CN107127733A - A kind of new lumbering preliminary working creeper truck - Google Patents
A kind of new lumbering preliminary working creeper truck Download PDFInfo
- Publication number
- CN107127733A CN107127733A CN201710385902.5A CN201710385902A CN107127733A CN 107127733 A CN107127733 A CN 107127733A CN 201710385902 A CN201710385902 A CN 201710385902A CN 107127733 A CN107127733 A CN 107127733A
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- China
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- connection
- mechanical arm
- motor
- crawler belt
- machinery folder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/091—Sawing apparatus specially adapted for felling trees
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a kind of new lumbering preliminary working creeper truck, mainly include：Crawler belt base, sustainer, mechanical arm, servo/controllor for step-by-step motor, wire, data wire, fixing band, the mechanical arm is installed on the crawler belt base, servo/the controllor for step-by-step motor is connected by the data wire with mechanical arm, the sustainer is connected by the wire with mechanical arm, the fixing band is connected with one end with mechanical arm, and the other end is connected with crawler belt base；It is of the invention effectively to combine a variety of mechanical device functions, it is simple to operate, it is adapted to lumber in complex environment and preliminary working is carried out to trees, and user can manipulate in home to device, ensure the safety of user.
Description
Technical field
It is specifically to be related to a kind of new lumbering preliminary working crawler belt the invention belongs to construction machine technical field
Car.
Background technology
China's production of forestry is not managed also from tradition, artificial work, is really turned under the extensive production status of inefficiency
Change comes.Under the new normality situation of forestry, " seedling fostering improved variety, afforestation tending machine ", is to realize forestry in China
The need for, " means fall behind, people's difficulty is employed, cost is high " is the subject matter that production of forestry faces, serious to restrict the strong of China's forestry
Kang Fazhan and fast development.Change this situation, must just greatly develop forexry mechanization, change the mode of production, improve life
Produce efficiency and quality.The forestry machinery development of China relatively lags behind compared with mechanization of agriculture, and the current crops of China plough what is received
Comprehensive mechanization level has reached 75%, and wherein grain-production reaches 84%, and the comprehensive mechanization level of industrial crops also reaches
56%.And forestry machinery such as nursery production mechanization degree averagely only has 44.6%.
External forestry developed country forestry technology equipment Development is rapid, and equipment is advanced, to the efficient of do mechanization operation
Rate, high security, the direction of high-intelligentization and operator's comfortableness are developed.
China's PRODUCTIVITY OF FOREST SOIL is low, and forest per hectare accumulation only has the 69% of 131 cubic metres of world average level, is
This, accelerates production of forestry and the mechanization equipment managed research and development dynamics, it is clear that advanced, applicable, reliable lumbering is developed in innovation
Woods equipment is the effective way for solving the tending of woods " people's difficulty employ, artificial expensive ", for improving orest management level, improves forest life
Force of labor, increase forest reserves are significant.According to external forestry achievement by advanced countries, application technology equipment substitutes tradition
Manual operations is socio-economic development to the inevitable choice that modern forestry is realized after certain phase.
The content of the invention
Present invention solves the technical problem that be that the forestry lumbering Administration ＆ Mechanical Development of China more falls behind, many areas there is still a need for
A large amount of hand-held chain saws of lumberman are lumbered, and not only efficiency is low, and are cuted down trees and injured the phenomenon of lumberman by a crashing object also extremely
It is common；The tree-dozer practicality applied is not strong, the trees of a small range special diameter and height can only be cut down, once
The trees excessive to too high, diameter, which are cut down, just has very big danger.
