CN114619433B - Telescopic operating mechanism - Google Patents
Telescopic operating mechanism Download PDFInfo
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- CN114619433B CN114619433B CN202210271378.XA CN202210271378A CN114619433B CN 114619433 B CN114619433 B CN 114619433B CN 202210271378 A CN202210271378 A CN 202210271378A CN 114619433 B CN114619433 B CN 114619433B
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- arm
- sprocket
- hinge shaft
- hinged
- positioning seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
- Movable Scaffolding (AREA)
Abstract
The invention relates to the technical field of operating mechanisms, and provides a telescopic operating mechanism which comprises an operating structure, a positioning seat and a jacking mechanism, wherein the lower end face of the positioning seat is provided with the operating structure, each operating structure comprises an inner arm, a middle arm and an outer arm, the outer end of each outer arm is connected with an operating tool, the inner end of each inner arm is hinged with a supporting seat sleeved on a telescopic rod of the jacking mechanism by means of a first hinge shaft, a direct connecting plate is hinged between the middle part of each inner arm and the positioning seat, the inner arm is hinged with the middle arm by means of a second hinge shaft, the middle arm is hinged with the outer arm by means of a third hinge shaft, and transmission fit is formed between the supporting seat and the middle arm and between the inner arm and the outer arm. The problem of among the correlation technique by operating personnel enter into the work space that the working space is big but the entry is little in the operation, work efficiency is lower, operating personnel is in the less underground of entry for a long time moreover, can produce harmful effects to the health is solved.
Description
Technical Field
The invention relates to the technical field of operating mechanisms, in particular to a telescopic operating mechanism.
Background
At present, many underground working activities have the problems that working space is large, but an inlet is small, so that many working tools cannot enter the working space from the inlet to perform work, and only operators can enter the working space to perform work, so that the working efficiency is low, and the operators are in the underground with the smaller inlet for a long time and can have bad influence on bodies. Therefore, a telescopic working mechanism is needed to be studied, and not only can the working space be accessed from a smaller inlet, but also the use requirement of a large working space can be met.
Disclosure of Invention
The invention provides a telescopic operating mechanism, which solves the problems that in the related art, operators enter a working space with a large working space but a small entrance to operate, the working efficiency is low, and the operators are in the underground with the small entrance for a long time and can have bad influence on the body.
The technical scheme of the invention is as follows: a telescopic operating mechanism, including the operation structure, the key lies in: the operation mechanism further comprises a positioning seat and a jacking mechanism, the upper end of the jacking mechanism is fixed with the positioning seat, the lower end of the jacking mechanism is a free end, a group of operation structures are arranged on the lower end face of the positioning seat along the circumferential direction, each operation structure comprises an inner arm, a middle arm and an outer arm, the outer end of each outer arm is connected with an operation tool, the inner end of each inner arm is hinged with a supporting seat sleeved on a telescopic rod of the jacking mechanism by means of a first hinge shaft, a direct connecting plate is hinged between the middle part of each inner arm and the positioning seat, the inner arm is hinged with the middle arm by means of a second hinge shaft, the middle arm is hinged with the outer arm by means of a third hinge shaft, and transmission fit is formed between the supporting seat and the middle arm, and between the inner arm and the outer arm.
Two sides of each inner arm are provided with direct connecting plates, the upper ends of the two direct connecting plates are hinged with the positioning seat by means of a fourth hinge shaft, and the lower ends of the two direct connecting plates are hinged with the inner arms by means of a fifth hinge shaft.
The support seat and the middle arm form transmission fit by means of the fit of the first sprocket, the second sprocket and the first chain, the first sprocket and the first hinge shaft are coaxially arranged, the second sprocket and the second hinge shaft are coaxially arranged, and the number of teeth of the first sprocket fixedly connected to the support seat is twice that of the second sprocket fixedly connected to the middle arm.
The inner arm and the outer arm form transmission fit by means of the fit of a third sprocket, a fourth sprocket and a second chain, the third sprocket and the second hinge shaft are coaxially arranged, the fourth sprocket and the third hinge shaft are coaxially arranged, and the number of teeth of the third sprocket fixedly connected to the inner arm and the number of teeth of the fourth sprocket fixedly connected to the outer arm are the same.
