CN209453158U - A kind of double servo-drive differential type movement/swing table devices - Google Patents
A kind of double servo-drive differential type movement/swing table devices Download PDFInfo
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- CN209453158U CN209453158U CN201920040953.9U CN201920040953U CN209453158U CN 209453158 U CN209453158 U CN 209453158U CN 201920040953 U CN201920040953 U CN 201920040953U CN 209453158 U CN209453158 U CN 209453158U
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- upper table
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Abstract
A kind of double servo-drive differential type movement/swing table devices, including be arranged symmetrically the first mechanism, the second mechanism and be vertically positioned at third mechanism below and lower table, driving mechanism, upper table, first, second mechanism includes at least gear shaft, gear shaft stool, thread spindle, the left and right support of thread spindle, pair of nut, pair of nut support sliding block, pin shaft, upper table support, single-disc electromagnetic clutch；Third mechanism includes at least servo motor, motor support base, shaft coupling, thread spindle, the left and right support of thread spindle, guide rail, pair of nut, pair of nut support sliding block, pin shaft；Driving mechanism includes servo motor, shaft coupling, gear shaft；Third mechanism realizes that workbench front-rear direction is mobile under servo motor driving；When single-disc electromagnetic clutch is attracted, the first, second mechanism simultaneously operation, workbench is moved left and right；When single-disc electromagnetic clutch separates, the first mechanism action, the second mechanism is static, and workbench makees small angle oscillation.
Description
Technical field
The utility model relates to a kind of platen device, in particular to a kind of double servo-drive differential type movement/pendulum
Dynamic table device.
Background technique
Chinese invention patent 200910254432.4 discloses a kind of movement/swing workbench dress of differential servo-drive
It sets, including motor, shaft coupling, pedestal, upper table, nut, feed screw nut support sliding block, ball-screw, rolling guide, cunning
Block, pin shaft, axle sleeve, lower table, pedestal.Wherein, motor is connected by shaft coupling with ball-screw, installed on ball-screw and
Its nut and feed screw nut support sliding block for cooperating.Upper table, lower table are connected by pin shaft and feed screw nut support sliding block
It connects；Further, the upper table further includes the sliding block and axle sleeve for realizing differential function.The pedestal further includes reality
The rolling guide of its existing locomotive function.Its working principle is that: turned by the motor driven ball screws being fixedly installed on pedestal
It is dynamic, this rotary motion is changed into lower table using nut, feed screw nut support sliding block and is moved forward and backward；By being fixedly installed in
Two motors on lower table start simultaneously, drive related ball screw turns, and utilize related nut, feed screw nut support
This movement is changed into upper table and moved left and right by sliding block；Started by the left motor being fixedly installed on lower table, is right
Side motor stops, and drives the ball screw turns that are connected with left motor, and utilization related nut, feed screw nut support sliding block,
This movement is changed into upper table small angle oscillation by sliding block, axle sleeve.
However, this device forms of motion and uncomplicated, but required motor number is more, increases use cost, practicability is not
By force.Furthermore it to realize accurate movement, needs to control two motors being installed on lower table and cooperates, operation is not easy.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of this utility model is that proposing that a kind of double servo-drives are differential
Formula movement/swing table device only realizes that workbench does mobile and small angle oscillation simultaneously by two servo motor drivings
Movement, have the characteristics that structure is simple, driving device is few, low in cost.