The technical scheme is that：A kind of new lumbering preliminary working creeper truck, mainly includes：Crawler belt base, master start
Machine, mechanical arm, servo/controllor for step-by-step motor, wire, data wire, fixing band, the mechanical arm are installed on the crawler belt base
On, the servo/controllor for step-by-step motor is connected by the data wire with mechanical arm, and the sustainer passes through the wire
It is connected with mechanical arm, the fixing band is connected with one end with mechanical arm, and the other end is connected with crawler belt base；Crawler belt base is also wrapped
Include：Crawler belt, walking mechanism, thrust wheel, carrier wheel, tensioning apparatus, buffer spring, directive wheel, support board, driving wheel, the branch
Roller has four, is arranged in order below the walking mechanism, and the carrier wheel is installed on above walking mechanism, the buffering
Spring is installed on walking mechanism one end, and the driving wheel is installed on the walking mechanism other end, and the tensioning apparatus is installed on buffering
Spring is connected close to one end of walking mechanism, the buffer spring other end with the directive wheel, and the crawler belt wraps up all wheels simultaneously
It is in close contact with each wheel outer surface, the carrying disk is connected with walking mechanism, above walking mechanism and crawler belt base；
The mechanical arm also includes：Supporting plate, pedestal, main frame, pinboard, waist turning motor, column, support bar, movable axis, rear shell
Body, lid, forearm, assistant engine, wrist turning motor, the main frame are located in the pedestal, and pedestal is located on crawler belt base,
The pinboard is located above pedestal, is connected by wire data wire with main frame, the waist turning motor is installed on pinboard
Top, the column is installed on above waist turning motor, and the wrist turning motor is installed on above column, the lid peace
Loaded on above wrist turning motor, the back casing is installed on the horizontal one end of lid, and it is another that the large arm is installed on lid level
End, the bottom of the support bar above the supporting plate with being connected, and support bar is connected with back casing, the right side of supporting plate and waist
Portion's turning motor connection, the assistant engine is located in back casing；Large arm also includes：End effector, end motor, machinery folder
First, machinery folder two, machinery folder sliding groove, chain drive saw, transmission saw retractor device, the machinery folder sliding groove are located under large arm
Surface, the machinery folder one, machinery folder two are respectively arranged in machinery folder sliding groove, the end effector and end electricity
Machine has two respectively, respectively in the large arm of machinery folder one, the top of machinery folder two, and the chain drive saw is sawed with the transmission
Retractor device is connected, and is all located in machinery folder one；Servo/the controllor for step-by-step motor also includes：Display screen, control-rod, institute
Display location is stated in the middle of servo/controllor for step-by-step motor, control-rod is symmetrically distributed in display screen two ends.
Further, the assistant engine is connected by wire with the end motor, and the sustainer passes through described
Wire is connected with the main frame, waist turning motor, wrist turning motor, the various functions of device is individually carried out.
Further, the servo/controllor for step-by-step motor is connected by data wire with the main frame, main frame respectively with waist
Portion's turning motor, end effector and wrist turning motor are connected, by the control of the motor to each free degree of mechanical arm, are come
Specific action is completed, stable closed-loop system is formed, the servo/controllor for step-by-step motor is commercially available prod.
Further, the pedestal is located in the middle of the crawler belt base upper surface, it is ensured that the center of gravity of device is located at device
Center, it is ensured that the stability of device.
Further, the fixing band totally four, are uniformly distributed in the mechanical arm four direction, and each fixing band
With mechanical arm, the crawler belt base outer surface structure triangular in shape, it is ensured that device can be with more stable work in crankcase ventilaton.
Further, the data wire that the servo/controllor for step-by-step motor is connected with the mechanical arm can be free
Control length, it is ensured that workman can manipulate in home to device.
Further, there is scale on the machinery folder sliding groove, can be with convenient use person between the machinery folder one, two
Distance be adjusted, preliminary working directly is carried out to the trees of felling.
Further, the end effector is connected with the transmission saw retractor device by data wire, by controlling to pass
It is dynamic to saw retractor device to complete specific action, realize the cutting function of machinery folder one.
Further, the chain drive saw only has saw blade cut place to be higher than institute to the transmission saw retractor device when closed
Machinery one inner surface of folder is stated, machinery folder one can be entered by the movement on the machinery folder sliding groove to the branch on trees
Row cleaning.
The present invention method of work be：Sustainer is opened, user is main by manipulating servo/controllor for step-by-step motor
Machine receives the instruction from servo/controllor for step-by-step motor, the movement of control device, wrist turning motor, end effector with
Waist turning motor, control device is reached behind job site, then opens assistant engine, manipulates servo/controllor for step-by-step motor, end
End actuator receives the machinery folder one controlled after order on forearm, machinery folder two and clamps trees, and servo/stepping is then operated again
Electric machine controller, end effector control transmission saw retractor device, transmission saw retractor device control chain drive saw work, to tree
Wood is cut, and is then adjusted machinery folder one, the distance between two and is carried out preliminary working to the trees under cutting.
