53results about How to "Big digging force" patented technology

Provided is a rotatable manipulation arm with a metamorphic function. The lower end of a first telescopic rod of the manipulation arm is connected to a working platform, and the upper end of the first telescopic rod is connected to a first sliding sleeve. A first rod is sleeved with the first sliding sleeve, the lower end of the first rod is connected to the working platform, and the upper end of the first rod is connected to one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a second telescopic rod is connected to a sliding block which is mounted in a sliding groove of the working platform, and the upper end of the second telescopic rod is connected to a second sliding sleeve. The second rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the working platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The rotatable manipulation arm has the advantages of being large in working space, high in digging force, good in stress and the like as a traditional hydraulic mechanism; meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is lowered.

The invention discloses a hybrid-driven controllable excavation mechanism which comprises a first excavation arm, a second excavation arm, a forward shovel type bucket and a frame, wherein the first excavation arm and the second excavation arm are respectively formed by the connection of a two-degree-of-freedom hybrid-driven controllable mechanism with the forward shovel type bucket through a complex hinge and a connecting rod. The first excavation arm and the second excavation arm are both arranged on the frame and subjected to hybrid-driving of two high-power conventional motors and two low-power servo motors, and therefore, the requirements for large excavating force and concurrently flexible track output can be met simultaneously. The hybrid-driven controllable excavation mechanism disclosed by the invention can solve the problems that the traditional single-degree-of-freedom mechanical excavation mechanism is simple in implementation action, the hydraulic excavation mechanism is probably subjected to oil leakage, etc. Besides, the whole excavation mechanism has the advantages of high excavation efficiency, low manufacturing cost and low processing and assembling requirements.

The invention discloses a controllable mechanism type industrial robot manipulator. The lower end of a first rod of the manipulator is connected to a work platform, the upper end of the first rod is connected to one end of a second rod, the other end of the second rod is connected to an actuator, the lower end of a first telescopic rod is connected to the work platform, the upper end of the first telescopic rod is connected to a first slide sleeve, the first slide sleeve is arranged on the first rod in a sleeving mode, the lower end of a second telescopic rod is connected to a slide block, the slide block is installed in a slide groove, the upper end of the second telescopic rod is connected to a third slide sleeve, the third slide sleeve is arranged on the second rod in a sleeving mode, one end of a third rod is connected to a second slide sleeve, the second slide sleeve is arranged on the second telescopic rod in a sleeving mode, the other end of the third rod is connected to the actuator, and the work platform is installed on a trolley. The controllable mechanism type industrial robot manipulator has the advantages of traditional hydraulic mechanisms with large work space is large, large digging force and good stressing performance, the number of driving rods and controllable motors is lowered, and the complexity of a machine frame drive system is lowered.

The invention relates to a multiple-degree-of-freedom industrial robot manipulator. A lower end of a first rod of the manipulator is connected to a working platform, while an upper end of the first rod is connected with one end of a second rod; the other end of the second rod is connected to an actuator; a lower end of a first expansion link is connected to a slider that is mounted in a sliding groove; an upper end of the first expansion rod is connected to a first sliding sleeve; the first sliding sleeve sleeves the first rod; a lower end of a second expansion link is connected to the working platform, while an upper end of the second expansion link is connected to a third sliding sleeve; the third sliding sleeve sleeves the second rod; one end of a third rod is connected to a second sliding sleeve that sleeves the second expansion link, while the other end of the third rod is connected to the actuator; the working platform is mounted on a trolley. The multiple-degree-of-freedom industrial robot manipulator has the advantages of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism, and furthermore, the number of active rods and controllable motors is further reduced, and the complexity of a frame transmission system is reduced.

The invention discloses a multi-freedom-degree industrial machine operation arm mechanism. The lower end of a first rod of the mechanism is connected to a work platform. The upper end of the first rod is connected to a first sliding sleeve. A second rod is sleeved with the first sliding sleeve. One end of the second rod is connected to an actuator. The other end of the second rod is connected with the upper end of a first telescopic rod. The lower end of the first telescopic rod is connected to a sliding block. The sliding block is installed in a sliding groove in the work platform. The lower end of a second telescopic rod is connected to the work platform. The upper end of the second telescopic rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is also connected with the first telescopic rod and the second rod at the same time. The multi-freedom-degree industrial machine operation arm mechanism has the beneficial effects of being large in working space and excavating force, good in stress and the like, meanwhile, the number of drive rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.

