CN106120886A - A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot - Google Patents

A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot Download PDF

Info

Publication number
CN106120886A
CN106120886A CN201610463260.1A CN201610463260A CN106120886A CN 106120886 A CN106120886 A CN 106120886A CN 201610463260 A CN201610463260 A CN 201610463260A CN 106120886 A CN106120886 A CN 106120886A
Authority
CN
China
Prior art keywords
revolute pair
swing arm
robot
hydraulic cylinder
loading
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.)
Pending
Application number
CN201610463260.1A
Other languages
Chinese (zh)
Inventor
张�林
王建晓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Jiaotong University
Original Assignee
Shandong Jiaotong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shandong Jiaotong University filed Critical Shandong Jiaotong University
Priority to CN201610463260.1A priority Critical patent/CN106120886A/en
Publication of CN106120886A publication Critical patent/CN106120886A/en
Pending legal-status Critical Current

Links

Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/283Dredgers; 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 with a single arm pivoted directly on the chassis
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/36Component parts
    • E02F3/38Cantilever 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
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/36Component parts
    • E02F3/42Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/422Drive systems for bucket-arms, front-end loaders, dumpers or the like
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/36Component parts
    • E02F3/42Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like

Abstract

A kind of multiple-unit linear drives plane three mobility crowd shovel is loaded robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization etc..Multiple-unit straight line driving mechanism is driven by organizing linear actuator more, realizes power high-power, high torque by bent axle and exports, meets actuator power demand.By introducing Hydraulic Elements in swing arm elevating mechanism, it is achieved two cylinder pressure are equal, the problem being effectively improved two driving chain discontinuity equalizations of conventional controllable loading mechanism lifting swing arm, improves swing arm bearing stability.This loading robot not only has the features such as conventional controllable loading mechanism mechanical efficiency height, fast response time, kinematic accuracy is high, controllability is good; and the introducing of multiple-unit straight line driving mechanism and Hydraulic Elements makes this loading robot have higher carrying and resistance to shock; and easily realize overload protection function, it is highly suitable for manufacturing large, medium and small type and loads robot.

