CN103132551A - Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine - Google Patents
Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine Download PDFInfo
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- CN103132551A CN103132551A CN2013100517210A CN201310051721A CN103132551A CN 103132551 A CN103132551 A CN 103132551A CN 2013100517210 A CN2013100517210 A CN 2013100517210A CN 201310051721 A CN201310051721 A CN 201310051721A CN 103132551 A CN103132551 A CN 103132551A
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Abstract
The invention provides a discrete variable speed input multi-freedom-degree controllable mechanism type sugarcane loading machine which comprises a combustion motor, a transmission device and a multi-freedom-degree connecting rod mechanism. The transmission device comprises a transfer case, a clutch and a speed reducer. The multi-freedom-degree connecting rod mechanism comprises a movable arm lifting branched chain, a lower fork overturning branched chain and an upper fork overturning branched chain. Driving rods are driven by one combustion motor, starting and stopping of all the driving rods and switching of positive driving and negative driving can be achieved under the control of the clutch and a reversing device of the transmission device, the branched chains are matched mutually to move, an upper fork and a lower fork achieve complicated and variable movement, loading and unloading of goods of sugarcane and the like are completed, and the sugarcane loading machine overcomes the defect that hydraulic elements of a hydraulic loading machine are high in manufacturing cost, complicated in maintenance and the like. The sugarcane loading machine is driven by the combustion motor, overcomes power limit cased by motor driving, achieves field construction conveniently, and improves practicability and convenience.
Description
Technical field
The present invention relates to engineering machinery field, particularly discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Background technology
Sugar-cane loader is a kind ofly to be widely used in that sugarcane is loaded and a kind of engineering machinery of numerous occasions such as straw loading and unloading, timber carrying, changes different grab buckets, just can conveniently realize grabbing sugarcane, grabs timber, grabs steel pipe, the operation such as material grasping.The sugar-cane loader kind is more, use at present maximum fluid pressure type sugar-cane loader operating efficiencies high, can load and unload sugarcane at short notice, significantly improved efficiency, alleviated people's labour intensity, but, existing sugar-cane loader also exists shortcomings, owing to adopting hydraulic system, that the hydraulic components accuracy of manufacture requires is high, manufacturing and the maintaining cost high, hydraulic system is subject to such environmental effects, especially under low temperature or hot environment, the situations such as unable or vibration easily occur.
The multiple degrees of freedom controllable mechanism can be used for substituting traditional hydraulic system, many deficiencies of avoiding hydraulic system to exist, but the multiple degrees of freedom controllable mechanism generally adopts driven by servomotor, has the restriction of supply of electric power, is not easy to realize field construction.
Summary of the invention
The problem that the object of the invention is to the prior art existence provides discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader, satisfy under the prerequisite of conventional hydraulic sugar-cane loader job requirements guaranteeing, to avoid the hydraulic pressure sugar-cane loader Hydraulic Elements accuracy of manufacture to require high, manufacturing and the maintaining cost is high, the easy shortcoming such as influenced by ambient temperature of operating efficiency.And swing arm lifting mechanism and lower fork switching mechanism are by internal combustion engine drive, and upper fork switching mechanism is driven by manpower, has avoided the restriction of supply of electric power, are fit to open-air sugarcane car loading operation.Simultaneously, drive because upper fork switching mechanism adopts manpower, simplified widely machine construction, operation also greatly for convenience.
The present invention achieves the above object by the following technical programs: a kind of discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader, comprise frame, swing arm lifting mechanism, lower fork switching mechanism and upper fork switching mechanism, its structure and connected mode are:
Described swing arm lifting mechanism comprises the first driving lever, first connecting rod, swing arm, described swing arm is connected with frame by the 4th revolute pair, described the first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected with swing arm by the 3rd revolute pair.
Described lower fork switching mechanism is connected by the second driving lever, second connecting rod, rocking bar, pull bar, lower fork, described the second driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod one end by the 8th revolute pair, the second connecting rod other end is connected with rocking bar one end by the 9th revolute pair, rocking bar is connected with swing arm by the 5th revolute pair, the rocking bar other end is connected with pull bar one end by the tenth revolute pair, the pull bar other end is connected with lower fork by the 11 revolute pair, and lower fork is connected with swing arm by the 6th revolute pair.
