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CN202921560U - Three degree-of-freedom parallel mechanism tea sifting and grading machine - Google Patents

Three degree-of-freedom parallel mechanism tea sifting and grading machine Download PDF

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Publication number
CN202921560U
CN202921560U CN 201220287965 CN201220287965U CN202921560U CN 202921560 U CN202921560 U CN 202921560U CN 201220287965 CN201220287965 CN 201220287965 CN 201220287965 U CN201220287965 U CN 201220287965U CN 202921560 U CN202921560 U CN 202921560U
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connecting rod
pair
rotating
slide rail
chain
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谢俊
张晓庆
刘军
刘月
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Jiangsu University
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Jiangsu University
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Abstract

本实用新型公开了一种三自由度并联茶叶筛分机，涉及茶叶筛分机械。由筛框、X向振动链、Y向振动链、X轴转动振动链、两根水平滑轨与一根竖直滑轨组成。在两根平行水平滑轨上布置X向振动链与Y向振动链，并在垂直于水平面的竖直滑轨上布置绕X轴转动振动链。本实用新型的振动机构由PPPR、PRRR、PRRRR三条并联运动支链组成，能够实现茶叶筛框沿着X、Y方向的平移以及绕X轴方向的转动。构成此茶叶筛分机并联机构的三条振动链互不干涉，完全解耦，故振动幅度、振动频率、振动倾角都能独立调节，能够适应茶叶筛分的需要，显著地提高茶叶的筛分效率。

Figure 201220287965

The utility model discloses a three-freedom parallel tea screening machine, which relates to tea screening machinery. It consists of screen frame, X-direction vibration chain, Y-direction vibration chain, X-axis rotation vibration chain, two horizontal slide rails and one vertical slide rail. The X-direction vibration chain and the Y-direction vibration chain are arranged on two parallel horizontal slide rails, and the rotation vibration chain around the X-axis is arranged on the vertical slide rails perpendicular to the horizontal plane. The vibration mechanism of the utility model is composed of three parallel motion branch chains of PPPR, PRRR and PRRRR, which can realize the translation of the tea screen frame along the X and Y directions and the rotation around the X axis. The three vibration chains that constitute the parallel mechanism of this tea screening machine do not interfere with each other and are completely decoupled, so the vibration amplitude, vibration frequency, and vibration inclination can be adjusted independently, which can meet the needs of tea screening and significantly improve the screening efficiency of tea.