The working principle and the beneficial effects of the invention are as follows: the lifting mechanism is fixed on the lower end face of the positioning seat, a group of operation structures are arranged on the lower end face of the positioning seat along the circumferential direction, each operation structure comprises an inner arm, a middle arm and an outer arm, the inner end of each inner arm is hinged with a supporting seat sleeved on a telescopic rod of the lifting mechanism by means of a first hinge shaft, a direct connecting plate is hinged between the middle part of each inner arm and the positioning seat, the outer end of each inner arm is hinged with the middle arm by means of a second hinge shaft, the outer end of each middle arm is hinged with the outer arm by means of a third hinge shaft, the outer end of each outer arm is connected with an operation tool, and transmission fit is formed between each supporting seat and each middle arm and between each inner arm and each outer arm. When the position of the positioning seat is fixed, the telescopic rod of the jacking mechanism is extended, the supporting seat moves downwards along the telescopic rod, the supporting seat drives the inner end of the inner arm to move downwards, the outer end of the inner arm rotates upwards around the hinging shaft of the direct connecting plate and the inner arm, the outer end of the inner arm drives the inner end of the middle arm to rotate upwards, the outer end of the middle arm rotates downwards and drives the inner end of the outer arm to rotate downwards, the outer end of the outer arm rotates upwards, and the distance among the inner arm, the middle arm and the outer arm is reduced and contracted; similarly, when the telescopic rod of the jacking mechanism is contracted, the supporting seat moves upwards along the telescopic rod, and the distance among the inner arm, the middle arm and the outer arm is increased and gradually stretched out.
When the small entrance enters the large working space, the working structure is in a contracted state, after entering the working space, the unfolding size of the working structure is adjusted according to actual needs, and then the working tool is used for working. The device can enter the working space from a smaller inlet and can meet the use requirement of a large working space. And no longer need operating personnel to enter the working space for operation, the working efficiency can be improved, and adverse influence on the body of the operating personnel is avoided.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic view of the fully extended structure of the present invention.
Fig. 2 is a schematic diagram of a connection structure of the positioning seat, the jacking mechanism and the inner arm in fig. 1.
Fig. 3 is a schematic diagram of a connection structure between the inner arm and the middle arm in fig. 1.
Fig. 4 is a schematic diagram of a connection structure between the middle arm and the outer arm in fig. 1.
Fig. 5 is a schematic structural view of a support base according to the present invention.
Fig. 6 is a schematic diagram of a connection structure between a supporting seat and a jacking mechanism in the present invention.
Fig. 7 is a schematic structural diagram of a connecting seat in the present invention.
Fig. 8 is a schematic structural view of a first chain according to the present invention.
Fig. 9 is a schematic view of the connection structure of the first chain segment and the first connecting rod in fig. 8.
Fig. 10 is a schematic structural view of a second chain according to the present invention.
Fig. 11 is a schematic view of the connection structure of the third strand of chain and the second connecting rod of fig. 10.
FIG. 12 is a schematic view of the present invention in its contracted configuration.
Fig. 13 is a schematic view of a connection structure between a middle arm and a connection base in the present invention.
Fig. 14 is a left side view of bitmap 13.
In the figure: 1. the lifting mechanism comprises a positioning seat, 2, a lifting mechanism, 3, an inner arm, 4, a middle arm, 5, an outer arm, 6, a working tool, 7, a first hinge shaft, 8, a supporting seat, 9, a straight connecting plate, 10, a second hinge shaft, 11, a third hinge shaft, 12, a fourth hinge shaft, 13, a fifth hinge shaft, 14, a first sprocket, 15, a second sprocket, 16, a third sprocket, 17, a fourth sprocket, 18, a first chain, 18-1, a first chain segment, 18-2, a second chain segment, 18-3, a first connecting rod, 19, a second chain, 19-1, a third chain segment, 19-2, a fourth chain segment, 19-3, a second connecting rod, 20, a first connecting piece, 21, a second connecting piece, 22, a connecting seat, 23, a containing groove, 24, a lifting ring bolt, 25, a mounting groove, 26, a dovetail groove, 27, a dovetail bar, 28, a locking bolt, 29 and a locking nut.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments of the present invention, are intended to be encompassed within the scope of the present invention.