Described upper fork switching mechanism is comprised of bracing frame, capstan winch, the 5th connecting rod, third connecting rod, the 4th connecting rod, upper fork, pulley, spring, wire rope.support frame as described above one end is connected with frame by the 4th revolute pair, the other end is by the 14 revolute pair, the 15 revolute pair respectively with capstan winch, the 5th connecting rod connects, the 5th connecting rod is connected with lower fork by the 16 revolute pair, described third connecting rod one end is connected with swing arm by the 6th revolute pair, the other end is by the 17 revolute pair, the 13 revolute pair respectively with pulley, the 4th connecting rod connects, described the 4th connecting rod is connected with upper fork by the 18 revolute pair, described upper fork is connected on lower fork by the 12 revolute pair, described wire rope one end is connected on bracing frame, the other end is connected with capstan winch by pulley.
The control method of described discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader comprises the steps:
Power by the internal combustion engine input is distributed to the first driving lever of swing arm lifting mechanism, the second driving lever of lower fork switching mechanism through transfer case, by the startup of first, second driving lever constant speed constant speed actuation movement of Clutch Control with stop, controlled the switching of each driving lever positive and negative direction actuation movement by reversing arrangement, under two driving lever positive and negative direction constant speed actuation movement and the effect that stops driving, the motion that cooperatively interacts of swing arm lifting mechanism, lower fork switching mechanism, realize its complexity, variable movement output, i.e. the entrucking action of various sugarcanes is completed in grab bucket.
Described upper fork switching mechanism is controlled the upset of upper fork, described upper fork compresses lower fork under the effect of spring straining power, on this moment, fork is in impaction state, rotate capstan winch by manpower, upper fork overcomes spring straining power and opens under wire rope drives, on this moment, fork is in open configuration, when the capstan winch backward rotation, under the effect of spring straining power, upper fork returns to impaction state.
Described the first driving lever, the second driving lever are driven by rack-mounted internal combustion engine, internal combustion engine drive systems is comprised of first clutch, second clutch, three-clutch, the first reversing arrangement, the second reversing arrangement, reducer, transfer case, and transfer case is given each driving lever with power distribution.During work, according to the handling operation requirement, by the operation of second clutch, three-clutch and the first reversing arrangement, the second reversing arrangement being realized the control to this Discrete Finite variable speed drives and manually driven combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader the first driving lever, the second driving lever, upper fork switching mechanism is controlled by capstan winch by manpower, and then by the cooperatively interacting of swing arm lifting mechanism, lower fork switching mechanism, upper fork switching mechanism, complete sugarcane and other items handling operation.
Outstanding advantages of the present invention is:
1, satisfy under the prerequisite of fluid pressure type sugar-cane loader operation in assurance, adopt link transmission to substitute traditional hydraulic drive, not only avoided the Hydraulic Elements accuracy of manufacture require high, the hydraulic oil temperature influence serious, hydraulic system breaks down is difficult for checking and the shortcomings such as eliminating, and linkage has cheap for manufacturing costly, maintaining required low.
2, satisfying under the prerequisite of handling operation, adopt discrete speed change and manually driven combination drive, by the control of clutch and reversing arrangement, realize the discrete speed change input of multiple degrees of freedom linkage driving lever, do not need continuously variable transmission, simple in structure, easy to operate.And utilize the manually-operated capstan winch to control the folding of pitching on upper fork switching mechanism by assembly pulley, and not only reduced the connecting rod usage quantity, the deadweight of shaft portion, and operate more convenient.
3, adopt internal combustion engine drive and manpower to drive, control by mechanical devices such as clutch and reversing arrangements, overcome motor-driven and the supply of electric power restriction that causes, be easy to realize field construction.
Description of drawings
Fig. 1 is the front view of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 2 is the swing arm lifting mechanism schematic diagram of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 3 is the lower fork switching mechanism schematic diagram of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 4 is the capstan winch support schematic diagram of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 5 is the upper fork switching mechanism schematic diagram of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 6 is the crotch schematic diagram of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 7 is the drive system schematic diagram of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 8 is the front view of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
Fig. 9 is the lateral view of discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader.
The specific embodiment
Below by drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, discrete speed change of the present invention and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader are comprised of frame 1, swing arm lifting mechanism, lower fork switching mechanism, upper fork switching mechanism.