Figure 201220287965

Description

A kind of 3-freedom parallel mechanism tea finishing machine
Technical field
The utility model relates to tea screening machinery, relates in particular to Three Degree Of Freedom shake tea finishing machine.
Background technology
The tea screening machinery of production and application generally adopts crank and rocker mechanism at present, make screen frame produce the single-freedom planar motion, because freedom of motion is few, be difficult to make tealeaves uniform fast on compass screen surface, thereby so that tealeaves and compass screen surface contact area reduce, reduce screening efficiency; Simultaneously because screen frame is done planar reciprocating, so that tealeaves is difficult to upspring, thereby the problem such as sieve pore blockade appears easily.The part sieving machine improves screening efficiency by increasing Oscillation Amplitude and frequency, but owing to frictional dissipation increases thereupon, thereby so that screening machine is shorter service life.
The 3-freedom parallel mechanism tea finishing machine that the utility model relates to since can the implementation space along X, Y-direction translation and rotation around X-direction, can solve well the defective of existing tea screening machinery.Article three, movement branched chain is full decoupled, and the vibration parameters of this freedom degree parallel connection tea finishing machine can both be controlled separately and regulate such as amplitude, frequency etc., has realized the judicial convenience of control.
Summary of the invention
The purpose of this utility model is the problem for existing tea finishing machine vibrational degrees of freedom deficiency, proposes a kind of Three Degree Of Freedom vibration tea finishing machine, can and rotate around X-direction along X, Y-direction translation, improves tea screening efficient, shortens the sieve time.
Concrete technical scheme of the present utility model is, a kind of 3-freedom parallel mechanism tea finishing machine is comprised of and mutually noninterfere three parallel kinematic side chains, and screen frame is rotated along X, Y-direction translation and around X-axis; Comprise screen frame, X-direction Vibration Chain, Y-direction Vibration Chain, around X-axis rotational vibrations chain, two horizontal slide rails and a upright slide rail.Wherein, two parallel contour layouts of horizontal slide rail along continuous straight runs, another root upright slide rail is arranged along vertical direction; Y-direction Vibration Chain one end is installed on horizontal slide rail one and the horizontal slide rail two, and the other end connects with screen frame; X-direction kinematic chain one end is installed on the horizontal slide rail one, and the other end is fixed in screen frame; Be installed on the upright slide rail seven around X-axis rotational vibrations chain one end, the other end is fixed in screen frame.
Described Y-direction Vibration Chain is comprised of with connecting rod four moving sets one, moving sets two, moving sets three, revolute pair one and the connecting rod between them, connecting rod two, connecting rod three; Connecting rod one connects with horizontal slide rail two by moving sets one, connecting rod two connects with horizontal slide rail one by moving sets two, connecting rod one and connecting rod two connect by connecting rod three, moving sets three is installed on the connecting rod three, connecting rod 41 ends connect with connecting rod three by moving sets three, and the other end of connecting rod four connects with screen frame by revolute pair one; Moving sets one is parallel to each other with moving sets two axis, and moving sets three is parallel to each other with revolute pair one axis, and the axis of the axis of moving sets one, moving sets two and moving sets three, revolute pair one is perpendicular.Described X-direction Vibration Chain is comprised of moving sets four, revolute pair two, revolute pair three, revolute pair four and the connecting rod between them five, connecting rod six, connecting rod seven; One end of connecting rod five connects with horizontal slide rail one by moving sets four, connecting rod six connects with the other end of connecting rod five by revolute pair two, connecting rod seven is U-shaped bar, one side of