CN106609514A - Connecting rod type variable freedom degree timber grab driven by servo motor - Google Patents
Connecting rod type variable freedom degree timber grab driven by servo motor Download PDFInfo
- Publication number
- CN106609514A CN106609514A CN201611062535.7A CN201611062535A CN106609514A CN 106609514 A CN106609514 A CN 106609514A CN 201611062535 A CN201611062535 A CN 201611062535A CN 106609514 A CN106609514 A CN 106609514A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- wrist
- rotates
- base
- 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 33
- 210000000707 wrist Anatomy 0.000 claims abstract description 23
- 210000000245 forearm Anatomy 0.000 claims description 10
- 230000003028 elevating effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 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
- 239000000463 material Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002023 wood 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)
- Manipulator (AREA)
Abstract
The invention discloses a connecting rod type variable freedom degree timber grab driven by a servo motor. The connecting rod type variable freedom degree timber grab comprises a base, a big arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a paw, a servo drive device and two locking devices. The big arm telescopic mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is connected with the base through a first rotation pair, and the other end of the first connecting rod is connected with one end of the third connecting rod through a third rotation pair. The other end of the third connecting rod is connected with the second connecting rod through a fourth rotation pair. One end of the second connecting rod is connected with the base through a second rotation pair, and the other end of the second connecting rod is connected with the big arm through a fifth rotation pair. The locking devices are arranged on rotation pairs. A connecting rod transmission mechanism is adopted in the connecting rod type variable freedom degree timber grab for replacing traditional hydraulic transmission, and the defects that a hydraulic timber grab hydraulic system is complex, and oil leakage is likely to happen can be overcome; and due to the fact that the locking devices are adopted in the rotation pairs, the three-freedom-degree timber grabbing work can be achieved by utilizing two drive rods.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor drive link formula can variable freedom timber grab.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes timber grab in timber
Fell the extensive application in processing transport operation.Timber grab has mechanical type and fluid pressure type two types, the machinery of current timber grab
Arm great majority are hydraulic-drivens, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：It rises
Dynamic property is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking pollutes the environment, and affects timber former
The quality of material；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, work
The phenomenon such as powerless；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use will
Ask technology higher, difficulty is larger.With the increase of timber grab function, its hydraulic system becomes increasingly complex, and breaks down and has more
It is sudden, disguised.Mechanical type timber grab be using mechanical transmissioning piece realize grab wooden action, have the advantages that it is sturdy and durable, but
It is that traditional single-degree-of-freedom mechanical type timber grab can not complete complicated action, range of application is extremely limited, the controllable machine of mechanical type
The electronic timber grab of structure, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, is easily realized automatic
Change, NC postprocessing control, solve some shortcomings of hydraulic system presence, but existing needs outfit equal with linkage degree of freedom
The controlled motor of quantity is being 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 timber grab.The content of the invention
It is an object of the invention to provide a kind of servomotor drive link formula can variable freedom timber grab, overcome fluid pressure type to grab wood
Machine hydraulic system components accuracy has high demands, complex structure, easy oil leakage the shortcomings of, overcome open-chain structure motor be required for peace
The shortcoming of joint position is mounted in, and causes the quantity of controllable drive motor less than the degree of freedom of timber grab linkage, overcome existing
There is mechanical type electric timber grab structure to need be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled to lack
Point, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost.For achieving the above object, this
It is bright there is provided a kind of servomotor drive link formula can variable freedom timber grab, including base 1, large arm telescoping mechanism, elevator
Structure, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7 and the second locking device 29；
The large arm telescoping mechanism includes first connecting rod 27, second connecting rod 23 and third connecting rod 24, the one end of the first connecting rod 27 and bottom
Seat 1 rotates secondary 28 and connects by first, and the other end of first connecting rod 27 rotates secondary 26 and connects with the one end of third connecting rod 24 by the 3rd
Connect, 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 leads to base 1
Cross the second rotation secondary 22 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 bag
Forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first are included, first driving lever 20 passes through the 8th with base 1
Rotate secondary 21 to connect, 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 connects
The other end of bar 18 and the one end of forearm 14 rotate secondary 15 and be connecteds by the tenth, and the other end and the wrist connecting rod 12 of forearm 14 pass through the
14 rotate 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 rotates secondary 10 and is connected with large arm 8 by the 16th；The wrist connecting rod luffing mechanism includes the second driving lever the 3, the 4th
Connecting rod 5, large arm 8 and wrist connecting rod 12, second driving lever 3 rotates secondary 2 and is connected with base 1 by the 11st, and described second
The other end of driving lever 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 lock
The tight locking device 29 of 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 works
Condition is locked in good time；Servo drive include the first servomotor, the second servomotor, respectively with the first driving lever 20 and
Second driving lever 3 connects to drive it to rotate；First locking device 7 and the second locking device 29 are locked using electromagnetic mode
Tightly.