The present invention discloses a kind of sleeve counter shoveling and excavating manipulator and its application in shield machine and push bench. The present invention on structure mainly replaces the connecting rod organ in traditional excavator with gearing hydraulic pressure. It's comprised of support of rotation, extension sleeve, bucket device, moveable arm cylinder, shakeable pole cylinder, bucket cylinder and turning cylinder. The movement of its excavating device is also mainly drove by the extension of cylinder, therefore the said sleeve counter shoveling and excavating manipulator is provided with the advantages as occupying small space, high structure intensity and rigidity, and strong excavating force. Besides the renewable percussive drill makes the present invention have staving function, which can adopt more soil textures of excavation. The present invention provides more suitable excavating mechanism for shield and push excavator in tunnel construction, so it makes the excavator be able to adapt various soil layer, reduce workers' work intensity, and improve the constructing efficiency.

The invention relates to an industrial robot manipulator capable of achieving multi-angle working. The lower end of a first stretching rod of the manipulator is connected to a sliding block, the sliding block is installed in a sliding groove of a working platform, the upper end of the first stretching rod is connected with one end of a second rod, and the other end of the second rod is connected to an actuator; the lower end of a first rod is connected to the working platform, the upper end of the first rod is connected to a third sliding sleeve, and the second rod is sleeved with the third sliding sleeve; and the lower end of a second stretching rod is connected to the working platform, the upper end of the second stretching rod is connected to a first sliding sleeve, and the first rod is sleeved with the first sliding sleeve; and one end of a third rod is connected to the third sliding sleeve, the other end of the third rod is connected to the actuator, and the working platform is installed on a trolley. According to the industrial robot manipulator, the beneficial effects of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism are achieved; and meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is reduced.

The invention discloses a controllable mechanism type movable mechanical arm. The lower end of a first rod of the mechanical arm is connected to a work platform. The upper end of the first rod is connected with one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a first telescopic rod is connected to the work platform. The upper end of the first telescopic rod is connected to a first sliding sleeve. The second rod is sleeved with the first sliding sleeve. The lower end of a third rod is connected to a sliding block which is installed in a sliding groove in the work platform. The upper end of the third rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a second telescopic rod is connected to the second corner of the triangular connecting plate. The other end of the second telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The controllable mechanism type movable mechanical arm has the beneficial effects of large working space, large excavating force, good stress and the like of a traditional hydraulic mechanism, meanwhile, the number of driving rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.

The invention discloses a mechanical arm working at multiple angles. The lower end of a first rod of the mechanical arm is connected to a work platform through a first rotation pair; the upper end of the first rod is connected with one end of a second rod through a second rotation pair; the other end of the second rod is connected to an executor through a third rotation pair; the lower end of a telescopic rod is connected to the work platform through a fourth rotation pair; the upper end of the telescopic rod is connected to a second slide sleeve through a fifth rotation pair; the second rod is sleeved with the second slide sleeve; the lower end of a third rod is connected to a slider through a sixth rotation pair; the slider is installed in a slide groove of the work platform; the upper end of the third rod is connected to a first slide sleeve through a rotating pair; the first rod is sleeved with the first slide sleeve; and the work platform is installed on a trolley through an eighth rotation pair. The number of driving rods and controllable motors is reduced while the mechanical arm working at multiple angles has the beneficial effects that a traditional hydraulic machine mechanism is large in work space and excavating force, good in stress and the like, and the complexity of a machine frame transmission system is reduced.

The invention discloses a multifunctional integrated type mechanical arm for a planet exploration vehicle. The mechanical arm is provided with four rotational joints; and a three-dimensional camera with a two-dimensional rotary table is arranged at an elbow joint of the mechanical arm. By a triangle stability principle, the mechanical arm and a locking device form a triangular stable structure, and the mechanical arm and a mast for lifting the three-dimensional camera are combined into a whole, so that the mast for lifting the three-dimensional camera is eliminated, a mechanism is simplified,the weight is reduced, electric energy consumption required by the mast is eliminated, and the energy efficiency of a Mars exploration vehicle is greatly improved.