connecting rod seven connects with connecting rod six by revolute pair three, and the opposite side of connecting rod seven is fixedly connected with nut A by revolute pair four and screen frame; Moving sets four, revolute pair two, revolute pair three are parallel to each other in twos with the revolute pair four axistyle.Formed by moving sets five, revolute pair five, revolute pair six, revolute pair seven, revolute pair eight and the connecting rod between them eight, connecting rod nine, connecting rod ten, connecting rod 11 around X-axis rotational vibrations chain; One end of connecting rod eight connects with upright slide rail seven by moving sets five, connecting rod nine connects with the other end of connecting rod eight by revolute pair five, connecting rod ten is U-shaped bar, one side of connecting rod ten connects with connecting rod nine by revolute pair six, one end of connecting rod 11 connects with the opposite side of connecting rod ten by revolute pair seven, and connecting rod 11 links to each other with screen frame by revolute pair eight; Revolute pair five, revolute pair six, revolute pair seven are parallel to each other with the axis of moving sets five and are vertical with the axis of revolute pair eight; The moving sets three of described Y-direction Vibration Chain and the moving sets of X-direction Vibration Chain four with around the moving sets five of X-axis rotational vibrations chain spatial vertical in twos, and moving sets three, moving sets four are the driving pair of mechanism with moving sets five.
The utility model parallel institution type is simple, control is convenient, can realize along X, Y-direction translation and the vibration of rotating three directions around X-axis, and three movement branched chain is full decoupled, the vibration of three degree of freedom is fully independent, mutually noninterfere, the inclination angle of screen frame can be regulated by the length of connecting rod that changes X-axis rotational vibrations chain, and screen frame rationally effective vibration output can be regulated by the power input of regulating three side chain driving pair.Because Oscillation Amplitude, vibration frequency, vibration inclination angle and the vibrational degrees of freedom of screen frame can independently be regulated, to the tealeaves material strong adaptability of different cultivars, the screening efficiency of raising tealeaves that can be by a relatively large margin, the saturating sieve time of shortening tealeaves.
Description of drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of Y-direction Vibration Chain.
Fig. 3 is the structural representation of X-direction Vibration Chain.
Fig. 4 is the structural representation around X-axis rotational vibrations chain.
Among the figure, 1. horizontal slide rail one; 2. horizontal slide rail two; 3.Y to Vibration Chain; 4. screen frame; 5.X to Vibration Chain; 6. around X-axis rotational vibrations chain; 7. upright slide rail; P 1. moving sets one; P 2. moving sets two; P 3. moving sets three; P 4. moving sets four; P 5. moving sets five; R 1. revolute pair one; R 2. revolute pair two; R 3. revolute pair three; R 4. revolute pair four; R 5. revolute pair five; R 6. revolute pair six; R 7. revolute pair seven; R 8. revolute pair eight; L 1. connecting rod one; L 2. connecting rod two; L 3. connecting rod three; L 4. connecting rod four; L 5. connecting rod five; L 6. connecting rod six; L 7. connecting rod seven; L 8. connecting rod eight; L 9. connecting rod nine; L 10. connecting rod ten; L 11. connecting rod 11.
The specific embodiment
Describe with reference to the accompanying drawings the specific embodiment of the present utility model in detail.
As shown in Figure 1, a kind of 3-freedom parallel mechanism tea finishing machine is by horizontal slide rail 1, horizontal slide rail 2, Y-direction Vibration Chain 3, screen frame 4, X-direction Vibration Chain 5, form around X-axis rotational vibrations chain 6 and a upright slide rail 7.Wherein: Y-direction Vibration Chain 3 one ends are installed on horizontal slide rail 1 and the horizontal slide rail 2, and the other end connects with screen frame 4; X-direction Vibration Chain 5 one ends are installed in horizontal slide rail 1, and the other end is fixed in screen frame 4; Be installed on upright slide rail 7 around X-axis rotational vibrations chain one end, the other end is fixed in screen frame 4; Vibrating mechanism is comprised of PPPR, PRRR, three parallel kinematic side chains of PRRRR, article three, side chain mutually noninterfere, can realize the tealeaves screen frame along the translation of X, Y-direction and around the rotation of directions X, the inclination angle of screen frame can be by changing the length adjustment around X-axis rotational vibrations chain connecting rod.