Contrast Fig. 1, Fig. 2, described swing arm lifting mechanism comprises the first driving lever 2, first connecting rod 3, swing arm 6, described swing arm 6 is connected with frame 1 by the 4th revolute pair 24, described the first driving lever 2 one ends are connected with frame 1 by the first revolute pair 19, the other end is connected with first connecting rod 3 one ends by the second revolute pair 20, and first connecting rod 3 other ends are connected with swing arm 6 by the 3rd revolute pair 21.Described swing arm lifting mechanism is controlled swing arm 6 landings.
contrast Fig. 1, Fig. 3, Fig. 8, described lower fork switching mechanism is by the second driving lever 16, second connecting rod 15, rocking bar 4, pull bar 5, lower fork 8 connects, described the second driving lever 16 1 ends are connected with frame 1 by the 7th revolute pair 25, the other end is connected with second connecting rod 15 1 ends by the 8th revolute pair 26, second connecting rod 15 other ends are connected with rocking bar 4 one ends by the 9th revolute pair 27, rocking bar 4 is connected with swing arm 6 by the 5th revolute pair 23, rocking bar 4 other ends are connected with pull bar 5 one ends by the tenth revolute pair 28, pull bar 5 other ends are connected with lower fork 8 by the 11 revolute pair 29, lower fork 8 is connected with swing arm 6 by the 6th revolute pair 22, described lower fork switching mechanism is controlled lower fork 8 upsets.
Contrast Fig. 1, Fig. 4, Fig. 5, Fig. 6, Fig. 8, Fig. 9, described upper fork switching mechanism is comprised of bracing frame 17, capstan winch 14, the 5th connecting rod 13, third connecting rod 7, the 4th connecting rod 10, upper fork 9, pulley 11, spring 18, wire rope 12.support frame as described above 17 1 ends are connected with frame 1 by the 4th revolute pair 24, the other end is by the 14 revolute pair 33, the 15 revolute pair 32 respectively with capstan winch 14, the 5th connecting rod 13 connects, the 5th connecting rod 13 is connected with lower fork 8 by the 16 revolute pair 34, described third connecting rod 7 one ends are connected with swing arm 6 by the 6th revolute pair 22, the other end is by the 17 revolute pair 35, the 13 revolute pair 31 respectively with pulley 11, the 4th connecting rod 10 connects, described the 4th connecting rod 10 is connected with upper fork 9 by the 18 revolute pair 36, described upper fork 9 is connected on lower fork 8 by the 12 revolute pair 30, described wire rope 12 1 ends are connected on bracing frame 17, the other end is connected with capstan winch 14 by pulley 11, described upper fork switching mechanism is controlled the upset of upper fork 9, described upper fork 9 compresses lower fork 8 under spring 18 tightening force effects, on this moment, fork 9 is in impaction state, rotate capstan winch 14 by manpower, upper fork 9 overcomes spring 18 tightening forces and opens under wire rope 12 drives, on this moment, fork 9 is in open configuration, when the capstan winch backward rotation, under spring 18 tightening force effects, upper fork 9 returns to impaction state.
contrast Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 7, Fig. 8, Fig. 9, described discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader, the first driving lever 2, the second driving lever 16 drives control by rack-mounted constant-seed motor or internal combustion engine 37, and when adopting internal combustion engine 37 to drive, internal combustion engine 37 drive systems are by first clutch 38, second clutch 41, three-clutch 43, the first reversing arrangement 42, the second reversing arrangement 44, reducer 39, transfer case 40 forms, and transfer case 40 is given each driving lever with power distribution, during this multiple degrees of freedom controllable-mechanism type sugar-cane loader work, according to the handling operation requirement, by to second clutch 41, three-clutch 43 and the first reversing arrangement 42, the operation of the second reversing arrangement 44 realizes this discrete speed change and manually driven combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader the first driving lever 2, the control of the second driving lever 16, upper fork switching mechanism is controlled by capstan winch 14 by manpower, and then by the swing arm lifting mechanism, the lower fork switching mechanism, cooperatively interacting of upper fork switching mechanism completed sugarcane and other items handling operation.
