CN106759570A - A kind of servomotor drives has variable active degree linkage - Google Patents

A kind of servomotor drives has variable active degree linkage Download PDF

Info

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
Authority
CN
China
Prior art keywords
rod
rotates
arm
locking
base
Prior art date
Application number
CN201611079618.7A
Other languages
Chinese (zh)
Inventor
不公告发明人
Original Assignee
广西大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201611079618.7A priority Critical patent/CN106759570A/en
Publication of CN106759570A publication Critical patent/CN106759570A/en

Links

Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/30Dredgers; 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
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/30Dredgers; 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
    • E02F3/301Dredgers; 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
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/36Component parts
    • E02F3/40Dippers; Buckets Grab device, e.g. manufacturing processes for buckets, form, geometry, material of buckets
    • E02F3/413Dippers; Buckets Grab device, e.g. manufacturing processes for buckets, form, geometry, material of buckets with grabbing device
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/36Component parts
    • E02F3/42Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/425Drive systems for dipper-arms, backhoes or the like

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

A kind of servomotor drives has variable active degree linkage
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.
CN201611079618.7A 2016-11-30 2016-11-30 A kind of servomotor drives has variable active degree linkage CN106759570A (en)

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 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)

* Cited by examiner, † Cited by third party
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
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
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
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

Patent Citations (10)

* Cited by examiner, † Cited by third party
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
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
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
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

Similar Documents

Publication Publication Date Title
CN105339628B (en) Switching valve and the internal combustion engine with this switching valve and the method for switching valve
CN102490174B (en) Mechanical arm with frame-type extension arm
CN101817181B (en) Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles
CN101892680A (en) Mechanical two-degree-of-freedom controllable loading machine
CN202728394U (en) Spider robot
CN104047315A (en) Loading mechanism with active metamorphic function
CN101804636B (en) Five degree-of-freedom reconfigurable modular service robot arm
CN104440866A (en) Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair
CN103168569B (en) A kind of side chain rests control type multiple degrees of freedom connecting-rod mechanism type cane car loader
CN103174178A (en) Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine
CN103381602A (en) Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom
CN201753238U (en) Hydraulic operating mechanism of automobile crane
CN105313107B (en) Rotatable manipulation arm with metamorphic function
CN206913147U (en) A kind of folding three claw robot
CN104047317A (en) Metamorphic mechanism type mechanical loading mechanism
CN101412216A (en) Universal fruit tree manipulator
CN107756348A (en) The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale
CN103132550A (en) Discrete limited variable-speed input multiple-freedom-degree controllable mechanism type excavator
CN105291100A (en) Mechanical arm working at multiple angles
CN104224325B (en) A kind of wire rope gearing linear telescopic mechanism for micro-wound operation robot
CN101486192B (en) Single motor driven two-freedom degree joint structure
CN106080763A (en) A kind of fluid motor-driven steering based on all-hydraulic steering gear
CN103168570A (en) Human-driven cane loader with metamorphic function
US2806431A (en) Liquid piston engine or liquid piston pump
CN107140055A (en) Electronic Hexapod Robot is merged in trick

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
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20170531