CN106759570A - A kind of servomotor drives has variable active degree linkage - Google Patents
A kind of servomotor drives has variable active degree linkage Download PDFInfo
- Publication number
- CN106759570A CN106759570A CN201611079618.7A CN201611079618A CN106759570A CN 106759570 A CN106759570 A CN 106759570A CN 201611079618 A CN201611079618 A CN 201611079618A CN 106759570 A CN106759570 A CN 106759570A
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- China
- Prior art keywords
- connecting rod
- large arm
- rotates
- driving lever
- locking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 230000003028 elevating effect Effects 0.000 claims abstract description 6
- 210000000245 forearm Anatomy 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 240000000111 Saccharum officinarum Species 0.000 description 7
- 235000007201 Saccharum officinarum Nutrition 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
Being driven the invention discloses a kind of servomotor has variable active degree linkage, including base, large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism and wrist, paw, servo drive, two locking devices.The large arm telescoping mechanism includes first connecting rod, second connecting rod and third connecting rod, described first connecting rod one end rotates pair and is connected with base by first, the other end of first connecting rod rotates pair and is connected with third connecting rod one end by the 3rd, and the other end of third connecting rod rotates pair and is connected with second connecting rod by the 4th；Second connecting rod one end rotates pair and is connected with base by second, and the second connecting rod other end rotates pair and is connected with large arm by the 5th；The locking device is arranged on and rotates in pair, the present invention substitutes conventional hydraulic transmission using jointed gear unit, the shortcomings of complicated hydraulic pressure cane catching machine hydraulic system, easy oil leakage is can solve the problem that, has been to be capable of achieving Three Degree Of Freedom operation using two driving levers due to using locking device on pair is rotated.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor drives has variable active degree linkage.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes cane catching machine in sugarcane
Extensive use in harvesting processing operation.Cane catching machine has mechanical and fluid pressure type two types, and the mechanical arm of current cane catching machine is big
Majority is hydraulic-driven, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：Its startability
It is poor, easily because producing leakage, and the hydraulic oil of leakage to pollute the environment after inner member abrasion, influence sugarcane raw material
Quality；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, powerless in work
Etc. phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance requires skill in use
Art is higher, and difficulty is larger.With the increase of cane catching machine function, its hydraulic system becomes increasingly complex, and breaks down with more unexpected
Property, disguise.Mechanical cane catching machine is to realize that grabbing sugarcane acts using mechanical transmissioning piece, have the advantages that it is sturdy and durable, but pass
The mechanical cane catching machine of single-degree-of-freedom of system can not complete the action of complexity, and range of application is extremely limited, mechanical controllable mechanism electricity
Dynamic cane catching machine, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor, easily realizes automation, number
Controlization is controlled, and solves some shortcomings of hydraulic system presence, but there is needs outfit and linkage free degree equivalent amount
Controlled motor be controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to cane catching machine.
The content of the invention
Being driven it is an object of the invention to provide a kind of servomotor for being applied to cane catching machine has variable active degree connecting rod
Mechanism, overcomes the shortcomings of fluid pressure type cane catching machine hydraulic system element required precision high, complex structure, easy oil leakage, overcomes open chain knot
The motor of structure is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is less than cane catching machine connecting rod
The free degree of mechanism, overcomes the electronic cane catching machine structure of existing machinery formula to need to be equipped with the control with linkage free degree equivalent amount
Motor simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost.For
Above-mentioned purpose is realized, being driven the invention provides a kind of servomotor has variable active degree linkage, including it is base 1, big
Arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, servo drive, the first locking device 7 and the second locking device
29；The large arm telescoping mechanism include first connecting rod 27, second connecting rod 23 and third connecting rod 24, the one end of the first connecting rod 27 with
Base 1 rotates secondary 28 and connects by first, and the other end and the one end of third connecting rod 24 of first connecting rod 27 rotate secondary 26 by the 3rd
Connection, the other end of third connecting rod 24 rotates secondary 25 and is connected with second connecting rod 23 by the 4th；The one end of second connecting rod 23 and base 1
Secondary 22 are rotated by second to connect, the other end of second connecting rod 23 rotates secondary 9 and is connected with large arm 8 by the 5th；The elevating mechanism
Including forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, first driving lever 20 and base 1 are by the
Eighth-turn dynamic secondary 21 is connected, and the other end of the first driving lever 20 rotates secondary 19 and is connected with the one end of the 5th connecting rod 18 by the 9th, and the 5th
The other end of connecting rod 18 rotates secondary 15 and is connected with the one end of forearm 14 by the tenth, and the other end and the wrist connecting rod 12 of forearm 14 pass through
14th rotates secondary 13 connects, and one end of six-bar linkage 16 rotates secondary 17 and is connected with forearm 14 by the 15th, six-bar linkage 16
The other end and large arm 8 rotate secondary 10 by the 16th and be connected；The wrist connecting rod luffing mechanism includes the second driving lever 3, the
Double leval jib 5, large arm 8 and wrist connecting rod 12, second driving lever 3 and base 1 rotate secondary 2 and are connected by the 11st, and described the
The other end of two driving levers 3 and the one end of fourth link 5 rotate secondary 4 and be connecteds by the 12nd, the other end of fourth link 5 and large arm 8
One end rotates secondary 6 and connects by the 6th, and the other end of large arm 8 rotates secondary 11 and is connected with wrist connecting rod 12 by the 13rd；First
The locking device 29 of locking device 7 and second is separately mounted to the 6th rotation secondary 6 and the 4th and rotates at secondary 25, can be according to different
Operating mode is locked in good time；Servo drive includes the first servomotor, the second servomotor, respectively with the first driving lever 20
Connect to drive it to rotate with the second driving lever 3；First locking device 7 and the second locking device 29 are carried out using electromagnetic mode
Locking.
