CN105773145B - Three Degree Of Freedom mounting plate - Google Patents
Three Degree Of Freedom mounting plate Download PDFInfo
- Publication number
- CN105773145B CN105773145B CN201610328812.8A CN201610328812A CN105773145B CN 105773145 B CN105773145 B CN 105773145B CN 201610328812 A CN201610328812 A CN 201610328812A CN 105773145 B CN105773145 B CN 105773145B
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- China
- Prior art keywords
- swing arm
- iii
- bearing
- arm
- fixed
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- 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.)
- Expired - Fee Related
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
Abstract
The present invention discloses a kind of Three Degree Of Freedom mounting plate.The platform (1) and fixed arm (47), the upper end of swing arm I, II, III (8,8 ˊ, 8 〞) are coupled by hook hinge, reductor (23) through flat key (57) be fixed on fixed arm (47), swing arm I, II, III (8,8 ˊ, 8 〞) bottom, swing arm I (8), swing arm II (8 ˊ) are connected between bearing III (36), bearing I (28) by mandrel I (27), and swing arm III (8 〞) is connected through jackscrew (33) and apical axis (34) with positioning core axle (31).Large carrying capacity of the present invention, angle attitude control accuracy is high, and stability is big, can be widely applied to the fields such as integrated assembling, robot, lathe.The present invention can be lifted, leaned forward, the motion of left-leaning and Right deviation, while these motions are carried out, can be transported the function such as parts, the integrated assembling to complete particular component in mesa base, be substantially increased production efficiency.
Description
Technical field
The present invention relates to a kind of Spatial Parallel multiple-degree-of-freedom mechanism, more particularly to can facilitate that a translation two rotates one
Kind Three Degree Of Freedom mounting plate.
Background technology
As people deepen continuously to theory of mechanisms and motion platform research, various forms of parallel connection platforms have occurred in people
Life among, parallel institution has the series of advantages such as rigidity is big, bearing capacity is strong, error is small, precision is high, response is fast,
And have wide application prospects in fields such as robot, lathe, special vehicle and emulation platforms.The Three Degree Of Freedom mounting plate removes
Have possessed by conventional parallel mechanism outside feature, moreover it is possible to transport parts in mesa base, can complete particular component
Integrated assembling function.
The content of the invention
In order to meet all kinds of particular components being accurately positioned in integrated assembling process, parts are transported in bottom, reliable solid
Fixed and security related, reliability and maintainability etc. require that the present invention provides a kind of Three Degree Of Freedom mounting plate, the platform
It is the special equipment of integrated assembling, reliable and stable support can be provided for assembly, meet that parts are at it inside and outside assembly
On installation requirement, and can for assembly debug the functions such as pitching, inclination be provided.
The present invention is that technical scheme is used by solving its technical problem：A kind of Three Degree Of Freedom mounting plate, including it is flat
Platform, hook hinge, proximity switch, reductor, servomotor and digital display inclinometer.The platform and fixed arm, swing arm I, II,
III upper end is coupled by hook hinge, servomotor through reductor and fixed arm, swing arm I, II, III, bottom couple, number
Aobvious inclinometer is mounted in the middle part of the platform, proximity switch and fixed arm, swing arm I, II, III, be connected.Servomotor leads to
Flat key is crossed to be fixed on reductor, reductor through flat key be fixed on fixed arm, swing arm I, II, III, bottom, on fixed arm
Hold-down support, which is connected through a screw thread, to be fixed on pedestal, is that cylindrical hinge connects between swing arm I, swing arm II and bearing III, bearing I
Connect, swing arm III is that hook hinge is connected with bearing II, and the hold-down support on bearing I, bearing II, bearing III and fixed arm is equal
It is fixed on pedestal, the flange I on the pedestal and fixed arm of the hook hinge being connected with platform, swing arm I, II, III is by spiral shell
Line is connected, and the free bearing of the hook hinge is fixed on platform by being threadedly coupled, and is coordinated with locating shaft, is between locating shaft and platform
Threaded connection.
The Three Degree Of Freedom mounting plate has four support arms, and the structure of four support arms is identical, is followed successively by fixed arm, swing arm
I, swing arm II, swing arm III, the top of four support arms is in approximately the same plane, and it the location of planar just exists
One square four summit, when the mounting plate is in initial position, i.e., when platform is parallel with pedestal, four support arms
Also in approximately the same plane, the position on its four summits is identical with the position distribution on the four of top summits for bottom.The swing
Connect to form cylindrical pair by mandrel I between arm I, swing arm II and bearing III, bearing I；The swing arm III is through jackscrew and apical axis
It is connected with positioning core axle, and positioning core axle is fixed with pendular ring by being threadedly coupled so that swing arm III turns with swinging interannular and being formed
Dynamic secondary I, is connected between pendular ring and bearing II by mandrel II so that formation revolute pair II between pendular ring and bearing II, described turn
Dynamic secondary I is collectively forming U pairs with revolute pair II.