A kind of servomotor drive link formula of the present invention can variable freedom timber grab adopt controllable many bar closed chain mechanisms, overcome
The motor of open-chain structure is required for being arranged on the shortcoming of joint position, improves the stationarity and reliability of arm operation
Property, without cumulative error, precision is higher；Compact conformation, rigidity is high, and 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 spy is locked and loosened according to the different operating modes of mechanism
Fixed rotation pair, reduces the degree of freedom of mechanism in good time, realizes in the case where expected requirement is completed, the controllable driving for using
The quantity of motor is capable of achieving Three Degree Of Freedom and grabs carpentery workshop industry less than the degree of freedom of timber grab linkage using two driving levers, gram
The shortcoming that existing timber grab needs to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled is taken, simplifies knot
The complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, carry
High work efficiency.Also overcome simultaneously fluid pressure type timber grab hydraulic system element required precision height, complex structure, easy oil leakage,
The low shortcoming of poor reliability, transmission efficiency.
Description of the drawings
Fig. 1 can variable freedom timber grab schematic diagram for a kind of servomotor drive link formula of the present invention.
Specific embodiment
A kind of servomotor drive link formula can variable freedom timber grab, including base 1, large arm telescoping mechanism, elevating mechanism, handss
Wrist connecting rod luffing mechanism, wrist 31, paw 32, 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 first connecting rod 27, second connecting rod 23 and the 3rd
Connecting rod 24, one end of the first connecting rod 27 rotates secondary 28 and is connected with base 1 by first, the other end of first connecting rod 27 and the 3rd
The one end of connecting rod 24 rotates secondary 26 and connects by the 3rd, and the other end and the second connecting rod 23 of third connecting rod 24 rotate secondary 25 by the 4th
Connection；The one end of second connecting rod 23 and base 1 rotate secondary 22 and be connecteds by second, and the other end of second connecting rod 23 and large arm 8 pass through the
Five rotate secondary 9 connects；The elevating mechanism includes forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, institute
State the first driving lever 20 to be connected by eighth-turn dynamic secondary 21 with base 1, the other end and the 5th connecting rod 18 1 of the first driving lever 20
End rotates secondary 19 and connects by the 9th, and 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, little
The other end of arm 14 and wrist connecting rod 12 rotate secondary 13 and be connecteds by the 14th, and one end and the forearm 14 of six-bar linkage 16 pass through the
15 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
Luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, and second driving lever 3 leads to base 1
Cross the 11st rotation secondary 2 to connect, 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
Cross the 13rd rotation secondary 11 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.
A kind of servomotor drive link formula of the present invention can variable freedom timber grab in operating mode operation, 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 degree of freedom, 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 degree of freedom, and the 4th rotates the second locking device 29 at secondary 25 opens, the
Four rotate secondary 25 degree of gaining freedom, and now, large arm 8 realizes lifting.Rotate the rotation secondary 25 of pair 6 and the 4th to the 6th all to lock
Tightly, the 6th rotation secondary 6 and the 4th rotation secondary 25 loses degree of freedom, 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, complete jointly 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 carpentery workshop industry.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 quantity of controllable drive motor overcomes existing timber grab less than the degree of freedom of timber grab linkage
The shortcoming for being equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled is needed, simplifies the complicated journey of structure
Each connecting rod rod member is made lighter bar by degree, the weight of reducing mechanism, movement inertia, volume and cost, the timber grab of the present invention, so as to
So that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control, and by arranging revolving dial, makes timber grab possess 360
The revolution work space of degree, Work Space Range is big.
