CN109778929B - Parasitic mechanism type space controllable excavating mechanism - Google Patents
Parasitic mechanism type space controllable excavating mechanism Download PDFInfo
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- CN109778929B CN109778929B CN201811585402.7A CN201811585402A CN109778929B CN 109778929 B CN109778929 B CN 109778929B CN 201811585402 A CN201811585402 A CN 201811585402A CN 109778929 B CN109778929 B CN 109778929B
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Abstract
A power roller of a three-dimensional rotating arm mechanism of the parasitic mechanism type space controllable excavating mechanism rolls on the whole hemispherical surface in a base, so that a rotating arm ball rod realizes space rotation through a movable arm ball body, and a bucket rod and a bucket are driven to realize space rotation. The parasitic mechanism part drives the crank to rotate through the rotation of the first motor, so that the second motor frame plate connected with the seventh connecting rod reciprocates along the rotating arm ball rod, the first spring and the second spring are driven to reciprocate along the rotating arm ball rod, the bucket rod rotates up and down through the middle connecting rod, the first spring and the second spring rotate reversely through the reduction gear by the second motor and the third motor, the bucket rod rotates left and right through the middle connecting rod, and the working space of the bucket is increased. The host mechanism and the parasitic mechanism can respectively control or jointly control the movement of the bucket, so that the movement of the bucket is more stable, the operation stop caused by the failure of one control mechanism is avoided, and the excavating force is large and the stress is good.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a parasitic mechanism type space controllable excavating mechanism.
Background
The excavator is a common excavating machine, is mainly used for various earthwork constructions, is widely applied to mechanized construction of industries such as industrial and civil buildings, transportation, water conservancy projects, farmland transformation, mine excavation, modern military engineering and the like, is the most widely applied excavator at present, but a hydraulic system has high manufacturing cost, is easy to have the problems of oil leakage and the like, can not be normally used in a low-temperature environment, and has long-standing troublesome problems of the hydraulic excavator.
Along with the development of the electric control technology and the improvement of the controllable technology, the controllable mechanism provides a great improvement space for the development of engineering machinery, and the multi-degree-of-freedom space excavating mechanism driven by the controllable motor not only has a large working space and high flexibility, but also can complete the output of complex motion, and has low maintenance cost, more stable motion reliability and great development prospect.
Disclosure of Invention
The invention aims to provide a parasitic mechanism type space controllable excavating mechanism which not only has the advantages of large working space, large excavating force and good stress of the traditional hydraulic mechanism, but also can overcome the problems of high maintenance cost, high manufacturing precision and insensitive response of the traditional hydraulic excavator and the problem that the existing electric control excavator with only one set of control system cannot be normally used under the condition of failure.
The invention realizes the aim through the following technical scheme: the utility model provides a parasitic mechanism formula space is controllable excavates mechanism, includes three-dimensional rotor arm mechanism, three-dimensional dipper mechanism, parasitic mechanism, one-dimensional scraper bowl mechanism and fuselage, its characterized in that, concrete structure and relation of connection are:
the three-dimensional rotating arm mechanism comprises a power roller, a roller cylindrical pin, a roller supporting frame, a conical connecting rod, a rotating arm ball, a first ball ring sleeve, a base sleeve, a first motor frame plate and a rotating arm ball rod, wherein the power roller is arranged on the roller cylindrical pin;
the three-dimensional bucket rod mechanism comprises a second ball ring sleeve, a bucket rod ball body, a bucket rod, a semicircular connecting rod, a first connecting rod, a second connecting rod, a first square hole sleeve and a bucket square hole sleeve, wherein the bucket rod ball body is arranged in the second ball ring sleeve, the bucket rod and the bucket rod ball body are arranged in an interference fit manner, one end of the bucket rod is arranged in the first square hole sleeve in an interference fit manner, the bucket square hole sleeve is arranged in the other end of the bucket rod, one end of the second connecting rod is arranged in the first square hole sleeve in an interference fit manner, the other end of the second connecting rod is hinged with the semicircular connecting rod, the other end of the semicircular connecting rod is hinged with the first connecting rod, and the other end of the first connecting rod is hinged with a first cylindrical;
