CN101334063A - Super large workspace spherical face hinge - Google Patents
Super large workspace spherical face hinge Download PDFInfo
- Publication number
- CN101334063A CN101334063A CNA2008100550237A CN200810055023A CN101334063A CN 101334063 A CN101334063 A CN 101334063A CN A2008100550237 A CNA2008100550237 A CN A2008100550237A CN 200810055023 A CN200810055023 A CN 200810055023A CN 101334063 A CN101334063 A CN 101334063A
- Authority
- CN
- China
- Prior art keywords
- lever
- take
- support
- socket
- ball
- 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
Images
Landscapes
- Pivots And Pivotal Connections (AREA)
Abstract
The invention discloses a spherical hinge which is provided with a large operating space. The spherical hinge is characterized in that a double-lug supporting frame (10) and a lower supporting rod (11) are fixedly connected with a supporting ball socket (1) into a whole, the double-lug supporting frame (10) is rotationally connected with a U-shaped shifting fork (3) through pins (2 and 9), the U-shaped shifting fork (3) is installed at the outer side of the double-lug supporting frame (10), a rotating supporting frame (6), the pins (7 and 7`) on the rotating supporting frame and supporting rollers (8 and 8`) are nested on an output rod (5) together, and the lower end of the output rod (5) is fixed with a ball head (4) centrally and is arranged in the supporting ball socket (1); the U-shaped shifting fork (3) is a semicircular arc cylindrical combined body, pin holes are arranged at both ends of the U-shaped shifting fork, and a radial sealed long groove internally and externally transparent and taking the middle plane of axial width as a symmetrical plane is arranged along the circumferential direction; the output rod (5) penetrates through the sealed long groove and can swing reciprocally in the sealed long groove. The spherical hinge has the advantages that the swinging space of the output rod is large, the structure is simple, and the volume is small, etc. The important basic unit in mechanism, namely the performance of the spherical hinge is changed in the spherical hinge, thereby bringing important influence to the mechanical design in engineering.
Description
Technical field
The present invention relates to have big workspace spherical face hinge, belong to mechanics robot or mechanical field.
Background technique
The sphere hinge is rotatably connected as a kind of, and it is made of the ball-and-socket of the bulb that is connected with take-off lever with the strut that is connected usually.When an end fixedly the time, the other end then has three rotational freedoms.In mechanics, robot field, this being rotatably connected is called spherical pair.These two key elements must reliable and stable keeping in touch in theory.Yet on the engineering, this spherical pair is under pressure or pulling force all can not separate, and must be guaranteed on structural design.
At present, the typical structure of sphere hinge main, commonly used has two kinds of forms: horizontal subdivision ball-and-socket type.Promptly with strut axis normal and the horizontal section of crossing the centre of sphere the ball-and-socket separated into two parts, the hemispherical Shell that connects firmly with strut partly is called the support ball-and-socket, another part is called the constraint ball-and-socket.During installation, the constraint ball-and-socket is set on the take-off lever, the constraint bulb, fix with supporting ball-and-socket again, thus the linear displacement (see figure 5) of restriction bulb and take-off lever; Vertical subdivision ball-and-socket type, promptly the longitudinal profile by the strut axis is divided into symmetrical two halves to ball-and-socket, and during installation, the two halves ball-and-socket is buckled together and contains bulb, and then connects firmly (see figure 6) each other.
Chinese patent (notification number: CN 2106260U) disclose a kind of novel ball-type hinge, the key problem in technology of this invention is the ball-and-socket liner that has disposed an oil-containing polyformaldehyde material shot moulding between ball (pin) head and ball key seat, is used to improve the motion and the frictional behaviour of sphere hinge.Bulb is identical with the sphere hinge of horizontal subdivision ball-and-socket type with the constituted mode of ball-and-socket; Chinese patent (notification number: CN1586966A) leg structure of the four feet walking robot that a kind of foot float to support is disclosed, the sphere hinge that wherein relates to, its structure belongs to horizontal subdivision ball-and-socket type.