To achieve the goals above, the technical solution adopted in the utility model is:
A kind of double servo-drive differential type movement/swing table devices, including the first symmetrical mechanism, the second machine
Structure, below the first mechanism and the second mechanism and the third mechanism and lower table 20 vertical with the two, driving mechanism, on
Workbench 28；
First mechanism includes the second gear shaft stool 6 being fixedly mounted on lower table 20, the first thread spindle
Left support abutment 8, upper table rear support 9 and the first thread spindle right support abutment 10, second gear shaft stool 6 arrange along the y axis,
One thread spindle left support abutment 8, upper table rear support 9, the first thread spindle right support abutment 10 arrange along the x axis, the first thread spindle
Left support abutment 8 and the first thread spindle right support abutment 10 are located at the left and right sides of upper table rear support 9；Second gear axis 5 passes through
Tapered roller bearing is installed in second gear shaft stool 6, the interior hole axle of 7 axis of the first thread spindle and upper table rear support 9
Line is overlapped, and is installed in upper table rear support 9 by tapered roller bearing, is led between second gear axis 5 and the first thread spindle 7
Cross bevel gear engaged transmission；First pair of nut 24 is fixedly connected with the first pair of nut support sliding block 25, is mounted on the first screw thread
On axis 7, the first pair of nut support sliding block 25 passes through the pin hole being arranged thereon and installs the first pin shaft 26；
Second mechanism includes third gear shaft stool 19, the 4th gear shaft being fixedly mounted on lower table 20
Support 12 and the second thread spindle right support abutment 11, third gear shaft branch before support 16, the second thread spindle left support abutment 13, upper table
Seat 19 and the 4th gear shaft stool 16 arrange along the y axis, support 12, second before the second thread spindle left support abutment 13, upper table
Thread spindle right support abutment 11 arranges along the x axis, and respectively with the first thread spindle left support abutment 8, upper table rear support 9, first
Thread spindle right support abutment 10 is symmetrical arranged；Third gear shaft 18 is installed in third gear shaft stool 19 by tapered roller bearing,
4th gear shaft 15 is installed in the 4th gear shaft stool 16 by tapered roller bearing, 14 axis of the second thread spindle and upper work
The interior axially bored line for making support 12 before platform is overlapped, and is installed on before upper table in support 12 by tapered roller bearing, the 4th gear
Axis 15 and the second thread spindle 14 pass through bevel gear engaged transmission；Second pair of nut 29 and the fixed company of the second pair of nut support sliding block 30
It connects, is mounted on the second thread spindle 14；Second pair of nut support sliding block 30 passes through the pin hole being arranged thereon and installs the second pin shaft
31；
Second mechanism includes single-disc electromagnetic clutch 17, and single-disc electromagnetic clutch 17 is by left and right two parts structure
At left part is connect with 18 front end of third gear shaft by general flat key, and circumferentially fixed, right side is realized by holding screw
Part is connect with 15 rear end of the 4th gear shaft by general flat key, is fixed by circlip；
First mechanism and the second mechanism are connect by pin shaft, sliding block 27 and sleeve 32 with upper table 28；On described
Workbench 28 is horizontally installed to 12 top of support before upper table rear support 9 and upper table, and contacts with its upper surface, upper work
Make that sliding block 27 is installed in the slideway in 28 left side of platform, 26 lower end of the first pin shaft is installed on the hole of the first pair of nut support sliding block 25
Interior, upper end is installed in the hole of sliding block 27, and sleeve 32, the lower end peace of the second pin shaft 31 are equipped in 28 right ports of upper table
In hole loaded on the second pair of nut support sliding block 30, upper end is installed in 32 hole of sleeve；
The third mechanism includes pedestal 23, and the second servo motor 33, third thread spindle left support abutment 36, third thread spindle are right
Support 41, the guide rail 22 that can be moved forward and backward are fixedly mounted on pedestal 23, the output connection second of the second servo motor 33
One end of shaft coupling 35, the other end of second shaft coupling 35 connect third thread spindle 37, and third thread spindle 37 is installed by bearing
In third thread spindle left support abutment 36, third thread spindle right support abutment 41；Third pair of nut 38 and third pair of nut support sliding block 39
It is fixedly connected, is installed on third thread spindle 37；40 lower end of third pin shaft is installed in the hole of third pair of nut support sliding block 39,
Upper end is installed in the hole of lower table 20；
The driving mechanism is mounted on lower table 20, including the first servo motor 1 being fixed on lower table 20,
The output of first servo motor 1 connects first gear axis 4 by first shaft coupling 3, first gear axis 4 and second gear axis 5, the
Pass through bevel gear engaged transmission torque between three gear shafts 18.
The first servo motor 1 is mounted by means of bolts on first motor support 2, and first motor support 2 passes through
Screw is mounted on lower table 20.
Second servo motor 33 is fixedly mounted on the second motor support base 34, and the second motor support base 34 is fixed on pedestal
On 23.
The guide rail guide holder 21 cooperated with guide rail 22 is fixed on the lower table 20, guide rail 22 is installed on guide holder
In 21 slideway.In turnaround of unit, it is mobile that guide holder 21 can be realized 22 front-rear direction of opposite rail.