Description

A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit linear drives plane three mobility crowd shovel loads machine People.
Background technology
Loader is that one is widely used in the construction fields such as farmland, water conservancy, the energy, municipal administration, carries out loose unpacked material handling Key equipment, infrastructure construction is played an important role, but conventional hydraulic formula loader also exists that energy consumption is high, make an uproar The shortcomings such as sound is big, exhaust emissions is serious, intelligent level is low.Controllable mechanism is the product that traditional mechanism is combined with electronic technology, " a numerical control generation " equipment Innovation project carried out in recent years, brings opportunity, for hydraulic pressure to the upgrading of Traditional project mechanical technique The shortcoming of formula loader, is applied to controllable mechanism and robot correlation technique in working device of loader design, it is proposed that one Class controllable mechanism loader, such controllable loading mechanism avoids the use of hydraulic system, and it is by multiple degrees of freedom linkage Forming with multiple controllable motors, its output controllable motor of being controlled by multiple stage computer programming of motion together decides on, scraper bowl defeated Going out track is the function of independent variable more than, can realize complicated flexible track output easily, and therefore controllable loading mechanism belongs to Construction robot category.Comparing fluid pressure type loader, controllable loading mechanism has intelligence degree height, flexibility ratio transmission good, high The advantages such as efficiency, have great importance for propelling loading machine greenization, intellectuality.
But, during controllable loading mechanism is carried out engineering Application Research, it was found that a series of do not related to Engineering problem.First, existing controllable loading mechanism swing arm lifting side chain all uses the configuration of driving lever connecting rod swing arm to design Form, because driving lever is by controllable electric transmission system drives, being limited by that controllable motor cost is high, output is little, moment of torsion is low etc. asks Topic, causes the problems such as existing controllable loading mechanism power performance is poor, load capacity is weak, it is difficult to meet the power demand of loader, So the configuration design form of existing controllable loading mechanism is only applicable to microminiature loader;Secondly, existing controllable loading mechanism For plane parallel mechanism, during two driving levers lifting swing arm at the same time, owing to manufacturing, process, assembling equal error, particularly loading When machine unbalance loading, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, it is easy to cause part The overload damage of component, affects the service life of controllable loading mechanism;It addition, each component of existing controllable loading mechanism typically uses The type of attachment of revolute pair, compares the equipment of fluid pressure type loader containing moving sets, lacks effective overload protection and suction Shake means.Above-mentioned reason has had a strong impact on the engineer applied of controllable loading mechanism.
Summary of the invention
A kind of multiple-unit linear drives plane three mobility of problem offer that prior art exists is provided Crowd shovel loads robot, has both had that existing controllable loading mechanism intelligence degree is high, flexibility ratio is good, transmission efficiency advantages of higher, Solve that existing controllable loading mechanism power performance is poor, load capacity is weak simultaneously, swing arm elevating mechanism poor stability, lack effective The engineering problems such as overload protection and absorbing means, make this loading robot both have preferable dynamic performance and carrying are stable Property, 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 multiple-unit linear drives of the present invention is put down Face three mobility crowd shovel loads robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and Frame.
Described multiple-unit straight line driving mechanism is made up of the first linear actuator, the second linear actuator, bent axle, described song Axle is connected with frame by the first revolute pair, the second revolute pair, described first linear actuator one end pass through the 3rd revolute pair and Frame connects, and the other end is connected with bent axle by the 4th revolute pair, and the 5th revolute pair is passed through in described second linear actuator one end Being connected with frame, the other end is connected with bent axle by the 6th revolute pair.
Described multiple-unit straight line driving mechanism under the control of a computer system, can be by multiple stage small-power linear actuator Power coupling after, realized the purpose of high-power, high torque power output by bent axle, solving tradition controllable loading mechanism can The problems such as control motor cost is high, power is little, driving torque is low, improve the bearing capacity of this loading robot.According to loader The power demand of device people, described bent axle can be driven by two groups and above linear actuator, can conveniently select Unit four, six The multiple power unit form such as unit, it is ensured that it is each that the output power of this multiple-unit straight line driving mechanism can meet large, medium and small type Class loads the power demand of robot.
Described swing arm elevating mechanism includes swing arm, the first lifting side chain and the second lifting side chain, and described swing arm passes through the 7th Revolute pair, the 8th revolute pair are connected with frame, and described first lifting side chain includes first connecting rod, the first hydraulic cylinder, and described first Connecting rod one end is connected by key or alternate manner are fixing with bent axle, and the other end is by the 9th revolute pair and first hydraulic cylinder one end Connecting, the described first hydraulic cylinder other end is connected with swing arm by the tenth revolute pair, and described second lifting side chain includes second even Bar, the second hydraulic cylinder, described second connecting rod one end is connected by key or alternate manner are fixing with bent axle, and the other end passes through the tenth One revolute pair is connected with second hydraulic cylinder one end, and the described second hydraulic cylinder other end is connected with swing arm by the 12nd revolute pair.
When this loading robot actual job, multiple-unit straight line driving mechanism is provided for swing arm elevating mechanism by bent axle Power, owing to swing arm elevating mechanism is plane parallel mechanism, the cylinder body of described first hydraulic cylinder and the second hydraulic cylinder passes 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 two The problem of lifting side chain unbalance stress, improves moved arm lifting stability, extends the service life of each component of swing arm elevating mechanism.Logical The introducing crossing Hydraulic Elements can be effectively improved the vibration resistance of swing arm elevating mechanism, it addition, by swing arm elevating mechanism two Introduce the auxiliary equipments such as relief valve on hydraulic cylinder, the overload protection function of swing arm elevating mechanism can be realized easily.
Described scraper bowl controlling organization includes driving lever, pull bar, scraper bowl, described driving lever one end by the 13rd revolute pair with Frame connects, and the other end is connected with pull bar one end by the 14th revolute pair, and the described pull bar other end passes through the 15th revolute pair Being connected with scraper bowl, described scraper bowl is connected with swing arm by the 16th revolute pair, the 17th revolute pair.Described driving lever is by controllable electric Machine is driven controlling by electric drive system, and scraper bowl realizes flip-flop movement under the drive of driving lever.
Described a kind of multiple-unit linear drives plane three mobility crowd shovel loads the scraper bowl output motion of robot by actively Bar, the first linear actuator, the second linear actuator together decide on, and under the coordination of computer system controls, complete to load and make Industry.This loading robot not only has features such as intelligence degree is high, energy consumption is low, maintaining is simple, and compare existing can Control loader mechanism, is not only easier to realize overload protection function, and has more preferable dynamic performance, bearing stability, antivibration Ability and the more long life brought, it is adaptable to manufacture large, medium and small type all kinds of loading robot.
The present invention has the prominent advantages that:
