CN106703095A - Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism - Google Patents
Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism Download PDFInfo
- Publication number
- CN106703095A CN106703095A CN201611082221.3A CN201611082221A CN106703095A CN 106703095 A CN106703095 A CN 106703095A CN 201611082221 A CN201611082221 A CN 201611082221A CN 106703095 A CN106703095 A CN 106703095A
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- China
- Prior art keywords
- connecting rod
- locking device
- industrial waste
- base
- wrist
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Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 239000002440 industrial waste Substances 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 238000009434 installation Methods 0.000 claims description 15
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 7
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- 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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- 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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/302—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom with an additional link
-
- 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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/306—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom with telescopic dipper-arm or boom
-
- 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
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4136—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted on a slidable or telescopic boom or arm
-
- 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
- E02F3/425—Drive systems for dipper-arms, backhoes 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)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention provides a method for grabbing and loading industrial waste through a variable-freedom-degree linkage mechanism. The method for grabbing and loading the industrial waste through the variable-freedom-degree linkage mechanism is characterized in that the variable-freedom-degree linkage mechanism comprises a base 1, a big arm lifting mechanism, a wrist linkage pitching mechanism, a servo drive device, a first locking device 5 and a second locking device 12, the big arm lifting mechanism comprises a big arm 8, a fourth connection rod 3 and a fifth connection rod 6, the wrist linkage pitching mechanism comprises a driving rod 16, a first connection rod 18, a second connection rod 21 and a third connection rod 11, the first locking device 5 and the second locking device 12 are installed on an eleventh rotation pair 4 and an eighth rotation pair 7 correspondingly and can conduct timely locking according to different working conditions of the mechanism, the servo drive device comprises a first servo motor which is connected with the drive rod 16 so as to drive the drive rod 16 to rotate, and the first locking device 5 and the second locking device 12 conduct locking in an electromagnetic manner. According to the method for grabbing the industrial waste through the variable-freedom-degree linkage mechanism, one drive rod can achieve two-freedom-degree operation, so that the number of the adopted motor is reduced, and therefore the manufacturing cost of the variable-freedom-degree linkage mechanism is reduced.
Description
Technical field
The present invention relates to mechanical field, it is particularly a kind of using can variable freedom linkage carry out industrial waste and grab to pretend
Industry method.
Background technology
Because the personnel of labour market are in short supply, the increasing that human cost rises year by year and enterprise is realized to labour protection
By force, promote industrial waste and grab extensive use of the installation in industrial waste crawl loading operation.It is organic that industrial waste grabs installation
Tool formula and fluid pressure type two types, it is hydraulic-driven that current industrial waste grabs most of mechanical arm of installation, due to hydraulic drive
Using hydraulic oil as the medium of transmission power, there is problems with：Its startability is poor, easily because after inner member abrasion
Leakage, and the hydraulic oil of leakage is produced to pollute the environment；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, makes an uproar sometimes
Sound and vibration.It sometimes appear that the phenomenon such as overheat, powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, system
Make more difficult, maintenance requires that technology is higher in use, and difficulty is larger.The increase of installation function is grabbed with industrial waste,
Its hydraulic system becomes increasingly complex, and breaks down with more sudden, disguised.It is to utilize machine that mechanical industrial waste grabs installation
Tool driving member realize industrial waste grab dress action, have the advantages that it is sturdy and durable, but traditional single-degree-of-freedom is mechanically industrial
Waste material is grabbed installation and can not complete the action of complexity, and range of application is extremely limited, and mechanical controllable mechanism electric industry waste material grabs dress
Machine, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor, easily realizes automation, NC postprocessing control
System, solves some shortcomings of hydraulic system presence, but there is the control for needing outfit and linkage free degree equivalent amount
Motor is controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen and be applied to the Variable Freedom Mechanism that industrial waste grabs installation.