Claims (2)
1. discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader, comprise internal combustion engine, transmission device, multiple degrees of freedom linkage, the multiple degrees of freedom linkage comprises frame, swing arm lifting mechanism, lower fork switching mechanism and upper fork switching mechanism, it is characterized in that:
Described swing arm lifting mechanism comprises the first driving lever, first connecting rod, swing arm, described swing arm is connected with frame by the 4th revolute pair, described the first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with swing arm by the 3rd revolute pair
described lower fork switching mechanism is by the second driving lever, second connecting rod, rocking bar, pull bar, lower fork, described the second driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod one end by the 8th revolute pair, the second connecting rod other end is connected with rocking bar one end by the 9th revolute pair, rocking bar is connected with swing arm by the 5th revolute pair, the rocking bar other end is connected with pull bar one end by the tenth revolute pair, the pull bar other end is connected with lower fork by the 11 revolute pair, lower fork is connected with swing arm by the 6th revolute pair
described upper fork switching mechanism is comprised of bracing frame, capstan winch, the 5th connecting rod, third connecting rod, the 4th connecting rod, upper fork, pulley, spring, wire rope, support frame as described above one end is connected with frame by the 4th revolute pair, the other end is by the 14 revolute pair, the 15 revolute pair respectively with capstan winch, the 5th connecting rod connects, the 5th connecting rod connecting rod is connected with lower fork by the 16 revolute pair, described third connecting rod one end is connected with swing arm by the 6th revolute pair, the other end is by the 17 revolute pair, the 13 revolute pair respectively with pulley, the 4th connecting rod connects, described the 4th connecting rod is connected with upper fork by the 18 revolute pair, described upper fork is connected on lower fork by the 12 revolute pair, described wire rope one end is connected on bracing frame, the other end is connected with capstan winch by pulley,
Described transmission device comprises first clutch, the first reducer, transfer case, second clutch, the first reversing arrangement, three-clutch, the second reversing arrangement, is connected by shaft coupling.
2. the control method of discrete speed change and manpower combination drive multiple degrees of freedom controllable-mechanism type sugar-cane loader according to claim 1, is characterized in that, comprises the steps:
power by the internal combustion engine input is distributed to the first driving lever of swing arm lifting mechanism through transfer case, the second driving lever of lower fork switching mechanism, by Clutch Control first, the startup of the second driving lever constant speed constant speed actuation movement and stopping, just controlling each driving lever by reversing arrangement, the switching of actuation movement in the other direction, at two driving levers just, in the other direction under constant speed actuation movement and the effect that stops driving, the swing arm lifting mechanism, the motion that cooperatively interacts of lower fork switching mechanism, realize its complexity, variable movement output, the entrucking action of various sugarcanes is completed in i.e. grab bucket
The capstan winch of upper fork switching mechanism is driven by manpower, by wire rope etc., upper fork is rotated, and lower fork completes the work that clamps sugarcane together, and spring etc. make fork, lower fork separately unload sugarcane,
Clutch, reversing arrangement are controlled according to the working condition manually-operated by the operator,
Reducer selects to have auto-lock function, and when preventing that clutch from disconnecting, swing arm lifting mechanism, lower fork switching mechanism move under Gravitative Loads, can not keep inactive state.
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| CN201310051721.0A CN103132551B (en) | 2013-02-08 | 2013-02-08 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
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| CN201310051721.0A CN103132551B (en) | 2013-02-08 | 2013-02-08 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
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| CN103132551B CN103132551B (en) | 2015-01-07 |
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| CN103590435A (en) * | 2013-11-04 | 2014-02-19 | 广西柳工机械股份有限公司 | Multifunctional clamping fork |
| CN103726520A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom light-weight mechanical loading mechanism |