The telescopic working mechanism comprises a working structure, a positioning seat 1, a jacking mechanism 2 with the upper end fixed with the positioning seat 1 and the lower end being a free end, a group of working structures are arranged on the lower end face of the positioning seat 1 along the circumferential direction, each working structure comprises an inner arm 3, a middle arm 4 and an outer arm 5, the outer end of the outer arm 5 is connected with a working tool 6, the inner end of the inner arm 3 is hinged with a supporting seat 8 sleeved on a telescopic rod of the jacking mechanism 2 by means of a first hinge shaft 7, a direct connecting plate 9 is hinged between the middle part of the inner arm 3 and the positioning seat 1 by means of a second hinge shaft 10, the middle arm 4 is hinged with the outer arm 5 by means of a third hinge shaft 11, and the working mechanism has a degree of freedom in expansion and contraction by means of the jacking mechanism 2.
As a further development of the invention, a direct connection plate 9 is provided on both sides of each inner arm 3, the upper ends of both direct connection plates 9 being hinged to the positioning seat 1 by means of a fourth hinge shaft 12 and the lower ends being hinged to the inner arms 3 by means of a fifth hinge shaft 13. As shown in fig. 1 and 2, the fourth hinge shaft 12 and the fifth hinge shaft 13 are connected by two direct connection plates 9, so that the inner arm 3 is more stable during rotation.
As a further development of the invention, the support 8 and the middle arm 4 are in driving engagement by means of the engagement of a first sprocket 14, a second sprocket 15 and a first chain 18, said first sprocket 14 being arranged coaxially with the first hinge shaft 7 and the second sprocket 15 being arranged coaxially with the second hinge shaft 10, wherein the number of teeth of the first sprocket 14 fastened to the support 8 is twice the number of teeth of the second sprocket 15 fastened to the middle arm 4.
As shown in fig. 2 and 3, the first sprocket 14 coaxially arranged at both ends of the first hinge shaft 7 is fixedly connected with the supporting seat 8, the second sprocket 15 coaxially arranged at both ends of the second hinge shaft 10 is fixedly connected with the inner end of the middle arm 4, the first sprocket 14 and the second sprocket 15 at the same end of the first hinge shaft 7 are connected through the first chain 18, and in the moving process of the supporting seat 8, the inner end of the middle arm 4 is driven to synchronously move through the cooperation of the first sprocket 14, the second sprocket 15 and the first chain 18, so that the stability is better.
The inner arm 3 and the outer arm 5 form transmission fit by means of the fit of a third sprocket 16, a fourth sprocket 17 and a second chain 19, wherein the third sprocket 16 is arranged coaxially with the second hinge shaft 10, the fourth sprocket 17 is arranged coaxially with the third hinge shaft 11, and the number of teeth of the third sprocket 16 fixedly connected to the inner arm 3 and the fourth sprocket 17 fixedly connected to the outer arm 5 is the same.
As shown in fig. 3 and 4, the second hinge shaft 10 has a third sprocket 16 coaxially arranged at two ends thereof, the third sprocket 16 is located inside the second sprocket 15 and fixedly connected with the inner arm 3, the third hinge shaft 11 has a fourth sprocket 17 coaxially arranged at two ends thereof, the fourth sprocket 17 is fixedly connected with the inner end of the outer arm 5, and during the moving process of the inner arm 3, the inner end of the outer arm 5 is driven to synchronously move by the cooperation of the third sprocket 16, the fourth sprocket 17 and the second chain 19, so that the stability is better.
As a further improvement to the present invention, first chain 18 includes a first strand of chain 18-1 disposed on first sprocket 14, a second strand of chain 18-2 disposed on second sprocket 15, and a first connecting rod 18-3 having one end hinged to first strand of chain 18-1 and the other end hinged to second strand of chain 18-2. As shown in fig. 8, the first chain segment 18-1 and the second chain segment 18-2 are connected into a closed structure by using the two first connecting rods 18-3, so that the length of the chain can be reduced on the premise of meeting the expansion and contraction requirements, and the phenomenon that the chain is too long to slacken so as to influence the normal rotation of the inner arm 3 and the middle arm 4 is avoided.
As a further improvement to the present invention, a U-shaped first link 20 is secured to each end of first link 18-3, with the open end of first link 20 being hinged to first strand 18-1/second strand 18-2. First connecting rod 18-3 is hinged to first strand 18-1 and second strand 18-2 via first connecting member 20, and the connection is more secure and reliable. As shown in fig. 8 and 9, both ends of first strand 18-1 are positioned between the two longitudinal plates of first connecting member 20 at the corresponding ends, resulting in a more secure and reliable connection.