Since the utility model uses differential structure, second is realized by setting single-disc electromagnetic clutch power on/off
Mechanism kinematic is static, so realize upper table move left and right (along X to) with the movement of small angle oscillation (around Z-direction), pass through
Third mechanism driving realizes that lower table is moved forward and backward (along Y-direction), and then upper table is driven to realize the movement being moved forward and backward, energy
Enough meeting needs of production, and uses less motor driven, structure is simple, and it is at low cost, it is practical.
Detailed description of the invention
Fig. 1 is the cross-sectional view of this table device, section plane A-A.
Fig. 2 is the top view of this table device.
Fig. 3 is the cross-sectional view of this table device, section plane B-B.
Fig. 4 is the cross-sectional view of this table device, section plane C-C.
Appended drawing reference is as follows:
1. first servo motor；2. first motor support；3. first shaft coupling；4. first gear axis；5. second gear axis；
6. second gear shaft stool；7. the first thread spindle；8. the first thread spindle left support abutment；9. upper table rear support；10. the first screw thread
Axis right support abutment；11. the second thread spindle right support abutment；12. support before upper table；13. the second thread spindle left support abutment；14. the second spiral shell
Line axis；15. the 4th gear shaft；16. the 4th gear shaft stool；17. single-disc electromagnetic clutch；18. third gear shaft；19. the
Three gear shaft stools；20. lower table；21. guide rail guide holder；22. guide rail；23. pedestal；24. the first pair of nut；25. first
Pair of nut support sliding block；26. the first pin shaft；27. sliding block；28. upper table；29. the second pair of nut；30. the second pair of nut branch
Seat sliding block；31. the second pin shaft；32. sleeve；33. the second servo motor；34. the second motor support base；35. second shaft coupling；36.
Third thread spindle left support abutment；37. third thread spindle；38. third pair of nut；39. third pair of nut support sliding block；40. third pin
Axis；41. third thread spindle right support abutment.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
A kind of double servo-drive differential type movement/swing table devices, including be arranged symmetrically the first mechanism, the second machine
Structure is vertically positioned at the first mechanism, the third mechanism below the second mechanism and lower table 20, driving mechanism, upper table 28.
Each section concrete composition is as follows.
Referring to Fig. 1, Fig. 2, first mechanism includes the second gear shaft stool being fixedly mounted on lower table 20
6, the first thread spindle left support abutment 8, upper table rear support 9 and the first thread spindle right support abutment 10, second gear shaft stool 6 is along Y-axis
Direction arranges that the first thread spindle left support abutment 8, upper table rear support 9, the first thread spindle right support abutment 10 are arranged along the x axis,
First thread spindle left support abutment 8 and the first thread spindle right support abutment 10 are located at the left and right sides of upper table rear support 9；Second tooth
Wheel shaft 5 is installed in second gear shaft stool 6 by tapered roller bearing, and end cap is installed to guarantee the in tapered roller bearing two sides
The axial restraint of two gear shafts 5,7 axis of the first thread spindle are overlapped with the interior axially bored line of upper table rear support 9, are rolled by circular cone
Sub- bearing is installed in upper table rear support 9, passes through bevel gear engaged transmission between second gear axis 5 and the first thread spindle 7；
First pair of nut 24 is fixedly connected with the first pair of nut support sliding block 25 by screw, is mounted on the first thread spindle 7, first
Pair of nut support sliding block 25 passes through the pin hole being arranged thereon and installs the first pin shaft 26.