| CN105000469A (en) * | 2015-07-26 | 2015-10-28 | 安庆市港机制造有限责任公司 | Grabbing branched chain for grab bucket special for pipeline type objects |
| CN105293382A (en) * | 2015-10-14 | 2016-02-03 | 广西柳工机械股份有限公司 | Tube arranging device for steel tube fork of loader |
| CN105947654A (en) * | 2016-06-24 | 2016-09-21 | 山东交通学院 | Planar slip type multi-unit connecting rod driving electrical-hydraulic controllable wood forklift |
| CN106144630A (en) * | 2016-08-31 | 2016-11-23 | 中冶华天工程技术有限公司 | High speed piling system |
| CN106144635A (en) * | 2016-08-31 | 2016-11-23 | 中冶华天工程技术有限公司 | High speed piling system |
| CN106144628A (en) * | 2016-08-31 | 2016-11-23 | 中冶华天工程技术有限公司 | The high speed piling system that many groups are in parallel |
| CN106219254A (en) * | 2016-08-31 | 2016-12-14 | 中冶华天工程技术有限公司 | Many group parallel high-speed profile stacking systems |
| CN106241407A (en) * | 2016-08-31 | 2016-12-21 | 中冶华天工程技术有限公司 | Many groups parallel high-speed palletizing system with pretension |
| CN106276268A (en) * | 2016-08-31 | 2017-01-04 | 中冶华天工程技术有限公司 | Many group parallel high-speed stacking machine systems |
| CN106315235A (en) * | 2016-08-31 | 2017-01-11 | 中冶华天工程技术有限公司 | Multi-set parallel-connection high speed stacking system with stroke compensation |
| CN106703095A (en) * | 2016-11-30 | 2017-05-24 | 广西大学 | Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism |
| CN106703096A (en) * | 2016-11-30 | 2017-05-24 | 广西大学 | Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device |
| CN106703094A (en) * | 2016-11-28 | 2017-05-24 | 广西大学 | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab |
| CN106759565A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of servomotor drives can variable freedom multi link timber grab |
| CN106759568A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives variable active degree linkage using servomotor |
| CN106759571A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method |
| CN108130925A (en) * | 2016-11-30 | 2018-06-08 | 广西大学 | It is a kind of that dress operational method is grabbed using the simple link mechanism progress industrial waste of servo motor driving multiple degrees of freedom |
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| CN103590435A (en) * | 2013-11-04 | 2014-02-19 | 广西柳工机械股份有限公司 | Multifunctional clamping fork |
| CN103726520A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom light-weight mechanical loading mechanism |
| CN105000469A (en) * | 2015-07-26 | 2015-10-28 | 安庆市港机制造有限责任公司 | Grabbing branched chain for grab bucket special for pipeline type objects |
| CN105293382A (en) * | 2015-10-14 | 2016-02-03 | 广西柳工机械股份有限公司 | Tube arranging device for steel tube fork of loader |
| CN105293382B (en) * | 2015-10-14 | 2017-12-15 | 广西柳工机械股份有限公司 | Loading machine steel pipe staggered tubes device |
| CN105947654A (en) * | 2016-06-24 | 2016-09-21 | 山东交通学院 | Planar slip type multi-unit connecting rod driving electrical-hydraulic controllable wood forklift |
| CN106276268A (en) * | 2016-08-31 | 2017-01-04 | 中冶华天工程技术有限公司 | Many group parallel high-speed stacking machine systems |
| CN106144630A (en) * | 2016-08-31 | 2016-11-23 | 中冶华天工程技术有限公司 | High speed piling system |
| CN106219254A (en) * | 2016-08-31 | 2016-12-14 | 中冶华天工程技术有限公司 | Many group parallel high-speed profile stacking systems |
| CN106241407A (en) * | 2016-08-31 | 2016-12-21 | 中冶华天工程技术有限公司 | Many groups parallel high-speed palletizing system with pretension |
| CN106144635A (en) * | 2016-08-31 | 2016-11-23 | 中冶华天工程技术有限公司 | High speed piling system |
| CN106315235A (en) * | 2016-08-31 | 2017-01-11 | 中冶华天工程技术有限公司 | Multi-set parallel-connection high speed stacking system with stroke compensation |
| CN106144630B (en) * | 2016-08-31 | 2019-05-03 | 中冶华天工程技术有限公司 | High speed piling system |
| CN106144628A (en) * | 2016-08-31 | 2016-11-23 | 中冶华天工程技术有限公司 | The high speed piling system that many groups are in parallel |
| CN106703094A (en) * | 2016-11-28 | 2017-05-24 | 广西大学 | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab |
| CN106759565A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of servomotor drives can variable freedom multi link timber grab |
| CN106703096A (en) * | 2016-11-30 | 2017-05-24 | 广西大学 | Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device |
| CN106759571A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method |
| CN106759568A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives variable active degree linkage using servomotor |
| CN108130925A (en) * | 2016-11-30 | 2018-06-08 | 广西大学 | It is a kind of that dress operational method is grabbed using the simple link mechanism progress industrial waste of servo motor driving multiple degrees of freedom |
| CN106703095A (en) * | 2016-11-30 | 2017-05-24 | 广西大学 | Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism |
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