The content of the invention
It is an object of the invention to provide one kind using can variable freedom linkage carry out industrial waste grab fill operator
Method, overcomes fluid pressure type industrial waste to grab the shortcomings of installation hydraulic system element required precision high, complex structure, easy oil leakage, overcomes
The motor of open-chain structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than industry
Waste material grabs the free degree of installation linkage, and overcoming existing machinery formula electric industry waste material to grab mounting mechanism needs to be equipped with and connecting rod machine
The controlled motor of structure free degree equivalent amount simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism,
Movement inertia, volume and cost.To achieve the above object, the invention provides it is a kind of using can variable freedom linkage carry out
Industrial waste grabs dress operational method, it is characterised in that it is described can variable freedom linkage include：Base 1, large arm elevating mechanism,
Wrist connecting rod luffing mechanism, servo drive, the first locking device 5 and the second locking device 12；The base 1 is arranged on
On removable revolving dial；The large arm elevating mechanism includes large arm 8, the connecting rod 6 of fourth link 3 and the 5th, the one end of the large arm 8
Secondary 14 are rotated by the 6th to be connected with base 1, the other end rotates secondary 9 and is connected with wrist connecting rod 10 by the 9th；Described 4th connects
The one end of bar 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates secondary 4 and is connected with the one end of the 5th connecting rod 6 by the 11st,
The other end of 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod luffing mechanism include driving lever 16,
First connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, one end of the driving lever 16 pass through
First rotates secondary 15 is connected with base 1, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, first connecting rod 18
The other end rotates secondary 19 and be connected with the one end of second connecting rod 21 by the 3rd, the other end of second connecting rod 21 by the 5th rotate pair 22 and
Wrist connecting rod 10 is connected, and the one end of six-bar linkage 23 is connected by the 12nd rotation secondary 24 with the one end of seven-link assembly 25, six-bar linkage
23 other ends rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, and the other end of seven-link assembly 25 rotates secondary by first
15 connect bases 1；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end rotates secondary by the 4th
20 are connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to the 11st rotation secondary 4 and the 8th
Rotate on secondary 7, locked in good time according to the different operating mode of mechanism；Servo drive includes the first servomotor and driving lever
16 connect to drive it to rotate；First locking device 5 and the second locking device 12 are locked using electromagnetic mode.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 10 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, drive the driving lever 16 to carry out by motor
Rotary motion, makes linkage complete to grab to pretend industry.
The present invention uses controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without accumulated error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and the free degree of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using less than industrial waste grab installation linkage from
It is to be capable of achieving two degrees of freedom industrial waste to grab and pretend industry using a driving lever by spending, overcomes existing industrial waste to grab installation needs
The shortcoming for being equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies the complexity of structure, drop
The weight of low mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Together
When also overcome fluid pressure type industrial waste grab installation hydraulic system element required precision be high, complex structure, easy oil leakage, reliability
Difference, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 for it is of the present invention it is a kind of using can variable freedom linkage carry out industrial waste and grab dress operational method work
Schematic diagram.
Specific embodiment
It is a kind of using can variable freedom linkage carry out industrial waste and grab dress operational method, it is characterised in that it is described variable
Free degree linkage includes：Base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, servo drive, the first locking
The locking device 12 of device 5 and second；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes big
Arm 8, the connecting rod 6 of fourth link 3 and the 5th, one end of the large arm 8 rotate secondary 14 and are connected with base 1 by the 6th, and the other end passes through
9th rotates secondary 9 is connected with wrist connecting rod 10；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, another
End rotates secondary 4 and is connected with the one end of the 5th connecting rod 6 by the 11st, and the other end of the 5th connecting rod 6 rotates secondary 13 with large arm 8 by the 7th
Connection；The wrist connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod the 11, the 6th
Connecting rod 23 and seven-link assembly 25, one end of the driving lever 16 rotate secondary 15 and are connected with base 1 by first, and the other end passes through second
Rotate secondary 17 to be connected with the one end of first connecting rod 18, the other end of first connecting rod 18 rotates secondary 19 with the one end of second connecting rod 21 by the 3rd
Connection, the other end of second connecting rod 21 rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, and the one end of six-bar linkage 23 passes through the tenth
Two rotations secondary 24 are connected with the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotates secondary 26 and first connecting rod 18 by the 13rd
Middle part connects, and the other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 passes through the 8th
Rotate secondary 7 to be connected with large arm 8, the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and second
Locking device 12 is separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, is locked in good time according to the different operating mode of mechanism
Tightly；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 16；First locking device 5 and
Two locking devices 12 are locked using electromagnetic mode.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 10 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, drive the driving lever 16 to carry out by motor
Rotary motion, makes linkage complete to grab to pretend industry.