The invention discloses a controllable excavating mechanism which comprises a rack, a control branch chain, a lifting branched chain, an overturn branch chain and a scraper bucket, wherein the control branch chain comprises a first driving rod and a movable arm; one end of the first driving rod is articulated with the rack, and one end of the movable arm is articulated with the other end of the first driving rod; the lifting branch chain comprises a second driving rod, a second connecting rod and a third connecting rod, a lifting rod, one end of the second driving rod is articulated with the rack, one end of the second connecting rod is articulated with the other end of the second driving rod, one end of the third driving rod is articulated with the middle of the second connecting rod, one end of the lifting rod is articulated with the other end of the third connecting rod, the other end of the second connecting rod is articulated with the middle of the movable arm, and the other end of the movable arm is articulated with the middle of the lifting rod; the overturn branch chain comprises a third driving rod and an overturn rod, one end of the third driving rod is articulated with the rack, and one end of the overturn rod is articulated with the other end of the third driving rod; the upper part of the scraper bucket is articulated with the other end of the lifting rod, and the lower part of the scraper bucket is articulated with the other end of the overturn rod. The excavating machine is relatively flexible, and can be used for avoiding the defects of high accuracy, oil leakage and the like of a hydraulic element.

The invention provides an excavator which inhibits floation and has high excavation force. An upper revolving body can be revolvably supported on the lower travel body. A revolve driving apparatus enable the upper revolving body to revolve relative to the lower travel body. The upper revolving body is provided with accessory which revolves along with the upper revolving body. If work conditions are satisfied, a control apparatus drives the revolve driving apparatus to work, so that the upper revolving body is revolved to the direction causing floation of the lower travel body due to excavation reactive force applied on an acting point of the accessory.

The invention discloses a new type integrated small arm rock breaking tool, which includes a large arm, a small arm, a tooth seat and a middle arm oil cylinder. The structure makes the forearm an integral excavating body without the obstruction of various structural parts of traditional rippers, so that the digging depth is deeper and the maintenance cost is greatly reduced.

The invention discloses a controllable mechanism type transfer robot arm. The lower end of a first telescopic rod of the robot arm is connected to a working platform. The upper end of the first telescopic rod is connected with one end of a first rod. The other end of the first rod is connected to an actuator. The lower end of a second rod is connected to the working platform. The upper end of the second rod is connected to a first sliding sleeve. The first telescopic rod is sleeved with the first sliding sleeve. The lower end of a second telescopic rod is connected to a sliding block. The sliding block is installed in a sliding groove in the working platform. The upper end of the second telescopic rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. The lower end of a third rod is connected to the working platform. The upper end of the third rod is connected to a first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the actuator. The other end of the third telescopic rod is connected to a second corner of the triangular connecting plate. A third corner of the triangular connecting plate is connected with the first telescopic rod and the first rod at the same time. The controllable mechanism type transfer robot arm has the advantages of a traditional hydraulic mechanism that the working space is large, the digging force is large and the stress is good; meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a machine frame transmission system is lowered.

The invention discloses a giant undersea salvage grab bucket. The grab bucket comprises a grab bucket body, a grab bucket central beam, a grab bucket head part, grab bucket balance beams, a pulley block system, steel wire ropes and bearer cables, wherein the pulley block system improves the excavating force of the grab bucket by providing a magnifying power through wound steel wire ropes; and besides, high-intensity bucket teeth are arranged on the grab bucket body, so when the grab bucket is used for salvaging a sunken ship, the grab bucket body can dive to a sea floor in hundred meters, tear steel plates of the sunken ship by using a giant excavating force and then grab the sunken ship and salvage the sunken ship up. The giant undersea salvage grab bucket not only has basic functions of the conventional grab bucket, comprising a basic function of grabbing wares, but also has super high hoisting capacity and 500-ton grabbing capacity, and is particularly suitable for undersea sunken ship salvage. As the grab bucket has great excavating capacity and can tear steel plates of sunken ships, the efficiency of marine sunken ship salvage is greatly improved and the economic benefit of grab buckets is improved.

Provided is a multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm. The lower end of a first telescopic rod of the mechanical arm is connected to a working platform; the upper end of the first telescopic rod is connected with one end of a first rod; the other end of the first rod is connected to an actuator; the lower end of a second rod is connected to a sliding block; the sliding block is installed in a sliding groove in the working platform; the upper end of the second rod is connected to a first sliding sleeve; the first telescopic rod is sleeved with the first sliding sleeve; the lower end of a second telescopic rod is connected to the working platform; the upper end of the second telescopic rod is connected to a second sliding sleeve; the first rod is sleeved with the second sliding sleeve; the lower end of a third rod is connected to the working platform; the upper end of the third rod is connected to the first corner of a triangular connection board; one end of a third telescopic rod is connected to the actuator; the other end of the third telescopic rod is connected to the second corner of the triangular connection board; the third corner of the triangular connection board is connected with the first telescopic rod and the first rod. The multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm has the advantages of large working space, large digging force and good stress of a traditional hydraulic press mechanism, reduces the number of driving rods and controllable motors, and reduces complexity of a rack transmission system.