When there is variable active degree linkage to be applied to grab sugarcane operation a kind of servomotor driving of the present invention, only need
Base 1 is coupled together with rubber-tyred or crawler type walking mechanism, wrist connecting rod 12 is coupled together i.e. with wrist 31, paw 32
Can.
The present invention uses controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without accumulated error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and the free degree of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the free degree of the quantity less than cane catching machine linkage of the controllable drive motor for using, profit
It is to be capable of achieving Three Degree Of Freedom to grab sugarcane operation with two driving levers, overcomes existing cane catching machine to need outfit equal with the linkage free degree
The controlled motor of quantity simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body come the shortcoming being controlled
Product and cost, increased the controllability and stability of mechanism, improve operating efficiency.Also overcome fluid pressure type cane catching machine liquid simultaneously
Press system element required precision high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 has variable active degree linkage schematic diagram for a kind of servomotor of the present invention drives.
Specific embodiment
A kind of servomotor drives has variable active degree linkage, including base 1, large arm telescoping mechanism, lift
Structure, wrist connecting rod luffing mechanism, servo drive, the first locking device 7 and the second locking device 29；The base 1 is installed
On removable revolving dial；The large arm telescoping mechanism includes first connecting rod 27, second connecting rod 23 and third connecting rod 24, institute
State the one end of first connecting rod 27 to be connected by the first rotation secondary 28 with base 1, the other end and the third connecting rod 24 1 of first connecting rod 27
End rotates secondary 26 and connects by the 3rd, and the other end of third connecting rod 24 rotates secondary 25 and is connected with second connecting rod 23 by the 4th；The
The one end of two connecting rod 23 rotates secondary 22 and is connected with base 1 by second, and the other end of second connecting rod 23 rotates secondary with large arm 8 by the 5th
9 connections；The elevating mechanism includes forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, first master
Lever 20 and base 1 be connecteds by eighth-turn dynamic secondary 21, and the other end of the first driving lever 20 and the one end of the 5th connecting rod 18 pass through the
Nine rotate secondary 19 connects, and the other end of the 5th connecting rod 18 rotates pair 15 and is connected with the one end of forearm 14 by the tenth, forearm 14 it is another
One end rotates secondary 13 and is connected with wrist connecting rod 12 by the 14th, and one end and the forearm 14 of six-bar linkage 16 are rotated by the 15th
Secondary 17 connect, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；The wrist connecting rod luffing mechanism
Including the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3 passes through the 11st with base 1
Rotate secondary 2 to connect, the other end of second driving lever 3 rotates secondary 4 and is connected with the one end of fourth link 5 by the 12nd, the 4th
The other end of connecting rod 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, and the other end and the wrist connecting rod 12 of large arm 8 pass through the 13rd
Secondary 11 are rotated to connect；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation secondary 6 and the 4th and rotate secondary 25
Place, can in good time be locked according to different operating modes；Servo drive includes the first servomotor, the second servomotor,
It is connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First locking device 7 and the second locking device
29 are locked using electromagnetic mode.
When there is variable active degree linkage to be applied to grab sugarcane operation a kind of servomotor driving of the present invention,
Only need to couple together base 1 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 12 has been connected with wrist 31, paw 32
Come.
A kind of servomotor of the present invention drives has variable active degree linkage in operating mode operation, and large arm 8 is stretched
During contracting, the first locking device 7 of the 6th rotation vice division chief 6 is opened, and the 6th rotates secondary 6 degree of gaining freedom, and the 4th rotates at secondary 25
Second locking device 29 is locked, and the 4th rotates secondary 25 loses the free degree, and now, large arm 8 is realized flexible.6th rotates vice division chief 6
First locking device 7 is locked, and the 6th rotates secondary 6 loses the free degree, and the 4th the second locking device 29 for rotating at secondary 25 is opened, the
Four rotate secondary 25 degree of gaining freedom, and now, large arm 8 realizes lifting.The rotation secondary 25 of pair 6 and the 4th is rotated to the 6th all to lock
Tightly, the 6th rotation secondary 6 and the 4th rotation secondary 25 loses the free degree, and wrist connecting rod 12 is implemented separately pitching.First locking device 7
With the second locking device 29 according to different working conditions, tight lock is selected respectively or is opened, it is common complete large arm lifting and it is flexible,
The motion such as pitching of wrist connecting rod 12 and wrist 31, that realizes paw 32 grabs sugarcane operation.First locking device 7 and the second locking dress
Put 29 to be locked using electromagnetic mode, control is easily realized.