1, this loading robot uses brand-new configuration design, degree of freedom and work space requirement needed for meeting loading operation Under, there is preferable kinesiology and dynamic performance, swing arm elevating mechanism, by using plane-parallel type to design, greatly improves dress Carry the rigidity of robot.This loading robot had both had that controllable mechanism loader energy consumption is low, transmission efficiency is high, intelligence degree The features such as height, good reliability, are provided simultaneously with that fluid pressure type working device of loader shock resistance is good, overload protection performance strong, lift Rise the features such as good stability.
2, the electric drive system that this loading robot uses computer programming to control is driven, and not only has higher intelligence Level can be changed, it is achieved that operation NC postprocessing, and improve transmission efficiency, reduce energy consumption, there is no exhaust emissions.At this machine In the design of people, hydraulic cylinder main uses, not as existing fluid pressure type engineering machinery, is used for driving equipment to do work, but logical Cross minute movement regulation unbalance loading, and transmit power as connecting rod, thus avoid the problems such as hydraulic system transmission efficiency is low, reduce The wear problem of Hydraulic Elements, compares fluid pressure type engineering machinery and has longer service life and higher reliability.
3, comparing existing controllable loading mechanism, loading robot of the present invention has higher bearing capacity and adaptation Property.The introducing of multiple-unit straight line driving mechanism, is greatly improved the bearing capacity of this loading robot, is particularly well-suited to manufacture Large and medium-sized engineering construction robot;This multiple-unit straight line driving mechanism has stronger power adaptability, can move according to different Power requirement, selects the linear actuator of the varying number such as Unit four, Unit six to be driven, meets all kinds of loading robots power Requirement.
4, comparing existing controllable loading mechanism, loading robot of the present invention has more preferable dynamic property with reliable Property.The introducing of the Hydraulic Elements such as hydraulic cylinder not only makes this robot be provided with good antivibration and shock-absorbing capacity, and has relatively Good overload protection function.Swing arm elevating mechanism is in parallel by cylinder body, it is achieved that uneven loading action downward moving arm two lifts being subject to of side chain Dynamic balance, improves the problem that each member stress is uneven, improves the lifting stability of swing arm, extend the use longevity of each component Life, improves loading machine human reriability.
5, comparing existing controllable loading mechanism, loading robot of the present invention has more overload protection means, logical Cross on swing arm elevating mechanism hydraulic cylinder, introduce the auxiliary equipments such as relief valve, be easier to the overload protection realizing loading robot Energy.
Accompanying drawing explanation
Fig. 1 is that a kind of multiple-unit linear drives plane three mobility crowd shovel of the present invention loads robot schematic diagram.
Fig. 2 is that a kind of multiple-unit linear drives plane three mobility crowd shovel of the present invention loads robot frame's signal Figure.
Fig. 3 is one of multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 4 is the two of multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 5 is multiple-unit straight line driving mechanism bent axle schematic diagram of the present invention.
Fig. 6 is swing arm elevating mechanism schematic diagram of the present invention.
Fig. 7 is scraper bowl controlling organization schematic diagram of the present invention.
Fig. 8 is that a kind of multiple-unit linear drives plane three mobility crowd shovel loading robot plane of the present invention regards Figure.
Fig. 9 is that a kind of multiple-unit linear drives plane three mobility crowd shovel loading machine of the present invention is manually made to illustrate Figure.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
Comparison Fig. 1, a kind of multiple-unit linear drives plane three mobility crowd shovel of the present invention loads robot, including Multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame 1.
Comparison Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, described multiple-unit straight line driving mechanism is by the first linear actuator 3, second Linear actuator 7, bent axle 5 form, and described bent axle 5 is connected with frame 1 by first revolute pair the 9, second revolute pair 10, and described the One linear actuator 3 one end is connected with frame 1 by the 3rd revolute pair 2, and the other end is connected with bent axle 5 by the 4th revolute pair 4, Described second linear actuator 7 one end is connected with frame 1 by the 5th revolute pair 8, and the other end passes through the 6th revolute pair 6 and bent axle 5 connect.
Described multiple-unit straight line driving mechanism under the control of a computer system, can be by multiple stage small-power linear actuator Power coupling after, realized the purpose of high-power, high torque power output by bent axle 5, solve tradition controllable loading mechanism The problems such as controllable motor cost is high, power is little, driving torque is low, improve the bearing capacity of this loading robot.According to loading The power demand of robot, described bent axle 5 can be driven by two groups and above linear actuator, can conveniently select four lists The multiple power unit forms such as unit, Unit six, it is ensured that the output power of this multiple-unit straight line driving mechanism can meet big or middle, The power demand of small-sized all kinds of loading robot.
Comparison Fig. 1, Fig. 2, Fig. 6, described swing arm elevating mechanism includes that swing arm 15, first lifts side chain and second liter of descending branch Chain, described swing arm 15 is connected with frame 1 by the 7th revolute pair the 22, the 8th revolute pair 23, and described first lifts side chain includes the One connecting rod the 11, first hydraulic cylinder 13, described first connecting rod 11 one end is connected, separately by key or alternate manner are fixing with bent axle 5 One end is connected with first hydraulic cylinder 13 one end by the 9th revolute pair 12, and described first hydraulic cylinder 13 other end is by the tenth rotation Secondary 14 are connected with swing arm 15, and described second lifting side chain includes second connecting rod the 21, second hydraulic cylinder 19, described second connecting rod 21 1 Holding and be connected by key or alternate manner are fixing with bent axle 5, the other end passes through the 11st revolute pair 20 and the second hydraulic cylinder 19 1 End connects, and described second hydraulic cylinder 19 other end is connected with swing arm 15 by the 12nd revolute pair 18.
When this loading robot actual job, multiple-unit straight line driving mechanism is carried for swing arm elevating mechanism by bent axle 5 For power, owing to swing arm elevating mechanism is plane parallel mechanism, the cylinder body of described first hydraulic cylinder 13 and the second hydraulic cylinder 19 leads to Crossing hydraulic line to connect, and then realize parallel connection, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, can be effectively improved The problem of swing arm 15 liang lifting side chain unbalance stress, improves moved arm lifting stability, extends making of each component of swing arm elevating mechanism Use the life-span.The vibration resistance of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements, it addition, by swing arm liter Introduce the auxiliary equipments such as relief valve on descending mechanism two hydraulic cylinder, the overload protection function of swing arm elevating mechanism can be realized easily.
Comparison Fig. 1, Fig. 2, Fig. 7, described scraper bowl controlling organization includes driving lever 25, pull bar 27, scraper bowl 29.Described driving lever 25 one end are connected with frame 1 by the 13rd revolute pair 24, and the other end is connected with pull bar 27 one end by the 14th revolute pair 26, Described pull bar 27 other end is connected with scraper bowl 29 by the 15th revolute pair 28, described scraper bowl 29 pass through the 16th revolute pair 16, 17th revolute pair 17 is connected with swing arm 15.Described driving lever 25 is driven controlling by electric drive system by controllable motor, Scraper bowl 29 realizes flip-flop movement under the drive of driving lever 25.
Comparison Fig. 1, Fig. 8, Fig. 9, described a kind of multiple-unit linear drives plane three mobility crowd shovel loads the shovel of robot Bucket 29 output motion is together decided on, in computer system by driving lever the 25, first linear actuator the 3, second linear actuator 7 Under coordinating to control, complete loading operation.This loading robot not only has intelligence degree height, energy consumption is low, maintaining is simple Etc. feature, and compare existing controllable loading mechanism, be not only easier to realize overload protection function, and there is more preferable kinetics Performance, bearing stability, vibration resistance and the more long life brought, it is adaptable to manufacture all kinds of loader of large, medium and small type Device people.