Referring to Fig. 1, Fig. 2, second mechanism includes the third gear shaft stool being fixedly mounted on lower table 20
19, support 12 and the second thread spindle right support abutment 11 before the 4th gear shaft stool 16, the second thread spindle left support abutment 13, upper table,
Third gear shaft stool 19 and the 4th gear shaft stool 16 are arranged along the y axis, before the second thread spindle left support abutment 13, upper table
Support 12, the second thread spindle right support abutment 11 arrange along the x axis, and respectively and after the first thread spindle left support abutment 8, upper table
Support 9, the first thread spindle right support abutment 10 are symmetrical arranged；Third gear shaft 18 is installed on third gear shaft by tapered roller bearing
In support 19, the 4th gear shaft 15 is installed in the 4th gear shaft stool 16 by tapered roller bearing, 14 axis of the second thread spindle
Line is overlapped with the interior axially bored line of support 12 before upper table, is installed on before upper table in support 12 by tapered roller bearing,
4th gear shaft 15 and the second thread spindle 14 pass through bevel gear engaged transmission；Second pair of nut 29 and the second pair of nut support are sliding
Block 30 is fixedly connected by screw, is mounted on the second thread spindle 14；Second pair of nut support sliding block 30 by being arranged thereon
Pin hole install the second pin shaft 31.
Second mechanism includes single-disc electromagnetic clutch 17, and effect is the second thread spindle after clutch 17 is detached from
14 stop operating, and the first thread spindle 7 continues to rotate, and realize a minor rotation pivot angle of upper table, one chip electromagnetic clutch
Device 17 is made of left and right two parts, and left part is connect with 18 front end of third gear shaft by general flat key, by holding screw
Realize circumferentially fixed, right part is connect with 15 rear end of the 4th gear shaft by general flat key, is fixed using circlip.
Referring to Fig. 1, Fig. 2, the driving mechanism is mounted on lower table 20, including be fixed on lower table 20
One servo motor 1, the first servo motor 1 are mounted by means of bolts on first motor support 2, first motor support 2
It is mounted on lower table 20 by screw.One end of the output connection first shaft coupling 3 of first servo motor 1, the first shaft coupling
The other end of device 3 connects first gear axis 4, passes through cone tooth between first gear axis 4 and second gear axis 5, third gear shaft 18
Wheel engaged transmission torque.
Referring to fig. 2, Fig. 3 and Fig. 4, first mechanism, the second mechanism are connected by pin shaft, sliding block 27 and upper table 28
It connects, or is connect by pin shaft, sleeve 32 with upper table 28；The upper table 28 is horizontally installed to upper table rear support 9
It with the top of support 12 before upper table, and is contacted with its upper surface, sliding block 27 is installed in the slideway in 28 left side of upper table,
First pin shaft, 26 lower end is installed in the hole of the first pair of nut support sliding block 25, and upper end is installed in the hole of sliding block 27, upper work
Sleeve 32 is installed in 28 right ports of platform, the lower end of the second pin shaft 31 is installed in the hole of the second pair of nut support sliding block 30, on
End is installed in 32 hole of sleeve, in the turnaround of unit, upper table 28 can be realized support 12 before opposite upper table,
Upper table rear support is mobile, rotates two movements.
Referring to Fig. 3, Fig. 4, the third mechanism includes pedestal 23, the second servo motor 33, third thread spindle left support abutment 36,
Third thread spindle right support abutment 41, the guide rail 22 that can be moved forward and backward are fixedly mounted on pedestal 23 by screw, the second servo
One end of the output connection second shaft coupling 35 of motor 33, the other end of second shaft coupling 35 connect third thread spindle 37, third
Thread spindle 37 is mounted on third thread spindle left support abutment 36 by bearing, in third thread spindle right support abutment 41, bearing two sides installation end
Lid is to guarantee 37 axial restraint of third thread spindle；Third pair of nut 38 and third pair of nut support sliding block 39 connect by the way that screw is fixed
It connects, is installed on third thread spindle 37；40 lower end of third pin shaft is installed in the hole of third pair of nut support sliding block 39, upper end peace
In hole loaded on lower table 20.
Second servo motor 33 is fixedly mounted on the second motor support base 34, and the second motor support base 34 is fixed on pedestal
On 23.
It is fixed on the lower table 20 and cooperates guide rail guide holder 21 with guide rail 22, guide rail 22 is installed on guide holder 21
Slideway in.In turnaround of unit, it is mobile that guide holder 21 can be realized 22 front-rear direction of opposite rail.
The working principle of the utility model is:
As shown in Figure 2, Figure 4 shows, to realize that table device makees front-rear direction (Y-direction) movement, the second servo motor is only needed
Output torque after 33 energizations, third pair of nut 38 rotate, and this movement is converted to lower table 20 by third pair of nut 38
The threadingly shift action of axis axis direction；To realize that table device makees front-rear direction reciprocating motion, it need to only change second
The rotation direction of servo motor 33 (motor is rotated forward, inverted).