The invention provides a bucket rod device, a control method thereof and an excavator, and belongs to the technical field of the excavator. The bucket rod device comprises a movable arm, wherein a first connection point, located at the connecting end of a bucket rod, of the movable arm is rotationally connected with the bucket rod, a connecting rod is rotationally connected to the movable arm andcomprises a first rotating arm and a second rotating arm which are extended outwards from the connected position, an included angle of the first rotating arm and the second rotating arm is fixed, theend part of the first rotating arm is rotationally connected to a cylinder barrel of a bucket arm cylinder, a second connection point of the connecting end of the bucket rod is rotationally connectedwith a movable rod of the bucket arm cylinder, an auxiliary oil cylinder is arranged on the movable arm, a cylinder barrel of the auxiliary oil cylinder is rotationally connected with the movable arm,and a movable rod of the auxiliary oil cylinder is rotationally connected with the end part of the second rotating arm; displacement sensors are arranged on the bucket arm cylinder and the auxiliaryoil cylinder respectively, and an angle sensor is arranged at the second connection point; and bucket rod device further comprises a controller electrically connected with the displacement sensors, the angle sensor and the auxiliary oil cylinder respectively. According to the invention, the bucket rod can keep the maximum digging force for a long time.

Provided is a connection rod type stacking arm capable of working at multiple angles. The lower end of a first telescopic rod of the stacking arm is connected to a sliding block, the sliding block is installed in a sliding groove in a working platform, and the upper end of the first telescopic rod is connected with one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a first rod is connected to the working platform, and the upper end of the first rod is connected to a third sliding sleeve. The second rod is sleeved with the third sliding sleeve. One end of a third rod is connected to the working platform, and the other end of the third rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a second telescopic rod is connected to a first sliding sleeve, the first telescopic rod is sleeved with the first sliding sleeve, the other end of the second telescopic rod is connected to the actuator through a rotary pair, and the working platform is installed on a trolley. While the connection rod type stacking arm capable of working at multiple angles has the advantages of a large working space, large digging force, good stress and the like of a traditional hydraulic press mechanism, the number of driving rods and controllable motors is reduced, and complexity of a rack transmission system is reduced.

The invention provides a shield excavating device and a shield machine. The shield excavating device comprises a base, a slewing bearing, a slewing driving device, a movable arm cylinder, a movable-arm cylinder and a bucket. A fixed ring of the slewing bearing is fixed on the base, the tail of the movable arm is hinged to a movable ring of the slewing bearing, one end of the slewing driving device is connected onto the base, the other end of the slewing driving device is connected to the movable ring, one end of the movable-arm cylinder is hinged to the movable ring, the other end of the movable-arm cylinder is hinged to the movable arm, and the bucket is hinged to the front end of the movable arm. Since the shield excavating device adopts the slewing bearing instead of an existing turning bearing with a sleeve structure and the slewing bearing is compact in structure and shorter, the excavating device of the shield machine can be downsized; the slewing bearing has the advantages of being able to bear larger axial and radial loads, thereby being able to bear larger excavating force.

The invention discloses an excavator bucket capable of swinging through gear drive and hydraulically enhancing digging force. The excavator bucket comprises an excavator bucket body, an upper fixing plate, a translation rack and a semicircular gear, wherein the semicircular gear is fixedly arranged on a gear center shaft, the translation rack is meshed with the semicircular gear, and a set of first hydraulic oil cylinders are arranged at the two ends of the translation rack; a lower connecting piece is connected to the front side of the upper end of the excavator bucket body, an upper connecting piece is fixed to the front side of the lower end of the upper fixing plate, the lower connecting piece is fixedly connected to the gear center shaft, and the gear center shaft penetrates through the upper connecting piece and can rotate relative to the upper connecting piece; and the semicircular gear can be driven by the translation rack to rotate together with the gear center shaft, and meanwhile, the excavator bucket body is driven to swing. The excavator bucket can swing and can be used in more complex working conditions in actual production; the digging force is enhanced to facilitatethe development of excavation work, and the excavation efficiency is improved; and the service life of the excavator bucket can be prolonged through the optimized design of bucket teeth and a blade plate structure, and the cost is saved.