It is connected through a screw thread and is fixed together between described fixed arm and guide sleeve I, spacer, guide sleeve II, fixed arm, pendulum
There is oil ga(u)ge on swing arm I, II, III, be to be threadedly coupled between pole and flange I, pedestal；Guide sleeve III connects firmly with ball-screw, rolling
Pearl screw is connected firmly with transition sleeve, and transition sleeve connects firmly with pole, and prismatic pair is formed between guide sleeve III and pole；Fixed arm and flange seat
Threaded connection, ball-screw bottom are connected with reductor low speed end by flat key, and reductor speed end is connected with servomotor by flat key
Connect；Ball-screw low side is connected with axle sleeve, locking nut successively, and axle sleeve upper end is connected with angular contact ball bearing, lower end successively with
Self-aligning thrust roller bearing, flange III are connected, and flange III connects firmly with flange seat screw thread.Swing arm I, II, III and other parts
Connected mode it is identical with fixed arm.
The described hook hinge free bearing being connected with platform and bearing holder (housing, cover) threaded connection, bearing holder (housing, cover) and single-row tapered roller axle
I outer shrouds interference fit is held, single-row tapered roller bearing I inner ring coordinates with hinge, and hinge both ends are fastened by axial lock nut I；
The pedestal for the hook hinge being connected with platform is connected firmly with axle, and the other end is threadedly coupled with flange IV, axle and single-row tapered roller axle
The cooperation of II inner ring is held, the outer shroud of single-row tapered roller bearing II coordinates with hinge, and the tip of the axis is fastened by axial lock nut II.
The beneficial effects of the invention are as follows：The invention is the special equipment of integrated assembling, can meet that all kinds of particular components are collecting
Into being accurately positioned in assembling process, after pitching parts, reliable fixation and security related, reliable are transported in mesa base
Property and maintainability etc. require；The present invention can provide reliable and stable support for assembly, meet parts inside and outside assembly
In installation requirement thereon, and it can be debugged for assembly and the functions such as lifting, pitching, inclination are provided, and with compact-sized, outer
The advantages that shape is attractive in appearance and easy to operate.
Brief description of the drawings
Fig. 1 is the structural front view of Three Degree Of Freedom mounting plate；
Fig. 2 is the structure rearview of Three Degree Of Freedom mounting plate；
Fig. 3 is the structure chart (upward view) of platform；
Fig. 4 is the structure chart (tearing platform and Hooke's hinge, top view open) of Three Degree Of Freedom mounting plate；
Fig. 5 is one of the hook hinge internal structure that is connected with platform；
Fig. 6 is is connected the two of hook hinge internal structure with platform；
Fig. 7 is proximity switch structural representation；
Fig. 8 is fixed arm and swing arm internal structure；
Fig. 9 is fixed arm and swing arm bottom inner portion structure partial enlarged drawing；
Figure 10 is that swing arm I and swing arm II is connected internal structure with bearing III and bearing I；
Figure 11 is that swing arm III is connected internal structure with bearing II.
In above-mentioned accompanying drawing：1. platform, 2. locating shafts, 3. free bearings, 4. hinges, 5. pedestals, 6. adjusting pads, 7. flange I, 8.
Swing arm I, 8 ˊ swing arms II, 8 〞 swing arms III, 9. guide sleeve I, 10. spacers, 11. guide sleeves II, 12. poles, 13. are oriented to
Set III, 14. ball-screws, 15. transition sleeves, 16. ball screws, 17. flanges II, 18. angular contact ball bearings, 19. axle sleeves, 20.
Self-aligning thrust roller bearing, 21. flanges III, 22. flange seats, 23. reductors, 24. servomotors, 25. hold-down supports, 26. sets
I, 27. mandrel I, 28. bearing I, 29. set II, 30. pendular rings, 31. positioning core axles, 32. bearings II, 33. jackscrews, 34. apical axis,
35. copper sheathing I, 36. bearings III, 37. copper sheathings II, 38. pad I, 39. adjusting pad I, 40. bearing holder (housing, cover)s, 41. cover plates, 42. axial locks
Nut I, 43. pads II, 44. adjusting pads II, 45. single-row tapered roller bearing I, 46. digital display angle instrument, 47. fixed arms, 48. locks
Tight nut, 49. axles, 50. axial lock nuts II, 51. flanges IV, 52 single-row tapered roller bearings II, 53. oil ga(u)ges, 54. is close
Switch, 55. mandrels II, 56. pedestals, 57. flat keys.