All there is common shortcoming in existing sphere hinge: the hunting range of take-off lever is little, that is:
Wherein: the radius of r take-off lever; The height of h constraint ball-and-socket; r
0Be the radius of a ball.Therefore, be to guarantee requirement of mechanical strength, the height of take-off lever radius, constraint ball-and-socket can not be too little generally speaking, so the pivot angle scope is affected and reduces, and generally is no more than ± 60 °.
The little problem of hunting range of sphere hinge take-off lever, be not well solved all the time, it is many-sided using the influence that brings to engineering, can't realize bigger working space requirement because of the sphere hinge influence that is subjected to wherein to a certain extent as the working space of parallel machine tool; Mechanics, robot mechanism are because of the restriction of sphere hinge, and its actual working space is less; Sphere in the anthropomorphic robot (joint) hinge working space is little and can not satisfy limb motion requirement or the like.
Summary of the invention
At the problems referred to above of prior art existence and the requirement on the engineering, the invention provides a kind of sphere hinge with big working space.
The technical solution adopted for the present invention to solve the technical problems is: with horizontal subdivision ball-and-socket type sphere hinge is prototype, utilize motion and constraint individual event decomposition, cross-matched method, to support ball-and-socket and the constraint ball-and-socket certain distance that is separated from each other, the support ball-and-socket remains unchanged, and constraint ball-and-socket radius increases, forms spherical crown, be rotatably connected by two bearing pins formations that split on axis of the mistake centre of sphere between the two, even the constraint ball-and-socket has relative support ball-and-socket one-way rotation.The restriction ball-and-socket rotates relative to linear displacement and other both direction at the center of supporting ball-and-socket simultaneously.The plane that axis was constituted with constraint ball-and-socket center line and bearing pin is a symmetry plane, on the constraint ball-and-socket along the circumferential direction, radially inside and outside penetrating cutting elongated groove, with three rotations that quadrature is then resolved in the motion of take-off lever, i.e. x, y, the rotation of z axle.The dead in line of its shaft y and bearing pin, take-off lever is arranged on another swing in the symmetry plane of elongated slot by stretching out (passing) in the groove, and promptly take-off lever can be along cell wall (promptly around the x axle) reciprocally swinging, and the while can be around self rotational.Like this, take-off lever just have around the x axle, with the constraint ball-and-socket together be the rotation of y axle swing and self axis around bearing pin.For eliminate member do something in disregard of obstacles relate to and machining convenient, will retrain the ball-and-socket redundance disappear (cutting) fall, and make the U-shaped cylndrical surface into, i.e. the U-shaped shift fork.At last, the short cylindrical shape back-up roll is set between the cylndrical surface, is used to replace original bulb and directly contacts, be limited in the disengaging of take-off lever and bulb and support ball-and-socket under the tension with retraining ball-and-socket at take-off lever and constraint.
The invention has the beneficial effects as follows: increase the swing working space of hinge, improve the performance of ball pivot.Solve spherical hinge and on engineering, used the problem that is restricted.The sphere hinge is exactly the spherical motion pair in mechanics, it is the elementary cell that constitutes mechanism, the improvement of its performance is huge and comprehensive to the effect of mechanics, to improving, improve the working space and the performance of equipments such as mechanism, robot and parallel machine tool, significant for the application that enlarges field sphere hinges such as civil engineering, military project, Aero-Space.
Description of drawings
Fig. 1 is the novel spherical hinge chain structure schematic representation with big working space of ears support fixed;
Fig. 2 is the rotary-type novel spherical hinge chain structure schematic representation with big working space of ears support;
Fig. 3 is the novel spherical hinge chain structure schematic representation with big working space of ball/nest transposition type;
Fig. 4 is the novel spherical hinge chain structure schematic representation that U-shaped shift fork internally-arranged type has big working space;
Fig. 5 is the spherical hinge chain structure schematic representation of the horizontal subdivision ball-and-socket used always;
Fig. 6 is the spherical hinge chain structure schematic representation of vertical subdivision ball-and-socket of using always.