the parasitic mechanism comprises a first motor, a crank, a second motor frame plate, a second motor, a third motor, a first gear, a second gear, a third gear, a fourth gear, a first spring, a second spring, a spring sleeve, a second connecting rod, a third spherical sleeve, a spring ball, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, a first square hole sleeve, a second square hole sleeve, a third square hole sleeve, a semicircular connecting rod and a first connecting rod, wherein the first motor is fixed on the first motor frame plate, the first motor is connected with the crank, the other end of the crank is connected with the seventh connecting rod, the other end of the seventh connecting rod is connected with the second motor frame plate, the second motor frame plate is installed with the rotating arm ball rod in a clearance fit manner, the other end of the second motor frame plate is fixedly connected with the spring sleeve, and the second motor and the third motor are respectively fixed on the second motor frame plate, the second motor is connected with the first gear, the first gear is meshed with the second gear, the second gear is fixedly arranged on a spring sleeve, a first spring is arranged in the spring sleeve, one end of the first spring is fixed on the second gear, the other end of the first spring is fixedly connected with a sixth connecting rod, the other end of the sixth connecting rod is hinged with a fifth connecting rod, the other end of the fifth connecting rod is hinged with a fourth connecting rod, the other end of the fourth connecting rod is installed with a third hole sleeve in an interference manner, the third hole sleeve is installed in the bucket rod in an interference manner, the third motor is connected with a third gear, the third gear is meshed with the fourth gear, the fourth gear is fixedly arranged on the spring sleeve, one end of the second spring is fixed on the fourth gear, the other end of the second spring is fixedly connected with a third ring ball sleeve, the spring ball body is installed in a third ring ball sleeve, and a second square sleeve is installed in the spring ball body in an interference, the third connecting rod is arranged in the second square hole sleeve in an interference mode, the other end of the third connecting rod is connected with the semicircular connecting rod and the second connecting rod, the second connecting rod is arranged in the first square hole sleeve in an interference mode, the first square hole sleeve is arranged in the bucket rod in an interference mode, the other end of the semicircular connecting rod is connected with the first connecting rod, and the other end of the first connecting rod is connected with the second cylindrical pin of the bucket;
the one-dimensional bucket mechanism comprises a bucket connecting rod, a bucket first cylindrical pin, a bucket second cylindrical pin and a bucket, wherein a bucket square hole sleeve is arranged in a bucket rod in an interference fit mode;
the fuselage includes base and first ball ring cover, four mounting holes of base and four installation foot clearance fit installations of first ball ring cover.
The power roller is in contact with the inner spherical surface of the base.
The host mechanism and the parasitic mechanism can respectively control or jointly control the movement of the bucket, so that the movement of the bucket is more stable.
The power roller of the three-dimensional rotating arm mechanism of the excavating mechanism rolls on the whole hemispherical surface in the base, so that the rotating arm ball rod can realize spatial rotation through the movable arm ball body, and the bucket rod and the bucket can be driven to realize spatial rotation.
The parasitic mechanism part drives the crank to rotate through the rotation of the first motor, so that the second motor frame plate connected with the seventh connecting rod reciprocates along the rotating arm ball rod, the first spring and the second spring reciprocate along the rotating arm ball rod, the bucket rod rotates up and down through the middle connecting rod, the first spring and the second spring rotate reversely through the reduction gear by the second motor and the third motor, the bucket rod rotates left and right through the middle connecting rod, and the working space of the bucket is increased.
The invention has the outstanding advantages that:
the controllable parasitic mechanism is introduced to enable the excavating mechanism to be controlled by the host mechanism and the parasitic mechanism in a combined mode, the host mechanism and the parasitic mechanism can respectively control or jointly control the movement of the bucket, the movement of the bucket is enabled to be more stable, the bucket cannot stop running due to the fact that one control mechanism breaks down, the movement reliability of the excavating mechanism is improved, the traditional mechanism can be used for finishing working contents under different conditions and different environments, and the problem that the traditional mechanism is difficult to solve due to the fact that the controllable parasitic mechanism is improved in control reliability is solved.