The invention discloses a three-pump confluence multi-way valve block and a hydraulic excavator. The three-pump confluence multi-way valve block comprises an intermediate control joint, a left executing joint and a right executing joint, wherein the left executing joint comprises a left walking control valve, a backup control valve, a bucket control valve, a second control valve of a bucket rod, and a first control valve of a movable arm, which sequentially communicate; the right executing joint comprises a right walking control valve, a rotation control valve, a second control valve of the movable arm, and a first control valve of the bucket rod, which sequentially communicate; the intermediate control joint comprises a linear walking control valve, a first confluence valve and a second confluence valve, two main oil inlets which are separately connected with a main oil pump are formed, auxiliary oil inlets are separately formed in the left executing joint and the right executing joint, and the two auxiliary oil inlets are jointly connected with an auxiliary oil pump. According to the technical scheme adopted by the invention, when flow provided by the two main oil inlets is not sufficient to maintain coordinating motion between executing mechanisms, the auxiliary pump can be opened, oil is supplied to the movable arm through the auxiliary oil inlets, and hydraulic oil provided by the main oil pump can sufficiently coordinate the motion of the remaining executing mechanisms.

The invention relates to a hybrid drive controllable parallel-connection excavation mechanism. The hybrid drive controllable parallel-connection excavation mechanism comprises an excavation arm, a forward shoveling type bucket and a machine frame, wherein the excavation arm is a three-degree-of-freedom hybrid drive controllable mechanism and is formed by connecting a composite hinge, a connecting rod and the forward shoveling type bucket. The excavation arm is installed on the machine frame and driven by a large-power normal-speed motor and two small-power servo motors in a hybrid mode, and large excavation force and certain output flexibility can be realized. The hybrid drive controllable parallel-connection excavation mechanism not only resolves the problems that a traditional single-degree-of-freedom mechanical excavation mechanism is simple in realization movement, and a hydraulic excavation mechanism is prone to oil leakage, but also resolves the problem that an existing two-degree-of-freedom hybrid drive excavation mechanism needs two normal-speed motors, eliminates one normal-speed motor, has a certain energy-saving effect and is low in manufacturing cost and high in excavation efficiency.

The invention discloses a multi-freedom-degree industrial machine operation arm mechanism. The lower end of a first rod of the mechanism is connected to a work platform. The upper end of the first rod is connected to a first sliding sleeve. A second rod is sleeved with the first sliding sleeve. One end of the second rod is connected to an actuator. The other end of the second rod is connected with the upper end of a first telescopic rod. The lower end of the first telescopic rod is connected to a sliding block. The sliding block is installed in a sliding groove in the work platform. The lower end of a second telescopic rod is connected to the work platform. The upper end of the second telescopic rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is also connected with the first telescopic rod and the second rod at the same time. The multi-freedom-degree industrial machine operation arm mechanism has the beneficial effects of being large in working space and excavating force, good in stress and the like, meanwhile, the number of drive rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.

The invention discloses a parasitic mechanism type space-controllable excavating mechanism. A power rolling wheel of a three-dimensional rotation arm mechanism of the excavating mechanism rolls on thewhole semi-spherical surface of the interior of a base, so that a rotation arm ball rod achieves spatial rotation through a rotation arm ball body, and accordingly, a bucket rod and a bucket are driven to achieve spatial rotation. A parasitic mechanism part dives a crank to rotate through rotating of a first motor, so that a second motor frame plate connected with a seven connection rod does reciprocating motion along the rotation arm ball rod, and accordingly, a first spring and a second spring are driven to do reciprocating motion along the rotation arm ball rod; the bucket rod is rotated up and down through a middle connection rod, a second motor and a third motor drives the first spring and the second spring to rotate in the reverse direction through a reduction gear; and the bucket rod is rotated leftwards and rightwards through the middle connection rod, and the working space of the bucket is increased. A host mechanism and a parasitic mechanism can separately control or cooperatively control motion of the bucket, so that motion of the bucket is more stable, the situation that one of the control mechanisms breaks down, and operating is stopped is avoided, in addition, the excavating force is large, and the stress effect is good.