Claims (2)

1. multiple-unit linear drives plane three mobility crowd shovel loads a robot, including multiple-unit straight line driving mechanism, moves Arm elevating mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit straight line driving mechanism is made up of the first linear actuator, the second linear actuator, bent axle, and described bent axle leads to Cross the first revolute pair, the second revolute pair is connected with frame, and the 3rd revolute pair and frame is passed through in described first linear actuator one end Connecting, the other end is connected with bent axle by the 4th revolute pair, and the 5th revolute pair and machine is passed through in described second linear actuator one end Frame connects, and the other end is connected with bent axle by the 6th revolute pair,
Described swing arm elevating mechanism includes swing arm, the first lifting side chain and the second lifting side chain, and described swing arm is by the 7th rotation Secondary, the 8th revolute pair is connected with frame, and described first lifting side chain includes first connecting rod, the first hydraulic cylinder, described first connecting rod One end is fixing with bent axle to be connected, and the other end is connected with first hydraulic cylinder one end by the 9th revolute pair, and described first hydraulic cylinder is another One end is connected with swing arm by the tenth revolute pair, and described second lifts side chain includes second connecting rod, the second hydraulic cylinder, and described second Connecting rod one end is fixing with bent axle to be connected, and the other end is connected with second hydraulic cylinder one end by the 11st revolute pair, described second liquid The cylinder pressure other end is connected with swing arm by the 12nd revolute pair,
Described scraper bowl controlling organization includes driving lever, pull bar, scraper bowl, and the 13rd revolute pair and frame is passed through in described driving lever one end Connecting, the other end is connected with pull bar one end by the 14th revolute pair, and the described pull bar other end passes through the 15th revolute pair and shovel Bucket connects, and described scraper bowl is connected with swing arm by the 16th revolute pair, the 17th revolute pair.
2., according to claim 1, described a kind of multiple-unit linear drives plane three mobility crowd shovel loads robot, and its feature exists In parallel in: described first hydraulic cylinder and the second hydraulic cylinder, described driving lever is driven controlling by controllable motor, described first straight Line drive, the second linear actuator are servo electric jar.
CN201610463260.1A 2016-06-24 2016-06-24 A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot Pending CN106120886A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610463260.1A CN106120886A (en) 2016-06-24 2016-06-24 A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610463260.1A CN106120886A (en) 2016-06-24 2016-06-24 A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot

Publications (1)

Publication Number Publication Date
CN106120886A true CN106120886A (en) 2016-11-16

Family

ID=57269353

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610463260.1A Pending CN106120886A (en) 2016-06-24 2016-06-24 A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot

Country Status (1)

Country Link
CN (1) CN106120886A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3957167A (en) * 1974-08-16 1976-05-18 Harlan Mfg. Co., Inc. Transporting device
CN203345205U (en) * 2012-12-20 2013-12-18 中昱军利(北京)国防装备科技中心 Ground equipment for loading ammunition for fighter plane
CN203461740U (en) * 2013-08-01 2014-03-05 辽宁瑞丰专用车制造有限公司 Double-cylinder synchronous luffing system of crane
CN103711156A (en) * 2013-12-16 2014-04-09 广西大学 Nine-bar two degrees-freedom minitype controllable mechanical loading machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3957167A (en) * 1974-08-16 1976-05-18 Harlan Mfg. Co., Inc. Transporting device
CN203345205U (en) * 2012-12-20 2013-12-18 中昱军利(北京)国防装备科技中心 Ground equipment for loading ammunition for fighter plane
CN203461740U (en) * 2013-08-01 2014-03-05 辽宁瑞丰专用车制造有限公司 Double-cylinder synchronous luffing system of crane
CN103711156A (en) * 2013-12-16 2014-04-09 广西大学 Nine-bar two degrees-freedom minitype controllable mechanical loading machine

Similar Documents

Publication Publication Date Title
CN106044190A (en) Sliding-type multi-unit linearly-driven electro-hydraulic controllable wood grasping machine
CN205906986U (en) Controllable fork wood machine that slides of simple and easy high capacity of polycell rod drive electricity liquid
CN105945935A (en) Multi-unit linear driving three-range-of-motion loading robot
CN106049575A (en) Multiunit linear driving three-degree-of-freedom electro-hydraulic mechanism type loading robot
CN106120886A (en) A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot
CN105945928A (en) Multi-unit connecting rod driving planar four-range-of-motion heavy-duty loading robot
CN106049568A (en) Multi-unit linearly-driven planar four-degree-of-freedom heavy loading robot
CN106120892A (en) A kind of four mobility multiple-unit linear drives sliding fork wood machine
CN106088181B (en) A kind of multiple-unit linear drives wheel type excavator device people
CN106120897A (en) A kind of multiple-unit linear drives three mobility containing three secondary-rockers loads robot
CN106081932A (en) A kind of multiple-unit connecting rod drives plane controlled skidding formula fork wood machine
CN106049572A (en) Multiunit connecting rod driving heavy electro-hydraulic controllable sliding wood forking machine
CN106120900A (en) A kind of multiple-unit connecting rod drives plane two mobility heavy-duty loader device people
CN106088182A (en) A kind of multiple-unit connecting rod drives plane three mobility to load robot
CN106088183A (en) A kind of multiple-unit connecting rod containing three secondary-rockers drives three mobilities to load robot
CN106120905A (en) A kind of multiple-unit connecting rod drives three mobility sliding loader device people
CN106013285A (en) Multi-unit-linear-driven loading robot with three planar ranges of motion
CN105951901A (en) Multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot
CN106120901A (en) A kind of multiple-unit connecting rod drives 15 bar three mobility controllable loading mechanisms
CN106120896A (en) A kind of multiple-unit connecting rod containing three secondary-rockers drives heavy-duty loader device people
CN106120913A (en) A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot
CN106120894A (en) A kind of multiple-unit linear drives planar three freedom wheel type excavator device people
CN106013286A (en) Multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion
CN106120889A (en) A kind of multiple-unit linear drives 15 bar three mobility electro-hydraulic combined shipment mechanism
CN106120887A (en) A kind of multiple-unit linear drives 16 bar four mobility heavy-duty loader device people

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20161116