As a further development of the invention, the first connecting rod 18-3 is screwed with the first connecting piece 20 and the two first connecting pieces 20 have a degree of freedom of movement toward or away from each other by means of the rotation of the first connecting rod 18-3. As shown in fig. 8, the tightness of the first chain 18 can be adjusted by rotating the first connecting rod 18-3 to bring the two first connecting members 20 closer to each other to shorten the length of the first chain 18, or to bring the two first connecting members 20 away from each other to lengthen the length of the first chain 18.
As a further improvement to the present invention, the second chain 19 includes a third strand of chain 19-1 provided on the third sprocket 16, a fourth strand of chain 19-2 provided on the fourth sprocket 17, and a second connecting rod 19-3 having one end hinged to the third strand of chain 19-1 and the other end hinged to the fourth strand of chain 19-2. As shown in fig. 10, the third chain segment 19-1 and the fourth chain segment 19-2 are connected into a closed structure by using two second connecting rods 19-3, so that the length of the chain can be reduced on the premise of meeting the expansion and contraction requirements, and the phenomenon that the chain is too long to slacken so as to influence the normal rotation of the middle arm 4 and the outer arm 5 is avoided.
As a further improvement of the present invention, a second connecting member 21 of a U shape is fixed to both ends of the second connecting rod 19-3, and the open end of the second connecting member 21 is hinged to the third strand 19-1/the fourth strand 19-2. As shown in fig. 10 and 11, the third strand 19-1 has both ends located between the two longitudinal plates of the second connecting member 21 at the corresponding ends, so that the connection is more secure and reliable.
As a further improvement of the present invention, the second connecting rod 19-3 is screw-coupled with the second connecting member 21 and the two second connecting members 21 have a degree of freedom of movement toward or away from each other by the rotation of the second connecting rod 19-3. As shown in fig. 10, the two second connection members 21 can be moved closer to each other by rotating the second connection rod 19-3 to shorten the length of the second chain 19, or the two second connection members 21 can be moved away from each other to lengthen the length of the second chain 19 to adjust the tightness of the second chain 19.
As a further improvement of the invention, the working mechanism further comprises a connecting seat 22, the second hinge shaft 10 is arranged on the connecting seat 22, the upper end surface of the connecting seat 22 is provided with a containing groove 23, the second chain wheel 15 and the third chain wheel 16 are positioned in the containing groove 23, the connecting seat 22 is provided with a mounting groove 25, and the middle arm 4 is inserted in the mounting groove 25 and fixedly connected with the connecting seat 22 by virtue of a locking piece.
As shown in fig. 3 and 7, by changing the length of the middle arm 4 inserted into the mounting groove 25 and then selecting a second chain 19 of a suitable length, the maximum length of the telescopic structure when being unfolded can be changed, thereby meeting the use requirements of working spaces of different sizes. Under the condition that the second connecting rod 19-3 is in threaded connection with the second connecting piece 21 and the two second connecting pieces 21 have the freedom of movement of approaching or separating each other by means of the rotation of the second connecting rod 19-3, the length of the second chain 19 can be changed by directly rotating the second connecting rod 19-3, and the method is simpler and more convenient.
As shown in fig. 13 and 14, the middle arm 4 is a square rod, a group of dovetail grooves 26 arranged along the length direction are formed in the inner end of the middle arm 4, dovetail-shaped insertion holes communicated with the mounting grooves 25 are formed in two sides of the connecting seat 22, the locking piece comprises a dovetail strip 27, a locking bolt 28 and a locking nut 29, the dovetail strip 27 is simultaneously inserted into the dovetail grooves 26 and the insertion holes, positioning holes are formed in two ends of the dovetail strip 27, through holes are formed in positions, corresponding to the positioning holes, of the connecting seat 22, and a screw rod of the locking bolt 28 passes through the through holes in the connecting seat 22 and the positioning holes in the dovetail strip 27 and then is in threaded connection with the locking nut 29 to form a locking structure of the middle arm 4 and the connecting seat 22.