The power roller of the three-dimensional rotating arm mechanism of the excavating mechanism rolls on the whole hemispherical surface in the base, so that the rotating arm ball rod can realize spatial rotation through the movable arm ball body, and the bucket rod and the bucket can be driven to realize spatial rotation. The parasitic mechanism part drives the crank to rotate through the rotation of the first motor, so that the second motor frame plate connected with the seventh connecting rod reciprocates along the rotating arm ball rod, the first spring and the second spring are driven to reciprocate along the rotating arm ball rod, the bucket rod rotates up and down through the middle connecting rod, the first spring and the second spring rotate reversely through the reduction gear by the second motor and the third motor, the bucket rod rotates left and right through the middle connecting rod, and the working space of the bucket is increased. The host mechanism and the parasitic mechanism can respectively control or jointly control the movement of the bucket, so that the movement of the bucket is more stable, the operation stop caused by the failure of one control mechanism is avoided, and the excavating force is large and the stress is good.
Drawings
Fig. 1 is a schematic view of the overall structure of the parasitic mechanism type space controllable excavating mechanism according to the present invention.
Fig. 2 is a schematic view of a rotating arm mechanism of the parasitic mechanism type space controllable excavating mechanism according to the present invention.
Fig. 3 is a schematic diagram of the boom mechanism-bucket mechanism of the parasitic mechanism type space controllable excavating mechanism according to the present invention.
Fig. 4 is a schematic diagram of the spring arrangement of the parasitic mechanism type space controllable excavating mechanism according to the present invention.
Fig. 5 is a schematic view of a power roller of the parasitic mechanism type space controllable excavating mechanism according to the present invention.
Labeled as: the bucket comprises a base 1, a conical connecting rod 2, a first ball ring sleeve 3, a rotating arm ball 4, a base sleeve 5, a first motor frame plate 6, a first motor 7A, a second motor 7B, a third motor 7C, a first gear 8, a second gear 9, a second spring 10, a spring sleeve 11, an arm 12, a bucket 13, a first connecting rod 14, an arm ball 15, a second ball ring sleeve 16, a semicircular connecting rod 17, a first square hole sleeve 18, a second connecting rod 19, a third connecting rod 20, a fourth connecting rod 21, a fifth connecting rod 22, a second square hole sleeve 23, a spring ball 24, a sixth connecting rod 25, a third ball ring sleeve 26, a first spring 27, a third gear 28, a fourth gear 29, a second motor frame plate 30, a rotating arm ball 31, a seventh connecting rod 32, a crank 33, a third square hole sleeve 34, a power roller 35, a roller cylindrical pin 36, a roller support frame 37, a connecting rod 38, a bucket square hole sleeve 39, a roller cylindrical pin 39, a bucket cylindrical pin 37, a bucket supporting frame, A bucket first cylindrical pin 40 and a bucket second cylindrical pin 41.
Detailed Description
The technical solution of the present invention is further illustrated by the accompanying drawings and examples.
The parasitic mechanism type space controllable excavating mechanism comprises a three-dimensional rotating arm mechanism, a three-dimensional bucket rod mechanism, a parasitic mechanism, a one-dimensional bucket mechanism and a machine body, and the specific structure and the connection relation are as follows:
the three-dimensional rotating arm mechanism comprises a power roller 35, a roller cylindrical pin 36, a roller supporting frame 37, a conical connecting rod 2, a rotating arm ball 4, a first ball ring sleeve 3, a base sleeve 5, a first motor frame plate 6 and a rotating arm ball rod 31, the power roller 35 is arranged on a roller cylindrical pin 36, the roller cylindrical pin 36 is arranged on a roller supporting frame 37, the roller supporting frame 37 is fixedly connected with the conical connecting rod 2, the other end of the conical connecting rod 2 is fixedly connected with the rotating arm ball 4, the rotating arm ball 4 is arranged in the first ball ring sleeve 3, the other end of the rotating arm ball 4 is fixedly connected with the base sleeve 5, the first ball ring sleeve 3 is connected with the base 1, the other end of the base sleeve 5 is fixedly connected with the first motor frame plate 6, the first motor frame plate 6 is fixedly connected with the rotating arm ball rod 31, and the other end of the rotating arm ball rod 31 is fixedly connected with the second ball ring sleeve 16;