In above-mentioned accompanying drawing, 1. support ball-and-socket, 2,9. bearing pin, 3.U shape shift fork, 4. bulb, 5. take-off lever, 6. runing rest, (7,7 '). support bearing pin, (8,8 '). back-up roll, 10. ears support, 11. lower support bars, 12 side's take-off levers, 13. movable ball-and-socket, 14. solid U-shaped shift fork, 15. intermediate support are rolled, 16. hollow take-off levers.
Embodiment
Fig. 1 is first embodiment disclosed by the invention, is a kind of novel sphere hinge with big working space of ears support fixed.It is made up of support unit, output unit and spherical pair unit, and described support unit comprises that ears support 10, lower support bar 11 and U-shaped shift fork 3 and ears support 10 constitute the bearing pin (2,9) that is rotationally connected.Described output unit comprises take-off lever 5, runing rest 6, supports bearing pin (7,7 ') and back-up roll (8,8 ').Described spherical pair unit comprises fulcrum ball nest 1, bulb 4 and U-shaped shift fork 3.Wherein, ears support 10 is fixedly connected with lower support bar 11, fixes at the centre of sphere of ball-and-socket and the centre of sphere coincident points place of hinge with supporting ball-and-socket 1 simultaneously, supports the rotational axis of ball-and-socket 1 and the dead in line of lower support bar 11.Runing rest 6 is that bearing pin (7,7 ') is supported for cylindrical hole, each dress of front and back in solid of rotation, centre, and back-up roll (8,8 ') then symmetry is contained on corresponding two support bearing pins (7,7 '), supports bearing pin (7,7 ') and runing rest 6 intersect vertical axis.Take-off lever 5 lower ends and bulb are fixed the heart and are placed and support ball-and-socket 1 formation spherical motion pair; Take-off lever 5 is provided with the axially locating step for ladder oblique crank Z, centre, and runing rest 6 is sleeved on the take-off lever 5 together together with dress support bearing pin (7,7 '), back-up roll (8,8 ') thereon, and realizes the location with the axially locating step.U-shaped shift fork 3 is a semicircular arc cylinder cells zoarium, two ends are provided with pin-and-hole, are contained in the outside of ears support (10), and it can install around at the bearing pin of ears support 10 both sides (2,9) reciprocally swinging, the common axis at two bearing pin places is the diameter by the centre of sphere, and with the axis normal of lower support bar 11; With the axial width midplane of U-shaped shift fork 3 is that symmetry plane is along the circumferential direction left radially inside and outside penetrating sealing elongated slot, passes in the groove of the output terminal of take-off lever 5 by U-shaped shift fork 3, and take-off lever 5 diameters and elongated slot be with wide, and can be along groove sidewall reciprocally swinging.The back-up roll of the front and back on the runing rest 6 (8,8 ') contacts with U-shaped shift fork 3 both sides circular arc internal surfaces, and the parallel axes of the axis of back-up roll (8,8 ') and U-shaped shift fork 3 cylndrical surface is to realize support.
When take-off lever 5 is subjected to centrifugal tension, this power will be passed to the bearing pin (7,7 '), back-up roll (8,8 '), U-shaped shift fork 3 of runing rest 6, back-up roll by the positioning step of take-off lever 5 until ears support 10, finish the effect of constraint ball-and-socket jointly.Take-off lever 5 output terminals are cylindrical, can independently rotate around the take-off lever axis together with the assemblying body of the fixing bulb in lower end, in the function that has realized the sphere hinge fully.Enlarged the working space of hinge simultaneously.
Around y axle hunting range:
Wherein: r is the radius of take-off lever and contacting point, ball-and-socket outer; r
0Be the radius of a ball; Generally can reach ± 80 °.
Around x axle hunting range:
Wherein: the radius of r take-off lever; H is the height of bearing pin (2, the 9) axis of ears support 10 to the coboundary; R
0Mean radius for the U-shaped shift fork.Pivot angle generally can reach ± and 65 °.The rotation of Z axle is unrestricted, promptly 360 °.