Claims (1)
1. a kind of servomotor drive link formula can variable freedom timber grab, it is characterised in that include：Base 1, large arm telescopic machine
Structure, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7 and the second lock
Tight device 29；The base 1 is arranged on removable revolving dial；The large arm telescoping mechanism includes first connecting rod 27, second
Connecting rod 23 and third connecting rod 24, one end of the first connecting rod 27 rotates secondary 28 and is connected with base 1 by first, first connecting rod 27
The other end rotates secondary 26 and is connected with the one end of third connecting rod 24 by the 3rd, and the other end and the second connecting rod 23 of third connecting rod 24 pass through
4th rotates secondary 25 connects；The one end of second connecting rod 23 and base 1 rotate secondary 22 and be connecteds by second, the other end of second connecting rod 23 and
Large arm 8 rotates secondary 9 and connects by the 5th；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage 16 and first
Driving lever 20, 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
The one end of five connecting rod 18 rotates secondary 19 and connects by the 9th, and the other end and the one end of forearm 14 of the 5th connecting rod 18 rotate secondary by the tenth
15 connections, the other end of forearm 14 rotates pair 13 and is connected with wrist connecting rod 12 by the 14th, one end of six-bar linkage 16 with it is little
Arm 14 rotates secondary 17 and connects by the 15th, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；Institute
Wrist connecting rod luffing mechanism is stated including the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3
Secondary 2 are rotated with base 1 by the 11st to be connected, the other end and the one end of fourth link 5 of second driving lever 3 pass through the 12nd
Rotate secondary 4 to 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 wrist of large arm 8
Connecting rod 12 rotates secondary 11 and connects by the 13rd；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 the first servo electricity
Machine, the second servomotor, are connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First locking device
7 and second locking device 29 locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062535.7A CN106609514A (en) | 2016-11-28 | 2016-11-28 | Connecting rod type variable freedom degree timber grab driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062535.7A CN106609514A (en) | 2016-11-28 | 2016-11-28 | Connecting rod type variable freedom degree timber grab driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609514A true CN106609514A (en) | 2017-05-03 |
Family
ID=58636231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062535.7A Pending CN106609514A (en) | 2016-11-28 | 2016-11-28 | Connecting rod type variable freedom degree timber grab driven by servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609514A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106759570A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | A kind of servomotor drives has variable active degree linkage |
Citations (7)
| 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 |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| 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 |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
| CN106049572A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Multiunit connecting rod driving heavy electro-hydraulic controllable sliding wood forking machine |
| 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 |
-
2016
- 2016-11-28 CN CN201611062535.7A patent/CN106609514A/en active Pending
Patent Citations (7)
| 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 |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| 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 |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
| CN106049572A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Multiunit connecting rod driving heavy electro-hydraulic controllable sliding wood forking machine |
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106759570A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | A kind of servomotor drives has variable active degree linkage |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106609514A (en) | Connecting rod type variable freedom degree timber grab driven by servo motor | |
| CN106625645A (en) | Servo-motor-drive connecting-rod type variable-degree-of-freedom painting operation mechanical arm | |
| CN106607865A (en) | Variable-freedom-degree multi-connection-rod coating operation mechanical arm driven by servo motor | |
| CN106607914A (en) | Servo drive rod type variable freedom degree mechanical arm used for assembling work | |
| CN106629021A (en) | Timber grab with freedom-degree-variable linkage mechanism | |
| CN106671135A (en) | Assembling operation mechanical arm of variable degree-of-freedom connecting rod mechanism comprising revolute pair locking device | |
| CN106671129A (en) | Servo drive rod type variable freedom degree mechanical arm for assembling work | |
| CN106608544A (en) | Feed stacking mechanical arm of variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device | |
| CN106625559A (en) | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors | |
| CN106609515A (en) | Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving | |
| CN106607876A (en) | Simple variable-degree of freedom mechanical arm for handling operation | |
| CN106625643A (en) | Dual servo motor driven variable-freedom-degree multi-connecting-rod timber grab | |
| CN106607652A (en) | Servo motor driving connection rod type variable degree of freedom welding mechanical arm | |
| CN106703094A (en) | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab | |
| CN106801443A (en) | The link-type that a kind of use servomotor drives can variable freedom timber grab | |
| CN106695756A (en) | Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation | |
| CN106759565A (en) | A kind of servomotor drives can variable freedom multi link timber grab | |
| CN106608525A (en) | Variable freedom degree connecting rod type timber grab driven by servo motor | |
| CN106607864A (en) | Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor | |
| CN106607929A (en) | Double servo drive variable freedom degree multi-rod type mechanical arm used for assembling work | |
| CN106671128A (en) | Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work | |
| CN106625558A (en) | Variable-degree-of-freedom linkage mechanism welding mechanical arm | |
| CN108116898A (en) | A kind of servomotor drive link formula can variable freedom feed stacking manipulator | |
| CN106759570A (en) | A kind of servomotor drives has variable active degree linkage | |
| CN106607915A (en) | Painting mechanical arm of variable-degree-of-freedom connecting rod mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
|
| WD01 | Invention patent application deemed withdrawn after publication |