the three-dimensional bucket rod mechanism comprises a second ball ring sleeve 16, a bucket rod ball 15, a bucket rod 12, a semicircular connecting rod 17, a first connecting rod 14, a second connecting rod 19, a first square hole sleeve 18 and a bucket square hole sleeve 39, wherein the bucket rod ball 15 is installed in the second ball ring sleeve 16, the bucket rod 12 and the bucket rod ball 15 are installed in an interference fit mode, one end of the bucket rod 12 is installed in the first square hole sleeve 18 in an interference fit mode, the other end of the bucket rod 12 is installed in the bucket square hole sleeve 39 in an interference fit mode, one end of the second connecting rod 19 is installed in the first square hole sleeve 18 in an interference fit mode, the other end of the second connecting rod 19 is hinged to the semicircular connecting rod 17, the other end of the semicircular connecting rod 17 is hinged to the first connecting rod 14, and the other end of the first connecting rod 14 is hinged to a bucket first;
the parasitic mechanism comprises a first motor 7A, a crank 33, a second motor frame plate 30, a second motor 7B, a third motor 7C, a first gear 8, a second gear 9, a third gear 28, a fourth gear 29, a first spring 27, a second spring 10, a spring sleeve 11, a second connecting rod 19, a third connecting rod 20, a third spherical sleeve 6, a spring sphere 24, a fourth connecting rod 21, a fifth connecting rod 22, a sixth connecting rod 25, a seventh connecting rod 32, a first square hole sleeve 18, a second square hole sleeve 23, a third square hole sleeve 34, a semicircular connecting rod 17 and a first connecting rod 14, wherein the first motor 7A is fixed on the first motor frame plate 6, the first motor 7A is connected with the crank 33, the other end of the crank 33 is connected with the seventh connecting rod 32, the other end of the seventh connecting rod 32 is connected with the second motor frame plate 30, and the second motor frame plate 30 is in clearance fit with a rotating arm 31, the other end of the second motor frame plate 30 is fixedly connected with the spring sleeve 11, the second motor 7B and the third motor 7C are respectively fixed on the second motor frame plate 30, the second motor 7B is connected with the first gear 8, the first gear 8 is meshed with the second gear 9, the second gear 9 is fixedly installed on the spring sleeve 11, the first spring 27 is installed in the spring sleeve 11, one end of the first spring 27 is fixed on the second gear 9, the other end of the first spring 27 is fixedly connected with the sixth connecting rod 25, the other end of the sixth connecting rod 25 is hinged with the fifth connecting rod 22, the other end of the fifth connecting rod 22 is hinged with the fourth connecting rod 21, the other end of the fourth connecting rod 21 is installed with the third hole sleeve 34 in an interference mode, and the third hole sleeve 34 is installed in the bucket rod 12 in an interference mode; the third motor 7C is connected with a third gear 28, the third gear 28 is engaged with a fourth gear 29, the fourth gear 29 is fixedly installed on the spring sleeve 11, one end of the second spring 10 is fixed on the fourth gear 29, the other end of the second spring 10 is fixedly connected with a third spherical sleeve 26, a spring ball 24 is installed in the third spherical sleeve 26, a second square sleeve 23 is installed in the spring ball 24 in an interference manner, a third connecting rod 20 is installed in the second square hole sleeve 23 in an interference manner, the other end of the third connecting rod 20 is connected with a semicircular connecting rod 17 and a second connecting rod 19, the second connecting rod 19 is installed in the first square hole sleeve 18 in an interference manner, the first square hole sleeve 18 is installed in the bucket rod 12 in an interference manner, the other end of the semicircular connecting rod 17 is connected with the first connecting rod 14, and the other end of the first connecting rod 14 is connected with a bucket second cylindrical pin 41.
The one-dimensional bucket mechanism comprises a bucket connecting rod 38, a bucket first cylindrical pin 40, a bucket second cylindrical pin 41 and a bucket 13, wherein a bucket square hole sleeve 39 is arranged in a bucket rod 12 in an interference fit mode, the bucket connecting rod 38 is arranged in the bucket square hole sleeve 39 in an interference fit mode, the other end of the bucket connecting rod 38 is hinged with the bucket first cylindrical pin 40, the bucket first cylindrical pin 40 is arranged in a clearance fit mode with the bucket 13, the bucket second cylindrical pin 41 is arranged in a clearance fit mode with the bucket 13, and the bucket second cylindrical pin 41 is hinged with a first connecting rod 14;
the fuselage includes base 1 and first ball cover 3. The connection relation of the machine body is as follows: the four mounting holes of the base 1 are in clearance fit with the four mounting feet of the first ball ring sleeve 3.
The power roller 35 contacts with the inner spherical surface of the base 1.