Fig. 2 is second embodiment disclosed by the invention, is the rotary-type novel sphere hinge with big working space of a kind of ears support.It is made up of support unit, output unit and spherical pair unit.Described support unit comprises ears support 10, lower support bar 11 and bearing pin (2,9); The described output unit side of comprising take-off lever 12, support bearing pin (7,7 ') and back-up roll (8,8 '); Described spherical pair unit comprises fulcrum ball nest 1, bulb 4 and U-shaped shift fork 3.Wherein the difference with embodiment 1 is: ears support 10 can be around the unrestricted rotation of lower support bar 11 axis (upper axial location); U-shaped shift fork 3 places ears support 10 inboards; Direct and square take-off lever 12 installing and locating (having removed runing rest) of bearing pin (7,7 ') and back-up roll (8,8 '), the axis keeping parallelism of the axis of bearing pin (7,7 ') and U-shaped shift fork 3 cylndrical surface; The part that side's take-off lever 12 passes U-shaped shift fork 3 adopts flat or square-section, and with the groove of U-shaped shift fork 3 with wide.
When square take-off lever 12 is swung, identical around the y Shaft angle with embodiment 1, slightly increase around the x Shaft angle, can reach ± 68 °.When square take-off lever 12 during around the rotation of self axis, U-shaped shift fork 3, ears support 10, bearing pin (7,7 ') and back-up roll (8,8 ') together with bulb 4 simultaneously around the rotational of lower support bar 11.This scheme in fact will have been avoided around x axle hunting range problem of smaller, and it is weakened to the influence of the motion of take-off lever, in other words, this embodiment attainable two to actual hunting range all can reach ± 80 °.
This embodiment's deficiency is: when the pivot angle of take-off lever surpasses 50 °, take-off lever will become dumb around self axis rotation.
Fig. 3 is the 3rd embodiment disclosed by the invention, is the novel sphere hinge with big working space of a kind of ball/nest transposition type.It is made up of support unit, output unit and spherical pair unit, and described support unit comprises ears support 10, lower support bar 11 and bearing pin (2,9); Described output unit comprises take-off lever 5, rotation supporting frame 6, supports bearing pin (7,7 ') and back-up roll (8,8 '); Described spherical pair unit comprises bulb 4, movable ball-and-socket 13 and U-shaped shift fork 3.The difference of wherein comparing with embodiment 1 is: bulb 4 is exchanged with the position of original support ball-and-socket 1, the heart is fixed at centre of sphere point with lower support bar 11, and the size that supports ball-and-socket 1 is reduced to segment by original hemisphere, the movable ball-and-socket 13 of title, with take-off lever 5 in the lower end (overlapping with movable ball-and-socket rotational axis, centre of sphere point with the take-off lever axis is condition) fixing, movable ball-and-socket 13 contacts the formation spherical pair with bulb 4; U-shaped shift fork 3 places ears support 10 inboards.When having eliminated rotation supporting frame 6 and having moved to both sides with take-off lever and doing something in disregard of obstacles of ears support 10 relate to.The hunting range of this direction is increased.
This embodiment's characteristics: because movable ball-and-socket 13 becomes less, avoided member to do something in disregard of obstacles and related to, the swing space of take-off lever further increases; Any power of effect (direction and size) on the take-off lever no matter in addition, the point of action (being positioned on the sphere) of the power between movable ball-and-socket 13 and the bulb 4 is all the time between the centre of sphere and take-off lever outer end, stressed more reasonable, significantly advantage is: eliminated movable ball-and-socket 13 and bulb 4 easy dislocation problem under the power effect, when the take-off lever motion is in limit position.
This embodiment's take-off lever around x axle hunting range can reach ± 68 °; Around y axle hunting range can reach ± 110 °; Equally, unfettered around the z rotation, promptly 360 °.