Such as Fig. 2, Fig. 3 and shown in Figure 4, described Y-direction Vibration Chain is by moving sets one P 1, moving sets two P 2, moving sets three P 3, revolute pair one R 1And one L of the connecting rod between them 1, connecting rod two L 2, connecting rod three L 3With connecting rod four L 4Form; Connecting rod one L 1By moving sets one P 1Connect connecting rod two L with horizontal slide rail 22 2By moving sets two P 2Connect connecting rod one L with horizontal slide rail 1 1With connecting rod two L 2By connecting rod three L 3Connect moving sets three P 3Be installed in connecting rod three L 3On, connecting rod four L 4An end by moving sets three P 3With connecting rod three L 3Connect connecting rod four L 4The other end by revolute pair one R 1Connect with screen frame 4; Moving sets one P 1With moving sets two P 2Axis is parallel to each other, moving sets three P 3With revolute pair one R 1Axially be parallel to each other moving sets one P 1, moving sets two P 2With moving sets three P 3, revolute pair one R 1Axis is perpendicular.Described X-direction Vibration Chain is by moving sets four P 4, revolute pair two R 2, revolute pair three R 3, revolute pair four R 4And five L of the connecting rod between them 5, connecting rod six L 6, connecting rod seven L 7Form; Connecting rod five L 5An end by moving sets four P 4Connect connecting rod six L with horizontal slide rail 1 6By revolute pair two R 2With connecting rod five L 5The other end connect, connecting rod seven is U-shaped bar, connecting rod seven L 7A side by revolute pair three R 3With connecting rod six L 6Connect connecting rod L 7Opposite side by revolute pair four R 44 usefulness nut A are fixedly connected with screen frame; Moving sets four P 4, revolute pair two R 2, revolute pair three R 3With revolute pair four R 4Axis is parallel to each other in twos.Around X-axis rotational vibrations chain by moving sets five P 5, revolute pair five R 5, revolute pair six R 6, revolute pair seven R 7, revolute pair eight R 8And eight L of the connecting rod between them 8, connecting rod nine L 9, connecting rod ten L 10, connecting rod 11 L 11Form; Connecting rod eight L 8An end by moving sets five P 5Connect connecting rod nine L with upright slide rail 7 9By revolute pair five R 5With connecting rod eight L 8The other end connect connecting rod ten L 10Be U-shaped bar, connecting rod ten L 10A side by revolute pair six R 6With connecting rod nine L 9Connect connecting rod 11 L 11An end by revolute pair seven R 7With connecting rod ten L 10Opposite side connect connecting rod 11 L 11The other end by revolute pair eight R 8Link to each other with screen frame 4; Revolute pair five R 5, revolute pair six R 6, revolute pair seven R 7With moving sets five P 5Axis be parallel to each other and with revolute pair eight R 8Axis vertical; Moving sets three P of described Y-direction Vibration Chain 3Moving sets four P with the X-direction Vibration Chain 4With moving sets five P around X-axis rotational vibrations chain 5In twos spatial vertical, and moving sets three P 3, moving sets four P 4With moving sets five P 5Driving pair for mechanism.
Moving sets P at X-direction Vibration Chain 5 4On add exciting force, can produce X-direction vibration; Moving sets P at Y-direction Vibration Chain 3 3On add exciting force, can produce Y-direction vibration; At the moving sets P around X-axis rotational vibrations chain 6 5On add exciting force, can produce around the deflection of X-axis vibration.The moving sets P of X-direction Vibration Chain 5 4, Y-direction Vibration Chain 3 moving sets P 3With the moving sets P around X-axis rotational vibrations chain 6 5Available linear electric motors or servo straight line pull bar Driven by Hydraulic Cylinder also can be by the line reciprocators of electric rotating machine driving, such as drivings such as slider-crank mechanisms.