As shown in fig. 13 and 14, the length direction of the middle arm 4 is set in the left-right direction, the right end of the middle arm 4 is provided with a group of dovetail grooves 26, all the dovetail grooves 26 are set in the left-right direction, each dovetail groove 26 penetrates through the middle arm 4 in the front-back direction, the dovetail strip 27 is inserted into the insertion hole on the connecting seat 22 and one dovetail groove 26 on the middle arm 4 in the front-back direction, and the front locking bolt 28 and the rear locking bolt 28 sequentially penetrate through the left through hole of the connecting seat 22, the right through hole of the dovetail strip 27 and the right through hole of the connecting seat 22 from left to right and then are in threaded connection with the locking nut 29 positioned on the right side of the connecting seat 22. The dovetail strips 27 are spliced with different dovetail grooves 26, so that the maximum length of the operation structure when the operation structure is stretched can be changed, the connection is firm and reliable, the disassembly and assembly are convenient and quick, and the time and the labor are saved.
As a further improvement of the invention, a group of eye bolts 24 are connected to the upper end surface of the positioning seat 1, and an adjusting rope is detachably connected to the eye bolts 24. As shown in fig. 1, 2 and 12, the working structure is contracted, the adjusting rope is connected to the eye bolt 24, the working mechanism can be led into the working space through the inlet of the working space by using the adjusting rope, then the jacking mechanism 2 is extended, the working structure is unfolded to the required size, and the structure is simple and convenient to operate.
As a further development of the invention, the number of eye bolts 24 is at least four, including an intermediate eye bolt arranged coaxially with the positioning socket 1 and an outer eye bolt arranged uniformly in the circumferential direction at the periphery of the intermediate eye bolt. As shown in fig. 1 and 2, a middle eye bolt and three outer eye bolts are arranged on the positioning seat 1, so that the operation mechanism is more stable in the lifting process.
As a further improvement of the invention, the lower end of the eye bolt 24 extends below the positioning seat 1, and the end is connected with two locking nuts, and the screwing directions of the two locking nuts are opposite to form a down thread anti-loosening structure, so that the connection between the eye bolt 24 and the positioning seat 1 is firmer and more reliable, the separation of an operating mechanism from the eye bolt 24 in the lifting process is prevented, and the safety and reliability are improved.
When the invention is specifically used, four groups of operation structures are arranged on the lower end surface of the positioning seat 1 along the circumferential direction, each operation structure comprises an inner arm 3, a middle arm 4 and an outer arm 5, a supporting seat 8 is sleeved on a telescopic rod of the jacking mechanism 2, as shown in fig. 5 and 6, the supporting seat 8 is of a cross structure, each end part is fixedly provided with two positioning rings, two ends of a first hinging shaft 7 are respectively connected with the positioning rings at the corresponding ends, the inner end of the inner arm 3 is hinged with the supporting seat 8 by virtue of the first hinging shaft 7, a direct connecting plate 9 is hinged between the middle part of the inner arm 3 and the positioning seat 1, the outer end of the inner arm 3 is hinged with the middle arm 4 by virtue of a second hinging shaft 10, the outer end of the middle arm 4 is hinged with the outer arm 5 by virtue of a third hinging shaft 11, the outer end of the outer arm 5 is connected with an operation tool 6, and transmission fit is formed between the supporting seat 8 and the middle arm 4 and the inner arm 3 and the outer arm 5 by virtue of chain wheels and chains.
When the position of the positioning seat 1 is fixed, the telescopic rod of the jacking mechanism 2 is extended, the supporting seat 8 moves downwards along the telescopic rod, the supporting seat 8 drives the inner end of the inner arm 3 to move downwards, the outer end of the inner arm 3 rotates upwards around the hinging shaft of the direct connection plate 9 and the inner arm 3, the outer end of the inner arm 3 drives the inner end of the middle arm 4 to rotate upwards, the outer end of the middle arm 4 rotates downwards under the action of a chain wheel and a chain and drives the inner end of the outer arm 5 to rotate downwards, the outer end of the outer arm 5 rotates upwards, and the distance among the inner arm 3, the middle arm 4 and the outer arm 5 is reduced and contracted; similarly, when the telescopic rod of the jacking mechanism 2 is contracted, the supporting seat 8 moves up along the telescopic rod, and the distances among the inner arm 3, the middle arm 4 and the outer arm 5 become larger and gradually extend.
When the small entrance enters the large working space, the working structure is in a contracted state, after the working structure enters the working space, the unfolding size of the working structure is adjusted according to actual needs, and then the working tool 6 is used for working. The device can enter the working space from a smaller inlet and can meet the use requirement of a large working space. And no longer need operating personnel to enter the working space for operation, the working efficiency can be improved, and adverse influence on the body of the operating personnel is avoided.