Embodiment 4
Fig. 4 is the 4th embodiment disclosed by the invention, is the built-in novel sphere hinge with big working space of a kind of U-shaped shift fork.It is made up of support unit, output unit and spherical pair unit.Described support unit comprises ears support 10, lower support bar 11 and bearing pin (2,9); Described output unit comprises that intermediate support rolls 15 and hollow take-off lever 16; Described spherical pair unit comprises movable balls nest 13, bulb 4 and solid U-shaped shift fork 14.Comparing difference with embodiment 3 is: ears support 10 can relatively rotate around lower support bar 11 axis, promptly unrestricted rotation; U-shaped shift fork 3 originally, axial dimension narrow down and remove in the middle of elongated slot, with the ear of ears support 10 both sides with wide, be called solid U-shaped shift fork 14; Rotation supporting frame 6 originally, front and back split and support bearing pin (7,7 '), back-up roll (8,8 ') changes a middle support rollers 15 into; Hollow take-off lever 16 is middle bigger ladder oblique crank Z, and intermediate section have long edge axial and with parallel axes, the symmetry rectangular through holes, middle support rollers 15 places square hole, its axis and hollow take-off lever 16 axes intersect, vertical with square hole sidewall (long limit) plane, solid U-shaped shift fork 14 end faces are with square hole (with wide) parallel sidewalls or overlap, middle support rollers 15 contacts with the circular arc internal surface that is passed solid U-shaped shift fork 14 by square hole in the middle of the take-off lever, and promptly both parallel axes realize oppositely supporting.Hollow take-off lever 16 square hole tops are left than large space, to the utmost point prescribe a time limit when hollow take-off lever 16 side-swaies, can be enclosed within ears support 10 outsides.Make take-off lever swing space bigger.
This embodiment's characteristics: structure is simpler, can realize two bigger direction pivot angles, promptly the corner around x, y axle all can reach ± more than 110 °; When the pivot angle of hollow take-off lever 16 was big, take-off lever was around self axis (z
1Axle) the rotation underaction that will become.
Claims (5)
1. one kind has big workspace spherical face hinge, comprise and support ball-and-socket (1), bearing pin (2,9), bulb (4), take-off lever (5) and lower support bar (11), it is characterized in that: ears support (10), lower support bar (11) are fixedly connected with support ball-and-socket (1), the rotational axis that supports ball-and-socket (1) overlaps with ears support (10) rotational axis, and the centre of sphere that supports ball-and-socket (1) overlaps with the spherical hinge chain centre of sphere; U-shaped shift fork (3) and ears support (10) are rotationally connected by bearing pin (2,9), and are installed in the outside of ears support (10), and the axis at bearing pin (2,9) place is by the diameter of the centre of sphere, and with lower support bar (11) axis normal; Support bearing pin (7,7 ') and back-up roll (8,8 ') symmetrical being contained on the runing rest (6) in front and back, support bearing pin (7,7 ') axis and the rotational axis of runing rest (6) intersect vertically, runing rest (6) is together with the bearing pin on it (7,7 '), back-up roller (8,8 ') be sleeved on together on the take-off lever (5), take-off lever (5) lower end and bulb (4) are fixed the heart and are placed and support ball-and-socket (1); U-shaped shift fork (3) is a semicircular arc cylinder cells zoarium, with the midplane symmetry plane of its axial width along the circumferential direction, offer radially inside and outside penetrating sealing elongated slot; Take-off lever (5) is by passing in the enclosed slot; Back-up roll (8,8 ') cylindrical contacts both parallel axes with U-shaped shift fork (3) internal surface.
2. according to claim 1 have a big workspace spherical face hinge, it is characterized in that: ears support (10) is rotationally connected with lower support bar (11); U-shaped shift fork (3) places ears support (10) inboard; Direct and square take-off lever (12) installing and locating of bearing pin (7,7 ') and back-up roll (8,8 '), the parallel axes of the axis of bearing pin (7,7 ') and U-shaped shift fork (3) cylndrical surface; The part that side's take-off lever (12) passes U-shaped shift fork (3) adopt flat or square-section and with the groove of U-shaped shift fork (3) with wide.