Compared with prior art, beneficial effects of the present invention are embodied in：The present invention is simple to operate, and crawler belt base can make dress
Put and moved in complex environment, and mechanical arm can lumber to trees carry out preliminary working, user can by operate servo/
Controllor for step-by-step motor is manipulated in home to device, has ensured the safety of user；It is of the invention novel in design, structure
Simply, workman's amount of labour is reduced by the automation mechanized operation of machinery, safety of workers is ensured, improves a kind of new of production efficiency
Lumbering preliminary working creeper truck.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is mechanical arm structural representation of the present invention；
Wherein, 1- crawler belts, 2- walking mechanisms, 3- thrust wheels, 4- carrier wheels, 5- tensioning apparatus, 6- buffer springs, 7- directive wheels,
8- support boards, 9- driving wheels, 10- crawler belt bases, 11- sustainers, 12- mechanical arms, 13- servos/controllor for step-by-step motor,
14- display screens, 15- control-rods, 18- supporting plates, 19- pedestals, 20- main frames, 21- pinboards, 22- waists turning motor, 23- are stood
Post, 24- support bars, 25- movable axis, 26- back casings, 27- lids, 28- forearms, 29- end effectors, 30- ends motor,
31- machineries folder one, 32- machineries folder two, 33- assistant engines, 34- machinery folders sliding groove, 35- chain drives saw, 36- transmission saws are stretched
Compression apparatus, 37- wrists turning motor, 38- fixing bands.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawing of the present invention, to this hair
Technical scheme in bright embodiment is clearly and completely described.
Embodiment：As shown in figure 1, a kind of new lumbering preliminary working creeper truck, mainly includes：Crawler belt base 10, master start
Machine 11, mechanical arm 12, servo/controllor for step-by-step motor 13, fixing band 38, mechanical arm 12 are installed on crawler belt base 10, and servo/
Controllor for step-by-step motor 13 is connected by data wire with mechanical arm 12, and sustainer 11 is connected by wire with mechanical arm 12, Gu
Determine band 38 to be connected with one end with mechanical arm 12, the other end is connected with crawler belt base 10；
As shown in figure 1, crawler belt base 10 also includes：Crawler belt 1, walking mechanism 2, thrust wheel 3, carrier wheel 4, tensioning apparatus 5, buffering
Spring 6, directive wheel 7, support board 8, driving wheel 9, thrust wheel 3 have four, are arranged in order in the lower section of walking mechanism 2, support
Belt wheel 4 is installed on the top of walking mechanism 2, and buffer spring 6 is installed on the one end of walking mechanism 2, and driving wheel 9 is installed on walking mechanism 2
The other end, tensioning apparatus 5 is installed on buffer spring 6 close to one end of walking mechanism 2, and the other end of buffer spring 6 connects with directive wheel 7
Connect, crawler belt 1 wraps up all wheels and is in close contact with each wheel outer surface, and carrying disk 8 is connected with walking mechanism 2, positioned at row
Walk mechanism 2 and the top of crawler belt base 10.
As shown in figure 1, mechanical arm 12 also includes：Supporting plate 18, pedestal 19, main frame 20, pinboard 21, waist turning motor
22nd, column 23, support bar 24, movable axis 25, back casing 26, lid 27, forearm 28, assistant engine 33, wrist turning motor 37,
Main frame 20 is located in pedestal 19, and pedestal 19 is located on crawler belt base 10, and pinboard 21 is located at the top of pedestal 19, passes through wire data
Line is connected with main frame 20, and waist turning motor 22 is installed on the top of pinboard 21, and column 23 is installed on waist turning motor 22
Side, wrist turning motor 37 is installed on the top of column 23, and lid 27 is installed on the top of wrist turning motor 37, and back casing 26 is installed
In the horizontal one end of lid 27, large arm 28 is installed on the horizontal other end of lid 27, the bottom of support bar 24 and the supporting plate 18
Connect above, support bar 24 is connected with back casing 26, the right side of supporting plate 18 is connected with waist turning motor 22, assistant engine 33
In back casing 26；Large arm 28 also includes：End effector 29, end motor 30, machinery folder 1, machinery folder 2 32, machine
Tool folder sliding groove 34, chain drive saw 35, transmission saw retractor device 36, machinery folder sliding groove 34 are located at the lower surface of large arm 28, machine
Tool folder 1, machinery folder 2 32 are respectively arranged in machinery folder sliding groove 34, and end effector 29 has respectively with end motor 30
Two, respectively in the large arm 28 of machinery folder 1, the top of machinery folder 2 32, chain drive saw 35 and transmission saw retractor device
36 connections, are all located in machinery folder 1；
As shown in Fig. 2 servo/controllor for step-by-step motor 13 also includes：Display screen 14, control-rod 15, display screen 14 be located at servo/
In the middle of controllor for step-by-step motor 13, control-rod 15 is symmetrically distributed in the two ends of display screen 14.