Claims (2)
1. The utility model provides a scalable operating mechanism, includes the operation structure, its characterized in that: the working mechanism further comprises a positioning seat (1) and a jacking mechanism (2) with the upper end fixed with the positioning seat (1) and the lower end being a free end, a group of working structures are arranged on the lower end face of the positioning seat (1) along the circumferential direction, each working structure comprises an inner arm (3), a middle arm (4) and an outer arm (5), the outer end of each outer arm (5) is connected with a working tool (6), the inner end of each inner arm (3) is hinged with a supporting seat (8) sleeved on a telescopic rod of the jacking mechanism (2) by means of a first hinge shaft (7), a straight connecting plate (9) is hinged between the middle part of each inner arm (3) and the positioning seat (1), a second hinge shaft (10) is hinged between each inner arm (3) and each middle arm (4) by means of a third hinge shaft (11), and a transmission fit is formed between each supporting seat (8) and each outer arm (5), and the inner arms (3) and each outer arm (5) have the telescopic degree of freedom by means of the jacking mechanism (2);
the support seat (8) and the middle arm (4) are in transmission fit by means of the fit of a first sprocket (14), a second sprocket (15) and a first chain (18), the first sprocket (14) and the first hinge shaft (7) are coaxially arranged, the second sprocket (15) and the second hinge shaft (10) are coaxially arranged, and the number of teeth of the first sprocket (14) fixedly connected to the support seat (8) is twice that of the second sprocket (15) fixedly connected to the middle arm (4);
the inner arm (3) and the outer arm (5) are matched with each other by means of a third sprocket (16), a fourth sprocket (17) and a second chain (19) to form transmission matching, the third sprocket (16) and the second hinge shaft (10) are coaxially arranged, the fourth sprocket (17) and the third hinge shaft (11) are coaxially arranged, and the number of teeth of the third sprocket (16) fixedly connected to the inner arm (3) and the number of teeth of the fourth sprocket (17) fixedly connected to the outer arm (5) are the same.
2. A telescopic working mechanism according to claim 1, wherein: two sides of each inner arm (3) are provided with a direct connecting plate (9), the upper ends of the two direct connecting plates (9) are hinged with the positioning seat (1) by means of a fourth hinge shaft (12), and the lower ends of the two direct connecting plates are hinged with the inner arms (3) by means of a fifth hinge shaft (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210271378.XA CN114619433B (en) | 2022-03-18 | 2022-03-18 | Telescopic operating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210271378.XA CN114619433B (en) | 2022-03-18 | 2022-03-18 | Telescopic operating mechanism |
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| Publication Number | Publication Date |
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| CN114619433A CN114619433A (en) | 2022-06-14 |
| CN114619433B true CN114619433B (en) | 2023-08-15 |
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| CN202210271378.XA Active CN114619433B (en) | 2022-03-18 | 2022-03-18 | Telescopic operating mechanism |
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| CN105773593A (en) * | 2016-05-17 | 2016-07-20 | 河南宇建科技股份有限公司 | Novel multifunctional manipulator for agriculture and forestry |
| CN106122714A (en) * | 2016-08-12 | 2016-11-16 | 广东百事泰电子商务股份有限公司 | Portable multifunctional can folding fixed supporting seat |
| CN107939423A (en) * | 2017-12-22 | 2018-04-20 | 长沙科达智能装备股份有限公司 | One kind is suitable for tunnel three step constructions trolley foldable arm rack |
| CN108401674A (en) * | 2018-05-30 | 2018-08-17 | 湖北第二师范学院 | Fruit picker is cut from the electronic fruit of trigger-type |
| CN109605339A (en) * | 2019-01-31 | 2019-04-12 | 苏州迈澜医疗科技有限公司 | Multiple freedom parallel mechanism |
| CN210011875U (en) * | 2019-03-29 | 2020-02-04 | 南京精微迅智能科技有限公司 | Foldable six-shaft multi-rotor flight body |
| CN111266304A (en) * | 2019-12-02 | 2020-06-12 | 唐山因泰智能科技发展有限公司 | Coal briquette identification, detection and sorting system |
| CN113500583A (en) * | 2021-07-06 | 2021-10-15 | 广州市新豪精密科技有限公司 | Three-degree-of-freedom parallel robot and calibration method thereof |
| CN114087506A (en) * | 2021-12-03 | 2022-02-25 | 张高兴 | A survey and drawing support that is used for surveying and drawing of soil to have location structure |
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