The working principle and the process are as follows:
the invention aims to increase the working space of an excavator, increase the flexibility of the excavator, increase the excavating force of the excavator and increase the control stability of the excavator. Firstly, the power roller 35 rolls on the whole hemispherical surface in the base 1, so that the rotating arm ball rod 31 realizes spatial rotation through the movable arm ball 4, and the arm 12 and the bucket 13 are driven to realize spatial rotation. The parasitic mechanism part drives the crank 33 to rotate through the rotation of the first motor 7A, so that the second motor frame plate 30 connected with the seventh connecting rod 32 reciprocates along the swing arm ball rod 31, the first spring 27 and the second spring 10 are driven to reciprocate along the swing arm ball rod 31, the bucket rod 12 rotates up and down through the intermediate connecting rod and respectively corresponds to working conditions of loading goods and dumping goods, the second motor 7B and the third motor 7C fixed on the second motor frame plate 30 rotate in opposite directions, the first spring 27 and the second spring 10 rotate in opposite directions through the reduction gear, the bucket rod 12 rotates left and right through the intermediate connecting rod, and the working space of the bucket 13 is increased. The host mechanism, the power roller 35, the rotating arm ball rod 31 and the arm 12 control the movement of the bucket, the parasitic mechanism controls the movement of the bucket 13, and the parasitic mechanism can control the bucket 13 respectively or jointly, so that the movement of the bucket 13 is more stable, the operation stop caused by the failure of one control mechanism is avoided, the movement reliability of the excavating mechanism is improved, the excavating force is large, the stress is good, and the like.
Claims (5)
1. The utility model provides a parasitic mechanism formula space is controllable excavates mechanism, includes three-dimensional rotor arm mechanism, three-dimensional dipper mechanism, parasitic mechanism, one-dimensional scraper bowl mechanism and fuselage, its characterized in that, concrete structure and relation of connection are:
the three-dimensional rotating arm mechanism comprises a power roller, a roller cylindrical pin, a roller supporting frame, a conical connecting rod, a rotating arm ball, a first ball ring sleeve, a base sleeve, a first motor frame plate and a rotating arm ball rod, wherein the power roller is arranged on the roller cylindrical pin;
the three-dimensional bucket rod mechanism comprises a second ball ring sleeve, a bucket rod ball body, a bucket rod, a semicircular connecting rod, a first connecting rod, a second connecting rod, a first square hole sleeve and a bucket square hole sleeve, wherein the bucket rod ball body is arranged in the second ball ring sleeve, the bucket rod and the bucket rod ball body are arranged in an interference fit manner, one end of the bucket rod is arranged in the first square hole sleeve in an interference fit manner, the bucket square hole sleeve is arranged in the other end of the bucket rod, one end of the second connecting rod is arranged in the first square hole sleeve in an interference fit manner, the other end of the second connecting rod is hinged with the semicircular connecting rod, the other end of the semicircular connecting rod is hinged with the first connecting rod, and the other end of the first connecting rod is hinged with a first cylindrical;
the parasitic mechanism comprises a first motor, a crank, a second motor frame plate, a second motor, a third motor, a first gear, a second gear, a third gear, a fourth gear, a first spring, a second spring, a spring sleeve, a second connecting rod, a third spherical sleeve, a spring ball, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, a first square hole sleeve, a second square hole sleeve, a third square hole sleeve, a semicircular connecting rod and a first connecting rod, wherein the first motor is fixed on the first motor frame plate, the first motor is connected with the crank, the other end of the crank is connected with the seventh connecting rod, the other end of the seventh connecting rod is connected with the second motor frame plate, the second motor frame plate is installed with the rotating arm ball rod in a clearance fit manner, the other end of the second motor frame plate is fixedly connected with the spring sleeve, and the second motor and the third motor are respectively fixed on the second motor frame plate, the second motor is connected with the first gear, the first gear is meshed with the second gear, the second gear is fixedly arranged on a spring sleeve, a first spring is arranged in the spring sleeve, one end of the first spring is fixed on the second gear, the other end of the first spring is fixedly connected with a sixth connecting rod, the other end of the sixth connecting rod is hinged with a fifth connecting rod, the other end of the fifth connecting rod is hinged with a fourth connecting rod, the other end of the fourth connecting rod is installed with a third hole sleeve in an interference manner, the third hole sleeve is installed in the bucket rod in an interference manner, the third motor is connected with a third gear, the third gear is meshed with the fourth gear, the fourth gear is fixedly arranged on the spring sleeve, one end of the second spring is fixed on the fourth gear, the other end of the second spring is fixedly connected with a third ring ball sleeve, the spring ball body is installed in a third ring ball sleeve, and a second square sleeve is installed in the spring ball body in an interference, the third connecting rod is arranged in the second square hole sleeve in an interference mode, the other end of the third connecting rod is connected with the semicircular connecting rod and the second connecting rod, the second connecting rod is arranged in the first square hole sleeve in an interference mode, the first square hole sleeve is arranged in the bucket rod in an interference mode, the other end of the semicircular connecting rod is connected with the first connecting rod, and the other end of the first connecting rod is connected with the second cylindrical pin of the bucket;
the one-dimensional bucket mechanism comprises a bucket connecting rod, a bucket first cylindrical pin, a bucket second cylindrical pin and a bucket, wherein a bucket square hole sleeve is arranged in a bucket rod in an interference fit mode;
the fuselage includes base and first ball ring cover, four mounting holes of base and four installation foot clearance fit installations of first ball ring cover.