To realize that it is mobile that table device makees left and right directions (X to), particularly, first single-disc electromagnetic clutch 17 is led to
Electricity makes its actuation, guarantees that third gear shaft 18 and the 4th gear shaft 15 rotate synchronously；Then after first servo motor 1 being powered
Output torque engages the first thread spindle 7 of driving and 14 constant velocity rotation of the second thread spindle using bevel gear, and passes through the first pair of nut
24 and second pair of nut 29 corresponding rotary motion is converted to the shift action of upper table threadingly axis direction；To realize work
Make platform device and make left and right directions reciprocating motion, need to only change 1 rotation direction of first servo motor (motor is rotated forward, inverted).
To realize that table device makees low-angle (about the z axis) swing, the power-off of single-disc electromagnetic clutch 17 is first made it
Separation guarantees that third gear shaft 18 and the 4th gear shaft 15 disconnect；Then by 1 energization output torque of first servo motor,
It is rotated using bevel gear engaged transmission the first thread spindle 7 of driving, and is converted to corresponding rotary motion by the first pair of nut 24
Mobile movement.At this point, the rotation of the first thread spindle 7 and the second thread spindle 14 stops, corresponding first pair of nut 24 it is mobile and the
Two pair of nut 29 are static；Accordingly, due to (dynamic cooperation) can be relatively rotated between pin shaft and sliding block 27, sleeve 32, it is installed on the
The mobile band movable slider 27 of the first pin shaft 26 on one pair of nut support sliding block 25 moves in upper table slideway, works in driving
Platform makees the movement swung around 32 center of sleeve.To realize that table device makees the movement around bushing core reciprocally swinging, only need
Change 1 rotation direction of first servo motor (motor is rotated forward, inverted).
The table device can realize two kinds of forms of motion: front-rear direction is mobile and left and right directions is mobile while carrying out；Before
Rear direction is mobile and small angle oscillation carries out simultaneously.Distinguishingly, which can not realize left and right directions movement and small angle
Degree is swung to carry out simultaneously, and device must on the direction far from first servo motor 1 (diagram X-axis positive) movement a distance
It can make the movement of small angle oscillation afterwards.
Claims (4)
1. a kind of double servo-drive differential type movement/swing table devices, which is characterized in that including the first symmetrical machine
Structure, the second mechanism, below the first mechanism and the second mechanism and the third mechanism and lower table (20) vertical with the two,
Driving mechanism, upper table (28)；
First mechanism includes second gear shaft stool (6), the first thread spindle being fixedly mounted on lower table (20)
Left support abutment (8), upper table rear support (9) and the first thread spindle right support abutment (10), second gear shaft stool (6) is along the y axis
Arrangement, the first thread spindle left support abutment (8), upper table rear support (9), the first thread spindle right support abutment (10) cloth along the x axis
It sets, the first thread spindle left support abutment (8) and the first thread spindle right support abutment (10) are located at the left and right two of upper table rear support (9)
Side；Second gear axis (5) is installed in second gear shaft stool (6) by tapered roller bearing, the first thread spindle (7) axis with
The interior axially bored line of upper table rear support (9) is overlapped, and is installed in upper table rear support (9) by tapered roller bearing, the
Pass through bevel gear engaged transmission between two gear shafts (5) and the first thread spindle (7)；First pair of nut (24) and the first pair of nut branch
Seat sliding block (25) is fixedly connected, and is mounted on the first thread spindle (7), and the first pair of nut support sliding block (25) by being arranged thereon
Pin hole install the first pin shaft (26)；
Second mechanism includes third gear shaft stool (19), the 4th gear shaft being fixedly mounted on lower table (20)
Support (12) and the second thread spindle right support abutment (11), third tooth before support (16), the second thread spindle left support abutment (13), upper table
Axle support (19) and the 4th gear shaft stool (16) are arranged along the y axis, before the second thread spindle left support abutment (13), upper table
Support (12), the second thread spindle right support abutment (11) arrange along the x axis, and respectively with the first thread spindle left support abutment (8), upper work
Make platform rear support (9), the first thread spindle right support abutment (10) is symmetrical arranged；Third gear shaft (18) is installed by tapered roller bearing