At work, when large arm 8 is lifted, the first locking device 5 is opened, and the 11st rotates secondary 4 degree of affranchising, the second lock
Tight device 12 is closed, and eighth-turn dynamic secondary 7 loses the free degree, and now, large arm 8 is lifted under the effect of driving lever 16.Wrist connecting rod 10
During independent pitching, the second locking device 12 is opened, and eighth-turn 7 degree of affranchising of dynamic pair, the first locking device 5 is locked, and the 11st
Rotate secondary 4 and lose the free degree, the respect thereto 1 of large arm 8 loses the free degree, now wrist connecting rod is realized bowing under the driving of driving lever 16
Face upward.During whole industrial waste is grabbed and pretends industry, the first locking device 5 and the second locking device 12 are according to different operation works
Condition, selects tight lock or opens respectively, common to complete the motions such as large arm lifting and flexible, wrist connecting rod 10 and the pitching of wrist 27,
Realize that the industrial waste of paw 28 is grabbed and pretend industry.First locking device 5 and the second locking device 12 can be carried out using electromagnetic mode
Locking, control is easily realized.
Claims (1)
1. it is a kind of using can variable freedom linkage carry out industrial waste and grab dress operational method, it is characterised in that it is described it is variable oneself
Included by degree linkage：Base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, servo drive, the first locking dress
Put 5 and second locking device 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm
8th, the connecting rod 6 of fourth link 3 and the 5th, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end passes through the
Nine rotate secondary 9 is connected with wrist connecting rod 10；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, the other end
Secondary 4 are rotated by the 11st to be connected with the one end of the 5th connecting rod 6, the other end of the 5th connecting rod 6 rotates secondary 13 and connects with large arm 8 by the 7th
Connect；The wrist connecting rod luffing mechanism includes that driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod the 11, the 6th connect
Bar 23 and seven-link assembly 25, one end of the driving lever 16 rotate secondary 15 and are connected with base 1 by first, and the other end passes through second turn
Dynamic secondary 17 are connected with the one end of first connecting rod 18, and the other end of first connecting rod 18 rotates secondary 19 and connects with the one end of second connecting rod 21 by the 3rd
Connect, the other end of second connecting rod 21 rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, and the one end of six-bar linkage 23 passes through the 12nd
Rotation secondary 24 is connected with the one end of seven-link assembly 25, the other end of six-bar linkage 23 is by the 13rd rotation secondary 26 and first connecting rod 18
Portion connects, and the other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 passes through eighth-turn
Dynamic secondary 7 are connected with large arm 8, and the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second lock
Tight device 12 is separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, is locked in good time according to the different operating mode of mechanism
Tightly；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and second
Locking device 12 is locked using electromagnetic mode, before industrial waste crawl loading operation, by base 1 and rubber-tyred or crawler type
Walking mechanism is coupled together, and wrist connecting rod 10 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out,
Drive driving lever 16 to be rotated by motor, make linkage complete to grab to pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082221.3A CN106703095A (en) | 2016-11-30 | 2016-11-30 | Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082221.3A CN106703095A (en) | 2016-11-30 | 2016-11-30 | Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106703095A true CN106703095A (en) | 2017-05-24 |
Family
ID=58934303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611082221.3A Pending CN106703095A (en) | 2016-11-30 | 2016-11-30 | Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106703095A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN104594412A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Multi-closed-chain connecting rod controllable excavating mechanism with double parallelogram mechanism |
| CN104594413A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 4R-5R-5R multi-closed-chain connecting rod controllable excavation mechanism |
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
| CN104612192A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Controllable loading mechanism with initiative metamorphism function |
| CN104631523A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | 5R-6R-4R three-closed-chain controllable excavation mechanism based on electromagnetism initiative metamorphism |
-
2016
- 2016-11-30 CN CN201611082221.3A patent/CN106703095A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
| CN104612192A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Controllable loading mechanism with initiative metamorphism function |
| CN104594412A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Multi-closed-chain connecting rod controllable excavating mechanism with double parallelogram mechanism |
| CN104594413A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 4R-5R-5R multi-closed-chain connecting rod controllable excavation mechanism |
| CN104631523A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | 5R-6R-4R three-closed-chain controllable excavation mechanism based on electromagnetism initiative metamorphism |
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