Claims (5)

1.一种三自由度并联机构茶叶筛分机，其特征在于：由三条并联运动支链组成并且互不干涉，能够使筛框沿着X、Y方向平移并且绕X轴转动；包括筛框、X向振动链、Y向振动链、绕X轴转动振动链、两根水平滑轨和一根竖直滑轨；将所述水平滑轨一（1）与水平滑轨二（2）沿水平方向平行等高布置，竖直滑轨（7）沿着竖直方向布置；Y向振动链（3）一端安装在水平滑轨一（1）与水平滑轨二（2）上，另一端与筛框（4）联接；X向振动链（5）一端安装在水平滑轨一（1），另一端固定于筛框（4）；绕X轴转动振动链（6）一端安装于竖直滑轨（7），另一端固定于筛框（4）。 1. A three-degree-of-freedom parallel mechanism tea screening machine, characterized in that: it is composed of three parallel motion branch chains and does not interfere with each other, and can make the screen frame translate along the X and Y directions and rotate around the X axis; including the screen frame, The X-direction vibration chain, the Y-direction vibration chain, the rotation vibration chain around the X axis, two horizontal slide rails and one vertical slide rail; the horizontal slide rail one (1) and the horizontal slide rail two (2) are The directions are arranged parallel to the same height, and the vertical slide rail (7) is arranged along the vertical direction; one end of the Y-direction vibrating chain (3) is installed on the horizontal slide rail one (1) and the horizontal slide rail two (2), and the other end is connected to the horizontal slide rail two (2). The screen frame (4) is connected; one end of the X-direction vibration chain (5) is installed on the horizontal slide rail one (1), and the other end is fixed on the screen frame (4); one end of the vibration chain (6) rotating around the X axis is installed on the vertical slide rail rail (7), and the other end is fixed to the screen frame (4). 2.根据权利要求1所述的一种三自由度并联机构茶叶筛分机，其特征在于：所述Y向振动链由移动副一（P1）、移动副二（P2）、移动副三（P3）、转动副一（R1）、连杆一（L1）、连杆二（L2）、连杆三（L3）和连杆四（L4）组成；连杆一（L1）通过移动副一（P1）与水平滑轨二（2）联接，连杆二（L2）通过移动副二（P2）与水平滑轨一（1）联接，连杆一（L1）和连杆二（L2）通过连杆三（L3）联接，移动副三（P3）安装在连杆三（L3）上，连杆四（L4）一端通过移动副三（P3）与连杆三（L3）联接，连杆四（L4）另一端通过转动副一（R1）与筛框联接，移动副一（P1）与移动副二（P2）轴线相互平行，移动副三（P3）与转动副一（R1）轴线相互平行，移动副一（P1）、移动副二（P2）与移动副三（P3）、转动副一（R1）轴线相垂直。 2. A tea screening machine with a three-degree-of-freedom parallel mechanism according to claim 1, characterized in that: the Y-direction vibration chain consists of the first moving pair (P 1 ), the second moving pair (P 2 ), and the third moving pair (P 3 ), rotating pair 1 (R 1 ), connecting rod 1 (L 1 ), connecting rod 2 (L 2 ), connecting rod 3 (L 3 ) and connecting rod 4 (L 4 ); connecting rod 1 ( L 1 ) is connected with horizontal slide rail 2 (2) through moving pair 1 (P 1 ), connecting rod 2 (L 2 ) is connected with horizontal slide rail 1 (1) through moving pair 2 (P 2 ), and connecting rod 1 ( L 1 ) and connecting rod 2 (L 2 ) are connected through connecting rod 3 (L 3 ), the moving pair 3 (P 3 ) is installed on connecting rod 3 (L 3 ), and one end of connecting rod 4 (L 4 ) passes through the moving pair The third (P 3 ) is connected with the third connecting rod (L 3 ), the other end of the fourth connecting rod (L 4 ) is connected with the screen frame through the first rotating pair (R 1 ), and the first moving pair (P 1 ) is connected with the second moving pair (P 2 ) The axes are parallel to each other, the axes of the third moving pair (P 3 ) and the first rotating pair (R 1 ) are parallel to each other, the first moving pair (P 1 ), the second moving pair (P 2 ) and the third moving pair (P 3 ), the rotating The secondary one (R 1 ) axis is perpendicular to each other. 3.根据权利要求1或2所述的一种三自由度并联机构茶叶筛分机，其特征在于：所述X向振动链由移动副四（P4）、转动副二（R2）、转动副三（R3）、转动副四（R4）、连杆五（L5）、连杆六（L6）和连杆七（L7）组成；连杆五（L5）的一端通过移动副四（P4）与水平滑轨一（1）联接，连杆六（L6）通过转动副二（R2）与连杆五（L5）另一端联接，连杆七（L7）为U型杆，连杆七（L7）一侧通过转动副三（R3）与连杆六（L6）联接，连杆七（L7）的另一侧通过转动副四（R4）与筛框用螺母A固定联接，且移动副四（P4）、转动副二（R2）、转动副三与（R3）转动副四（R4）轴线两两相互平行。 3. A tea screening machine with a three-degree-of-freedom parallel mechanism according to claim 1 or 2, characterized in that: the X-direction vibrating chain consists of moving pair four (P 4 ), rotating pair two (R 2 ), rotating Auxiliary third (R 3 ), rotating auxiliary fourth (R 4 ), connecting rod five (L 5 ), connecting rod six (L 6 ) and connecting rod seven (L 7 ); one end of connecting rod five (L 5 ) passes through The fourth moving pair (P 4 ) is connected with the first horizontal slide rail (1), the sixth connecting rod (L 6 ) is connected with the other end of the fifth connecting rod (L 5 ) through the second rotating pair (R 2 ), and the seventh connecting rod (L 7 ) is a U-shaped rod, one side of connecting rod seven (L 7 ) is connected with connecting rod six (L 6 ) through rotating pair three (R 3 ), and the other side of connecting rod seven (L 7 ) is connected through rotating pair four (R 4 ) It is fixedly connected with the screen frame with nut A, and the axes of the fourth moving pair (P 4 ), the second rotating pair (R 2 ), the third rotating pair and (R 3 ) the fourth rotating pair (R 4 ) are parallel to each other. 