3. according to claim 1 have a big workspace spherical face hinge, it is characterized in that: bulb (4) is fixed the heart at centre of sphere point with lower support bar (11), movable ball-and-socket (13) is fixed the heart with take-off lever (5), and movable ball-and-socket (13) is that less segment contacts the formation spherical pair with bulb (4); U-shaped shift fork (3) places ears support (10) inboard.
4. describedly have a big workspace spherical face hinge according to claim 1 or 3, it is characterized in that: ears support (10) is rotationally connected with lower support bar (11); Hollow take-off lever (16) is middle bigger ladder oblique crank Z, therebetween the section have long edge axial and with parallel axes, the symmetry rectangular through holes, described middle support rollers (15) places rectangular through holes, its axis and hollow take-off lever (16) axes intersect, vertical with the sidewall plane of rectangular through holes; Solid U-shaped shift fork (14) axial end is with above-mentioned rectangular through holes parallel sidewalls or overlap, and the circular arc internal surface that intermediate support is rolled (15) and passed the solid U-shaped shift fork (14) of rectangular through holes in the middle of the hollow take-off lever (16) contacts both parallel axes.
5. according to claim 4 have a big workspace spherical face hinge, it is characterized in that: the space is left on rectangular through holes top in the middle of the hollow take-off lever (16), and is enclosed within the solid U-shaped shift fork (14) and ears support (10) outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100550237A CN101334063A (en) | 2008-05-29 | 2008-05-29 | Super large workspace spherical face hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100550237A CN101334063A (en) | 2008-05-29 | 2008-05-29 | Super large workspace spherical face hinge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101334063A true CN101334063A (en) | 2008-12-31 |
Family
ID=40196859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100550237A Pending CN101334063A (en) | 2008-05-29 | 2008-05-29 | Super large workspace spherical face hinge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101334063A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102198664A (en) * | 2011-05-25 | 2011-09-28 | 燕山大学 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
| CN102233586A (en) * | 2010-04-21 | 2011-11-09 | 瑞忠斯机械配件(上海)有限公司 | Free rotating and connecting device of hose bag |
| CZ303616B6 (en) * | 2011-05-16 | 2013-01-09 | Ceské vysoké ucení technické, | Hemispheric positioner |
| CZ303710B6 (en) * | 2011-05-16 | 2013-03-27 | Ceské vysoké ucení technické v Praze, | Joint for tilting and turning instruments |
| CN103207056A (en) * | 2012-01-17 | 2013-07-17 | 海洋王（东莞）照明科技有限公司 | Fixing device used in testing |
| CN103982537A (en) * | 2014-06-05 | 2014-08-13 | 北京航空航天大学 | Spherical pair device capable of adjusting swinging range and preventing rotation |
| CN104734978A (en) * | 2015-03-31 | 2015-06-24 | 朗逸环保科技（上海）有限公司 | Router capable of being monitored remotely |
| CN106346450A (en) * | 2016-10-17 | 2017-01-25 | 中国科学院深圳先进技术研究院 | Three-branch-chain three-freedom-degree parallel connection mechanism |
| CN108445470A (en) * | 2018-03-20 | 2018-08-24 | 山东理工大学 | A kind of method and apparatus of achievable Review for Helicopter laser radar 3 d pose angle compensation |
| CN109707724A (en) * | 2017-10-26 | 2019-05-03 | 富港电子（东莞）有限公司 | Spherical shape with location structure turns shaft fixing support |
| CN113606465A (en) * | 2021-08-17 | 2021-11-05 | 盐城市兴都市政工程建设有限公司 | Linear intelligent monitoring device of bridge |
| CN114834560A (en) * | 2022-06-09 | 2022-08-02 | 江南大学 | Remote control six football shape-changeable robot |
-
2008
- 2008-05-29 CN CNA2008100550237A patent/CN101334063A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102233586A (en) * | 2010-04-21 | 2011-11-09 | 瑞忠斯机械配件(上海)有限公司 | Free rotating and connecting device of hose bag |