Wherein, assistant engine 33 is connected by wire with end motor 30, sustainer 11 by wire and main frame 20,
Waist turning motor 22, wrist turning motor 37 are connected, and the various functions of device is individually carried out.Servo/stepper motor
Controller 13 is connected by data wire with main frame 20, main frame 20 respectively with waist turning motor 22, end effector 29 and wrist
Turning motor 37 is connected, and by the control of the motor to each free degree of mechanical arm 12, to complete specific action, forms stabilization
Closed-loop system.Pedestal 19 is located in the middle of the upper surface of crawler belt base 10, it is ensured that the center of gravity of device is located at the center of device, it is ensured that
The stability of device.Fixing band 38 totally four, is uniformly distributed in the four direction of mechanical arm 12, and each fixing band 38 and machinery
Arm 12, the outer surface of crawler belt base 10 structure triangular in shape, it is ensured that device can be with more stable work in crankcase ventilaton.Servo/step
The data wire that stepper motor controller 13 is connected with mechanical arm 12 can freely control length, it is ensured that workman can be in home
Device is manipulated.There is scale on machinery folder sliding groove 34, can be with convenient use person to the machinery folder 1, machinery folder two
The distance between 32 are adjusted, and directly carry out preliminary working to the trees of felling.End effector 29 and transmission saw retractor device
36 are connected by data wire, by controlling transmission saw retractor device 36 to complete specific action, realize machinery folder 1
Cutting function.
The present invention method of work be：Sustainer 11 is opened, user is by manipulating servo/controllor for step-by-step motor
13, main frame 20 receives the instruction from servo/controllor for step-by-step motor 13, the movement of control device and wrist turning motor 37,
End effector 29, waist turning motor 22, control device are reached behind job site, then open assistant engine 33, manipulate servo/
Controllor for step-by-step motor 13, end effector 29 receives the machinery folder 1 controlled after order on forearm 28, machinery folder 2 32
Trees are clamped, servo/controllor for step-by-step motor 13 is then operated again, the control transmission saw retractor device 36 of end effector 29 is passed
Dynamic saw retractor device 36 control chain drive saw 35 works, and trees are cut, machinery folder 1, machinery folder two is then adjusted
The distance between 32 carry out preliminary working to the trees under cutting.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in previous embodiment, or equivalent substitution is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is departed from the spirit and model of technical scheme of the embodiment of the present invention
Enclose.
Claims (8)
1. a kind of new lumbering preliminary working creeper truck, it is characterised in that mainly include：Support board（8）, crawler belt base（10）, it is main
Engine（11）, mechanical arm（12）, servo/controllor for step-by-step motor（13）, fixing band（38）, the mechanical arm（12）It is installed on
The support board（8）On, support board（8）It is installed on the crawler belt base（10）On, the servo/controllor for step-by-step motor（13）
Pass through the data wire and mechanical arm（12）Connection, the sustainer（11）Pass through the wire and mechanical arm（12）Connection,
The fixing band（38）With one end and mechanical arm（12）Connection, the other end and crawler belt base（10）Connection；Crawler belt base（10）Also
Including：Crawler belt（1）, walking mechanism（2）, thrust wheel（3）, carrier wheel（4）, tensioning apparatus（5）, buffer spring（6）, directive wheel
（7）, driving wheel（9）, the thrust wheel（3）Four are had, is arranged in order in the walking mechanism（2）Lower section, the carrier wheel
（4）It is installed on walking mechanism（2）Top, the buffer spring（6）It is installed on walking mechanism（2）One end, the driving wheel（9）Peace
Loaded on walking mechanism（2）The other end, the tensioning apparatus（5）It is installed on buffer spring（6）Close to walking mechanism（2）One end,
Buffer spring（6）The other end and the directive wheel（7）Connection, the crawler belt（1）Wrap up all wheels and with each wheel appearance
Face is in close contact, the carrying disk（8）With walking mechanism（2）Connection, positioned at walking mechanism（2）With crawler belt base (10）Top；
The mechanical arm（12）Also include：Supporting plate（18）, pedestal（19）, main frame（20）, pinboard（21）, waist turning motor
（22）, column（23）, support bar（24）, movable axis（25）, back casing（26）, lid（27）, forearm（28）, assistant engine
（33）, wrist turning motor（37）, the main frame（20）Positioned at the pedestal（19）It is interior, pedestal（19）Positioned at crawler belt base（10）
On, the pinboard（21）Positioned at pedestal（19）Top, passes through data wire and main frame（20）Connection, the waist turning motor
（22）It is installed on pinboard（21）Top, the column（23）It is installed on waist turning motor（22）Top, the wrist revolution
Motor（37）It is installed on column（23）Top, the lid（27）It is installed on wrist turning motor（37）Top, the back casing
（26）It is installed on lid（27）Horizontal one end, the large arm（28）It is installed on lid（27）The horizontal other end, the support bar
（24）Bottom and the supporting plate（18）Above connect, support bar（24）With back casing（26）Connection, supporting plate（18）'s
The right side and waist turning motor（22）Connection, the assistant engine（33）Positioned at back casing（26）In；Large arm（28）Also include：End
Hold actuator（29）, end motor（30）, machinery folder one（31）, machinery folder two（32）, machinery folder sliding groove（34）, chain drive
Saw（35）, transmission saw retractor device（36）, the machinery folder sliding groove（34）Positioned at large arm（28）Lower surface, the machinery folder one
（31）, machinery folder two（32）It is respectively arranged in machinery folder sliding groove（34）It is interior, the end effector（29）With end electricity
Machine（30）There are two respectively, respectively positioned at machinery folder one（31）, machinery folder two（32）The large arm of top（28）In, the chain is passed
Dynamic saw（35）With the transmission saw retractor device（36）Connection, is all located at machinery folder one（31）It is interior；The servo/stepper motor control
Device processed（13）Also include：Display screen（14）, control-rod（15）, the display screen（14）Positioned at servo/controllor for step-by-step motor
（13）Centre, control-rod（15）It is symmetrically distributed in display screen（14）Two ends.
2. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the assistant engine（33）It is logical
Cross wire and the end motor（30）It is connected, the sustainer（11）Pass through the wire and the main frame（20）, waist
Turning motor（22）, wrist turning motor（37）Connection.
3. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the servo/stepper motor
Controller（13）Pass through data wire and the main frame（20）Connection, main frame（20）Respectively with waist turning motor（22）, end holds
Row device（29）With wrist turning motor（37）Connection.
4. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the pedestal（19）Positioned at institute
State crawler belt base（10）In the middle of upper surface.
5. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the fixing band（38）Totally four
Bar, is uniformly distributed in the mechanical arm（12）Four direction, and each fixing band（38）With mechanical arm（12）, the track bottom
Seat（10）Outer surface structure triangular in shape.
6. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the servo/stepper motor
Controller（13）With the mechanical arm（12）The data wire of connection can freely control length.
7. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the machinery folder sliding groove
（34）On have scale.
8. a kind of new lumbering preliminary working creeper truck as claimed in claim 1, it is characterised in that the end effector（29）
With the transmission saw retractor device（36）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710385902.5A CN107127733A (en) | 2017-05-26 | 2017-05-26 | A kind of new lumbering preliminary working creeper truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710385902.5A CN107127733A (en) | 2017-05-26 | 2017-05-26 | A kind of new lumbering preliminary working creeper truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107127733A true CN107127733A (en) | 2017-09-05 |
Family
ID=59733368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710385902.5A Pending CN107127733A (en) | 2017-05-26 | 2017-05-26 | A kind of new lumbering preliminary working creeper truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107127733A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU978780A1 (en) * | 1978-07-18 | 1982-12-07 | Уральский лесотехнический институт | Felling-stacking machine |
| SU1542484A1 (en) * | 1988-05-11 | 1990-02-15 | Марийский политехнический институт им.А.М.Горького | Lumbering machine |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| US20090001809A1 (en) * | 2007-06-29 | 2009-01-01 | Agco Corporation | Tension management system for an endless track of a work machine |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN103465977A (en) * | 2013-09-26 | 2013-12-25 | 上海大学 | Caterpillar-type driving system of patrolling robot |
| CN106003071A (en) * | 2016-06-07 | 2016-10-12 | 徐洪军 | Woodcutting robot |
| CN106275116A (en) * | 2016-09-08 | 2017-01-04 | 深圳前海默克智能科技有限公司 | Crawler-type multifunctional agricultural equipment |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
-
2017
- 2017-05-26 CN CN201710385902.5A patent/CN107127733A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU978780A1 (en) * | 1978-07-18 | 1982-12-07 | Уральский лесотехнический институт | Felling-stacking machine |
| SU1542484A1 (en) * | 1988-05-11 | 1990-02-15 | Марийский политехнический институт им.А.М.Горького | Lumbering machine |
| US20090001809A1 (en) * | 2007-06-29 | 2009-01-01 | Agco Corporation | Tension management system for an endless track of a work machine |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN103465977A (en) * | 2013-09-26 | 2013-12-25 | 上海大学 | Caterpillar-type driving system of patrolling robot |
| CN106003071A (en) * | 2016-06-07 | 2016-10-12 | 徐洪军 | Woodcutting robot |
| CN106275116A (en) * | 2016-09-08 | 2017-01-04 | 深圳前海默克智能科技有限公司 | Crawler-type multifunctional agricultural equipment |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
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