The invention enables the free degree of the quantity less than cane catching machine linkage of controllable drive motor, existing cane catching machine is overcome
The shortcoming for needing to be equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies the complicated journey of structure
Each connecting rod rod member can be made lighter bar by degree, the weight of reducing mechanism, movement inertia, volume and cost, the present invention, so that
Whole mechanism kinematic inertia is small, and dynamic performance is good, it is easy to control.
Claims (1)
1. a kind of servomotor drives has variable active degree linkage, it is characterised in that including：Base 1, large arm telescopic machine
Structure, elevating mechanism, wrist connecting rod luffing mechanism, servo drive, the first locking device 7 and the second locking device 29；It is described
Base 1 is arranged on removable revolving dial；The large arm telescoping mechanism includes that first connecting rod 27, second connecting rod 23 and the 3rd connect
Bar 24, one end of the first connecting rod 27 rotates secondary 28 and is connected with base 1 by first, and the other end of first connecting rod 27 and the 3rd connects
The one end of bar 24 rotates secondary 26 and connects by the 3rd, and the other end of third connecting rod 24 rotates secondary 25 and connects with second connecting rod 23 by the 4th
Connect；The one end of second connecting rod 23 rotates secondary 22 and is connected with base 1 by second, and the other end of second connecting rod 23 passes through the 5th with large arm 8
Secondary 9 are rotated to connect；The elevating mechanism includes forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, described
First driving lever 20 and base 1 are connected by eighth-turn dynamic secondary 21, the other end of the first driving lever 20 and the one end of the 5th connecting rod 18
Secondary 19 are rotated by the 9th to connect, the other end of the 5th connecting rod 18 rotates secondary 15 and is connected with the one end of forearm 14 by the tenth, forearm
14 other end rotates secondary 13 and is connected with wrist connecting rod 12 by the 14th, and one end and the forearm 14 of six-bar linkage 16 pass through the tenth
Five rotate secondary 17 connects, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；The wrist connecting rod is bowed
Facing upward mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, and second driving lever 3 passes through with base 1
11st rotates secondary 2 connects, and the other end of second driving lever 3 rotates secondary 4 and connects with the one end of fourth link 5 by the 12nd
Connect, the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, the other end and the wrist connecting rod 12 of large arm 8 lead to
The 13rd rotation secondary 11 is crossed to connect；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation secondary 6 and the 4th
Rotate at secondary 25, can in good time be locked according to different operating modes；Servo drive includes that the first servomotor, second are watched
Motor is taken, is connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First locking device 7 and the second lock
Tight device 29 is locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079618.7A CN106759570A (en) | 2016-11-30 | 2016-11-30 | A kind of servomotor drives has variable active degree linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079618.7A CN106759570A (en) | 2016-11-30 | 2016-11-30 | A kind of servomotor drives has variable active degree linkage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106759570A true CN106759570A (en) | 2017-05-31 |
Family
ID=58901180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611079618.7A Pending CN106759570A (en) | 2016-11-30 | 2016-11-30 | A kind of servomotor drives has variable active degree linkage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106759570A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08226128A (en) * | 1995-02-22 | 1996-09-03 | Okada Aiyon Kk | Stone gripper and stone masonry method |
| JP3718111B2 (en) * | 2000-07-06 | 2005-11-16 | 日立建機株式会社 | Work machine |
| US20130055658A1 (en) * | 2011-09-07 | 2013-03-07 | Johannes STEINDL | Telescopic crane arm |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
| CN106607914A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm used for assembling work |
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
| CN106607652A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo motor driving connection rod type variable degree of freedom welding mechanical arm |
| CN106625645A (en) * | 2016-11-29 | 2017-05-10 | 广西大学 | Servo-motor-drive connecting-rod type variable-degree-of-freedom painting operation mechanical arm |
-
2016
- 2016-11-30 CN CN201611079618.7A patent/CN106759570A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08226128A (en) * | 1995-02-22 | 1996-09-03 | Okada Aiyon Kk | Stone gripper and stone masonry method |
| JP3718111B2 (en) * | 2000-07-06 | 2005-11-16 | 日立建機株式会社 | Work machine |
| US20130055658A1 (en) * | 2011-09-07 | 2013-03-07 | Johannes STEINDL | Telescopic crane arm |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
| CN106607914A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm used for assembling work |
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
| CN106607652A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo motor driving connection rod type variable degree of freedom welding mechanical arm |
| CN106625645A (en) * | 2016-11-29 | 2017-05-10 | 广西大学 | Servo-motor-drive connecting-rod type variable-degree-of-freedom painting operation mechanical arm |
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Application publication date: 20170531 |
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