| CZ303616B6 (en) * | 2011-05-16 | 2013-01-09 | Ceské vysoké ucení technické, | Hemispheric positioner |
| CZ303710B6 (en) * | 2011-05-16 | 2013-03-27 | Ceské vysoké ucení technické v Praze, | Joint for tilting and turning instruments |
| CN102198664A (en) * | 2011-05-25 | 2011-09-28 | 燕山大学 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
| CN102198664B (en) * | 2011-05-25 | 2013-06-05 | 燕山大学 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
| CN103207056A (en) * | 2012-01-17 | 2013-07-17 | 海洋王（东莞）照明科技有限公司 | Fixing device used in testing |
| CN103982537A (en) * | 2014-06-05 | 2014-08-13 | 北京航空航天大学 | Spherical pair device capable of adjusting swinging range and preventing rotation |
| CN104734978A (en) * | 2015-03-31 | 2015-06-24 | 朗逸环保科技（上海）有限公司 | Router capable of being monitored remotely |
| CN106346450A (en) * | 2016-10-17 | 2017-01-25 | 中国科学院深圳先进技术研究院 | Three-branch-chain three-freedom-degree parallel connection mechanism |
| CN106346450B (en) * | 2016-10-17 | 2018-11-09 | 中国科学院深圳先进技术研究院 | Three branch 3-freedom parallel mechanisms |
| US10710249B2 (en) | 2016-10-17 | 2020-07-14 | Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences | 3 DOF parallel mechanism with 3 branched-chains |
| CN109707724A (en) * | 2017-10-26 | 2019-05-03 | 富港电子（东莞）有限公司 | Spherical shape with location structure turns shaft fixing support |
| CN109707724B (en) * | 2017-10-26 | 2021-04-20 | 富港电子（东莞）有限公司 | Spherical rotating shaft fixing support with positioning structure |
| CN108445470A (en) * | 2018-03-20 | 2018-08-24 | 山东理工大学 | A kind of method and apparatus of achievable Review for Helicopter laser radar 3 d pose angle compensation |
| CN113606465A (en) * | 2021-08-17 | 2021-11-05 | 盐城市兴都市政工程建设有限公司 | Linear intelligent monitoring device of bridge |
| CN114834560A (en) * | 2022-06-09 | 2022-08-02 | 江南大学 | Remote control six football shape-changeable robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101334063A (en) | Super large workspace spherical face hinge | |
| CN101306534B (en) | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface | |
| CN102224340A (en) | Wind-driven generator | |
| CN103693124A (en) | Transformable spherical robot | |
| CN103674695A (en) | Tensile test clamp for high-pressure hydrogen environment material testing machine | |
| CN201492050U (en) | Foldable chair | |
| CN103192368A (en) | Parallel moving mechanism with changeable platform | |
| CN102615649A (en) | Rolling double four-parallelogram robot | |
| CN101307797B (en) | Super large workspace spherical face hinge possessing bias output | |
| CN202428447U (en) | Two-freedom-degree robot neck joint | |
| KR100858365B1 (en) | Movable hinge-type bearing | |
| CN208815703U (en) | A kind of spiral energy-dissipating and shock-absorbing constraint support device | |
| CN105697950A (en) | Television | |
| CN102354793B (en) | Portable rod antenna | |
| CN202503095U (en) | Scissor-based quadrangle element planar array extendable mechanism | |
| CN101927796A (en) | Single-power parallelogram two-foot moving mechanism | |
| CN203629957U (en) | Tensile test clamp of high-pressure hydrogen environmental material testing machine | |
| CN203145228U (en) | Rotary tubular damper | |
| CN202121049U (en) | Portable rod-shaped antenna | |
| CN108867916A (en) | A kind of spiral energy-dissipating and shock-absorbing constraint support device and preparation method thereof | |
| CN102108817B (en) | Simple hooke hinge | |
| CN108730414A (en) | A kind of facility pretightning force regulation and control middle part tension adjusting device | |
| CN213046184U (en) | Virtual reality seat | |
| CN205675233U (en) | A kind of spring-loaded mechanism | |
| CN208826459U (en) | A kind of vertically oriented mechanism of stainless steel square tube |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20081231 |