In third gear shaft stool (19), the 4th gear shaft (15) is installed on the 4th gear shaft stool (16) by tapered roller bearing
Interior, the second thread spindle (14) axis is overlapped with the interior axially bored line of support before upper table (12), is installed by tapered roller bearing
Before upper table in support (12), the 4th gear shaft (15) and the second thread spindle (14) pass through bevel gear engaged transmission；Second
Pair of nut (29) is fixedly connected with the second pair of nut support sliding block (30), is mounted on the second thread spindle (14)；Second nut
Secondary support sliding block (30) passes through the pin hole installation the second pin shaft (31) being arranged thereon；
Second mechanism includes single-disc electromagnetic clutch (17), and single-disc electromagnetic clutch (17) is by left and right two parts structure
At left part is connect with third gear shaft (18) front end by general flat key, and circumferentially fixed, the right side is realized by holding screw
Side section is connect with the 4th gear shaft (15) rear end by general flat key, is fixed by circlip；
First mechanism and the second mechanism are connect by pin shaft, sliding block (27) and sleeve (32) with upper table (28)；It is described
Upper table (28) is horizontally installed to before upper table rear support (9) and upper table at the top of support (12), and with its upper surface
It contacts, is equipped with sliding block (27) in the slideway on the left of upper table (28), the first pin shaft (26) lower end is installed on the first pair of nut
In the hole of support sliding block (25), upper end is installed in the hole of sliding block (27), is equipped with sleeve in upper table (28) right ports
(32), the lower end of the second pin shaft (31) is installed in the hole of the second pair of nut support sliding block (30), and upper end is installed on sleeve (32)
In hole；
The third mechanism includes pedestal (23), the second servo motor (33), third thread spindle left support abutment (36), third thread spindle
Right support abutment (41), the guide rail (22) that can be moved forward and backward are fixedly mounted on pedestal (23), the second servo motor (33) it is defeated
The one end of second shaft coupling (35) is connected out, and the other end of second shaft coupling (35) connects third thread spindle (37), third screw thread
Axis (37) is mounted in third thread spindle left support abutment (36), third thread spindle right support abutment (41) by bearing；Third pair of nut
(38) it is fixedly connected, is installed on third thread spindle (37) with third pair of nut support sliding block (39)；Third pin shaft (40) lower end
It is installed in the hole of third pair of nut support sliding block (39), upper end is installed in the hole of lower table (20)；
The driving mechanism is mounted on lower table (20), including the first servo motor being fixed on lower table (20)
(1), the output of first servo motor (1) passes through first shaft coupling (3) connection first gear axis (4), first gear axis (4) and the
Pass through bevel gear engaged transmission torque between two gear shafts (5), third gear shaft (18).
2. a kind of double servo-drive differential type movement/swing table devices according to claim 1, which is characterized in that
The first servo motor (1) is fixedly mounted on first motor support (2), and first motor support (2) is fixedly mounted on lower work
Make on platform (20).
3. a kind of double servo-drive differential type movement/swing table devices according to claim 1, which is characterized in that
Second servo motor (33) is fixedly mounted on the second motor support base (34), and the second motor support base (34) is fixed on pedestal
(23) on.
4. a kind of double servo-drive differential type movement/swing table devices according to claim 1, which is characterized in that
The guide rail guide holder (21) with guide rail (22) cooperation is fixed on the lower table (20), guide rail (22) is installed on guide holder
(21) in slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920040953.9U CN209453158U (en) | 2019-01-10 | 2019-01-10 | A kind of double servo-drive differential type movement/swing table devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920040953.9U CN209453158U (en) | 2019-01-10 | 2019-01-10 | A kind of double servo-drive differential type movement/swing table devices |
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| Publication Number | Publication Date |
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| CN209453158U true CN209453158U (en) | 2019-10-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571052A (en) * | 2019-01-10 | 2019-04-05 | 陕西科技大学 | Double servo-drive differential type movement/swing table devices |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571052A (en) * | 2019-01-10 | 2019-04-05 | 陕西科技大学 | Double servo-drive differential type movement/swing table devices |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191001 Termination date: 20220110 |