2. The parasitic mechanism space controllable excavation mechanism of claim 1, wherein the powered rollers are in contact with an inner spherical surface of the base.
3. The parasitic mechanism type space controllable excavating mechanism of claim 1 wherein the host mechanism and the parasitic mechanism are capable of controlling the movement of the bucket separately or in combination to make the movement of the bucket more stable.
4. The parasitic mechanism type space controllable excavating mechanism according to claim 1 wherein the power roller of the three-dimensional rotating arm mechanism of the excavating mechanism rolls on the whole hemisphere surface in the base, so that the rotating arm ball rod realizes space rotation through the movable arm ball body, and the bucket rod and the bucket are driven to realize space rotation.
5. The parasitic mechanism type space controllable excavating mechanism according to claim 1, wherein the parasitic mechanism part drives the crank to rotate by rotation of the first motor, so that the second motor frame plate connected to the seventh link reciprocates along the swing arm ball rod, thereby driving the first spring and the second spring to reciprocate along the swing arm ball rod, and the bucket rod is rotated up and down by the intermediate link, and the first spring and the second spring are rotated in opposite directions by the second motor and the third motor through the reduction gear, respectively, and the bucket rod is rotated left and right by the intermediate link, so that the working space of the bucket is increased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585402.7A CN109778929B (en) | 2018-12-24 | 2018-12-24 | Parasitic mechanism type space controllable excavating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585402.7A CN109778929B (en) | 2018-12-24 | 2018-12-24 | Parasitic mechanism type space controllable excavating mechanism |
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| CN109778929A CN109778929A (en) | 2019-05-21 |
| CN109778929B true CN109778929B (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811585402.7A Active CN109778929B (en) | 2018-12-24 | 2018-12-24 | Parasitic mechanism type space controllable excavating mechanism |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3128677A (en) * | 1962-04-30 | 1964-04-14 | Hydraulic Unit Specialities Co | Control instrumentality having detent mechanism |
| EP0214633A1 (en) * | 1985-09-07 | 1987-03-18 | Hitachi Construction Machinery Co., Ltd. | Control system for hydraulically-operated construction machinery |
| CN103388345A (en) * | 2012-05-12 | 2013-11-13 | 刘素华 | Reciprocating impact heading and loading machine |
| CN106223382A (en) * | 2016-09-30 | 2016-12-14 | 山东省水利科学研究院 | A kind of multi-functional mud-rock flow excavator |
-
2018
- 2018-12-24 CN CN201811585402.7A patent/CN109778929B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3128677A (en) * | 1962-04-30 | 1964-04-14 | Hydraulic Unit Specialities Co | Control instrumentality having detent mechanism |
| EP0214633A1 (en) * | 1985-09-07 | 1987-03-18 | Hitachi Construction Machinery Co., Ltd. | Control system for hydraulically-operated construction machinery |
| CN103388345A (en) * | 2012-05-12 | 2013-11-13 | 刘素华 | Reciprocating impact heading and loading machine |
| CN106223382A (en) * | 2016-09-30 | 2016-12-14 | 山东省水利科学研究院 | A kind of multi-functional mud-rock flow excavator |
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| CN109778929A (en) | 2019-05-21 |
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