic controllable wood grasping machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463326.7A CN106049569A (en) | 2016-06-24 | 2016-06-24 | Planar heavy-load electro-hydraulic controllable wood grasping machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106049569A true CN106049569A (en) | 2016-10-26 |
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ID=57169053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610463326.7A Pending CN106049569A (en) | 2016-06-24 | 2016-06-24 | Planar heavy-load electro-hydraulic controllable wood grasping machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106049569A (en) |
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2016
- 2016-06-24 CN CN201610463326.7A patent/CN106049569A/en active Pending
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Application publication date: 20161026 |