The invention relates to a medium-sized excavator electric control multi-way valve which comprises a right valve body, a left valve body, a first main oil way and a second main oil way, and valve element assemblies contained in the right valve body are an unloading unit, a left walking unit, a rotation unit, a movable arm regeneration unit, a bucket rod regeneration unit and a standby unit in sequence. The left valve body comprises valve core components which are a linear walking link, a right walking link, a movable arm link, a bucket link, a bucket rod regeneration link and an unloading link in sequence; the first main oil way and the second main oil way are connected with the oil port P1 and the oil port P2 respectively. Compared with the prior art, an integral structure is adopted, the structure is compact, and different requirements of excavating execution mechanisms for flow pressure are met.

An industrial robot operator working from multiple angles. The lower end of the telescopic rod of the operator is connected to the slider, and the slider is installed in the chute on the working platform. Connected to the actuator, the lower end of the rod is connected to the working platform, the upper end of rod one is connected to the sliding sleeve three, the third sliding sleeve is set on the second rod, the lower end of the telescopic rod two is connected to the working platform, and the upper end of the telescopic rod two is connected to the Sliding sleeve one is put on, the sliding sleeve is set on rod one, one end of rod three is connected on sliding sleeve two, the other end of rod three is connected on the actuator, and the working platform is installed on the trolley. The invention not only has the advantages of large working space, large digging force and good force bearing of the traditional hydraulic press mechanism, but also reduces the number of active rods and controllable motors, and reduces the complexity of the frame transmission system.

Provided is a rotatable manipulation arm with a metamorphic function. The lower end of a first telescopic rod of the manipulation arm is connected to a working platform, and the upper end of the first telescopic rod is connected to a first sliding sleeve. A first rod is sleeved with the first sliding sleeve, the lower end of the first rod is connected to the working platform, and the upper end of the first rod is connected to one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a second telescopic rod is connected to a sliding block which is mounted in a sliding groove of the working platform, and the upper end of the second telescopic rod is connected to a second sliding sleeve. The second rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the working platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The rotatable manipulation arm has the advantages of being large in working space, high in digging force, good in stress and the like as a traditional hydraulic mechanism; meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is lowered.

Provided is a six-rod and twelve-pair excavating mechanism working at many angles. The lower end of a first rod of the mechanism is connected to a working platform and the upper end of the first rod is connected to a first sliding sleeve. A second rod is sleeved with the first sliding sleeve, one end of the second rod is connected to an actuator, and the other end of the second rod is connected with the upper end of a first telescopic rod. The lower end of the first telescopic rod is connected to a sliding block installed in a sliding groove in the working platform. The lower end of a second telescopic rod is connected to the working platform, and the upper end of the second telescopic rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. The lower end of a third rod is connected to the working platform, and the other end of the third rod is connected with the first corner of a triangular connection board. One end of a third telescopic rod is connected to the second corner of the triangular connection board, the other end of the third telescopic rod is connected to the actuator, and the third corner of the triangular connection board is connected with the first telescopic rod and the second rod. The six-rod and twelve-pair excavating mechanism working at many angles has the advantages of large working space, high digging force and good stress of a traditional hydraulic press mechanism, reduces the number of driving rods and controllable motors, and reduces complexity of a rack transmission system.

The invention discloses a multi-head gripper for a full-sleeve full-rotation drill and belongs to engineering machinery. The multi-head gripper comprises a steel wire rope connector, a rotary connecting component, a core shaft, a connecting sleeve, an upper connecting device, a lower connecting device, brake shoe components and a parallelogram four-connecting rod structure for connecting the lower connecting device and the brake shoe components. The lower end of the steel wire rope connector is connected with the connecting sleeve through the rotary connecting component; and the connecting sleeve is sleeved on an outer sleeve and is fixed with the outer sleeve through a pin shaft III. The upper connecting device is fixed on the outer sleeve; and the lower end of the connecting sleeve is connected with the lower connecting sleeve. The number of the brake shoe components is three groups; the upper ends of the brake shoe components are connected with the upper connecting device through driving rods, and the middle lower parts of the brake shoe components are connected with the lower connecting device through the parallelogram four-connecting rod structure; a flange plate is arranged at the lower end of the lower connecting device; and an auger is installed on the flange plate. During the work, arc-shaped plates on the brake shoe components are tightly attached with the sleeve of the drill to obtain the power.