4.根据权利要求3所述的一种三自由度并联机构茶叶筛分机，其特征在于：所述绕X轴转动振动链由移动副五（P5）、转动副五（R5）、转动副六（R6）、转动副七（R7）、转动副八（R8）、连杆八（L8）、连杆九（L9）、连杆十（L10）和连杆十一（L11）组成；连杆八（L8）的一端通过移动副五（P5）与竖直滑轨（7）联接，连杆九（L9）通过转动副五（R5）与连杆八（L8）的另一端联接，连杆十（L10）为U型杆，连杆十（L10）的一侧通过转动副六（R6）与连杆九（L9）联接，连杆十一（L11）的一端通过转动副七（R7）与连杆十（L10）的另一侧联接，连杆十一（L11）的另一端通过转动副八（R8）与筛框相连，转动副五（R5）、转动副六（R6）、转动副七（R7）与移动副五（P5）的轴线相互平行且与转动副八（R8）的轴线垂直。 4. A tea screening machine with a three-degree-of-freedom parallel mechanism according to claim 3, characterized in that: the vibration chain rotating around the X axis is composed of moving pair five (P 5 ), rotating pair five (R 5 ), rotating Auxiliary Six (R 6 ), Rotary Auxiliary Seven (R 7 ), Revolving Auxiliary Eight (R 8 ), Connecting Rod Eight (L 8 ), Connecting Rod Nine (L 9 ), Connecting Rod Ten (L 10 ) and Connecting Rod Ten One (L 11 ); one end of connecting rod eight (L 8 ) is connected with the vertical slide rail (7) through moving pair five (P 5 ), and connecting rod nine (L 9 ) is connected with The other end of connecting rod eight (L 8 ) is connected, connecting rod ten (L 10 ) is a U-shaped rod, and one side of connecting rod ten (L 10 ) is connected to connecting rod nine (L 9 ) through rotary joint six (R 6 ) Connection, one end of connecting rod eleven (L 11 ) is connected with the other side of connecting rod ten (L 10 ) through rotating joint seven (R 7 ), and the other end of connecting rod eleven (L 11 ) is connecting through rotating joint eight ( R 8 ) is connected to the screen frame, and the axes of rotating pair 5 (R 5 ), rotating pair 6 (R 6 ), rotating pair 7 (R 7 ) and moving pair 5 (P 5 ) are parallel to each other and parallel to rotating pair 8 (R 8 ) The axis is vertical. 5.根据权利要求4所述的一种三自由度并联机构茶叶筛分机，其特征在于：所述Y向振动链的移动副三（P3）与X向振动链的移动副四（P4）与绕X轴转动振动链的移动副五（P5）两两空间垂直，且移动副三（P3）、移动副四（P4）与移动副五（P5）为机构的主动副。 5. A tea screening machine with a three-degree-of-freedom parallel mechanism according to claim 4, characterized in that: the moving pair three (P 3 ) of the Y-direction vibrating chain and the moving pair four (P 4 ) of the X-direction vibrating chain ) is perpendicular to the pair five (P 5 ) of the vibration chain rotating around the X axis, and the third (P 3 ), fourth (P 4 ) and fifth (P 5 ) are the active pairs of the mechanism .
CN 201220287965 2012-06-19 2012-06-19 Three degree-of-freedom parallel mechanism tea sifting and grading machine Expired - Lifetime CN202921560U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102688853A (en) * 2012-06-19 2012-09-26 江苏大学 Three degree-of-freedom parallel mechanism tea screening machine
CN104138835A (en) * 2014-07-11 2014-11-12 河北工程大学 Tea sifting and grading machine based on spatial three-degree-of-freedom parallel mechanism
CN104626116A (en) * 2015-01-20 2015-05-20 江南大学 1T, (2R) and 1T four-degree-of-freedom decoupling series-parallel mechanism
CN104874541A (en) * 2015-05-26 2015-09-02 江苏大学 2T1R parallel vibrating screen for fly maggot separating
CN105710026A (en) * 2016-04-26 2016-06-29 巢湖学院 Three degree-of-freedom hybrid vibration screening device
CN109290189A (en) * 2018-10-30 2019-02-01 江苏大学 A feed grading parallel vibrating screen

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102688853A (en) * 2012-06-19 2012-09-26 江苏大学 Three degree-of-freedom parallel mechanism tea screening machine
CN102688853B (en) * 2012-06-19 2014-10-29 江苏大学 Three degree-of-freedom parallel mechanism tea screening machine
CN104138835A (en) * 2014-07-11 2014-11-12 河北工程大学 Tea sifting and grading machine based on spatial three-degree-of-freedom parallel mechanism
CN104626116A (en) * 2015-01-20 2015-05-20 江南大学 1T, (2R) and 1T four-degree-of-freedom decoupling series-parallel mechanism
CN104874541A (en) * 2015-05-26 2015-09-02 江苏大学 2T1R parallel vibrating screen for fly maggot separating
CN105710026A (en) * 2016-04-26 2016-06-29 巢湖学院 Three degree-of-freedom hybrid vibration screening device
CN105710026B (en) * 2016-04-26 2017-10-27 巢湖学院 A kind of Three-freedom-degree hybrid vibrating screen separating device
CN109290189A (en) * 2018-10-30 2019-02-01 江苏大学 A feed grading parallel vibrating screen

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