Embodiment
Embodiment
Fig. 1~Figure 11 is one embodiment disclosed by the invention.The Three Degree Of Freedom mounting plate, including platform 1, Hooke's hinge
Chain, proximity switch 54, reductor 23, servomotor 24 and digital display inclinometer 46；The platform 1 and fixed arm 47, swing arm I8,
The ˊ of swing arm II 8, the 〞 of swing arm III 8 upper end are coupled by hook hinge, servomotor 24 through reductor 23 respectively with fixed arm
47th, swing arm I8, the ˊ of swing arm II 8, the 〞 of swing arm III 8 bottom connection, digital display angle instrument 46 are connected with platform 1, proximity switch
54 are connected with fixed arm 47, swing arm I8, the ˊ of swing arm II 8, the 〞 of swing arm III 8.Servomotor 24 is fixed on deceleration by flat key
On machine 23, reductor 23 is fixed on fixed arm 47, swing arm I8, the ˊ of swing arm II 8, the 〞 of swing arm III 8 bottom through flat key, fixed
Hold-down support 25 on arm 47, which is connected through a screw thread, to be fixed on pedestal 56, swing arm I8, the ˊ of swing arm II 8 and bearing III 36, branch
Seat I 28 between be cylindrical hinge connection, the 〞 of swing arm III 8 is that hook hinge is connected with bearing II 32, and bearing I28, bearing II 32,
Hold-down support on bearing III 36 and fixed arm 47 is each attached on pedestal 56, the pedestal 5 for the hook hinge being connected with platform and
Fixed arm 47, swing arm I8, the ˊ of swing arm II 8, the flange I7 on the 〞 of swing arm III 8 are the hinges of the hook hinge by being threadedly coupled
Seat 3 is fixed on the platform 1 by threaded connection, and coordinates with locating shaft 2, is to be threadedly coupled between locating shaft 2 and platform 1.
The Three Degree Of Freedom mounting plate has four support arms, and the structure of four support arms is identical, is followed successively by fixed arm 47, swings
Arm I8, the ˊ of swing arm II 8 and the 〞 of swing arm III 8, the top of four support arms is in approximately the same plane, and it is planar residing
Position just on square four summit, when the mounting plate is in initial position, i.e. platform 1 and pedestal 56 is flat
During row, also in approximately the same plane, the position on the position on its four summits and four summits on top is divided for the bottom of four support arms
Cloth is identical.Cylindrical pair is formed by the connections of mandrel I 27 between swing arm I8, the ˊ of swing arm II 8 and bearing III 36, bearing I 28；Pendulum
The 〞 of swing arm III 8 is connected through jackscrew 33 and apical axis 34 with positioning core axle, and positioning core axle 31 is fixed with pendular ring 30 by being threadedly coupled,
This causes formation revolute pair I between the 〞 of swing arm III 8 and pendular ring 30, is connected between pendular ring 30 and bearing II 32 by mandrel II 55,
So that forming revolute pair II between pendular ring 30 and bearing II 32, revolute pair I is collectively forming U pairs with revolute pair II.
It is connected through a screw thread and is fixed together between the fixed arm 47 and guide sleeve I 9, spacer 10, guide sleeve II 11, Gu
Fixed arm 47, swing arm I8, the ˊ of swing arm II 8, there is oil ga(u)ge 53 on the 〞 of swing arm III 8, be spiral shell between pole 12 and flange I7, pedestal 5
Line connects；Guide sleeve III 13 connects firmly with ball-screw 14, and ball screw 16 connects firmly with transition sleeve 15, and transition sleeve 15 is solid with pole 12
Connection, prismatic pair is formed between guide sleeve III 13 and pole 12；Fixed arm 47, swing arm I8, the ˊ of swing arm II 8, the 〞 of swing arm III 8 and method
Blue seat 22 is by being threadedly coupled, and the bottom of ball-screw 14 is connected with the low speed end of reductor 23 by flat key, and the speed end of reductor 23 is with watching
Motor 24 is taken to be connected by flat key；The low side of ball-screw 14 is connected with axle sleeve 19, locking nut 48 successively, the upper end of axle sleeve 19 and corner connection
Touch ball bearing 18 to connect, lower end is connected with self-aligning thrust roller bearing 20, flange III 21 successively, flange III 21 and the spiral shell of flange seat 22
Line connects firmly.Swing arm I8, the ˊ of swing arm II 8, the 〞 of swing arm III 8 and the connected mode of other parts and the fixed arm 47 are other
The connected mode of parts is identical.
The hook hinge free bearing 3 and bearing holder (housing, cover) 40 being connected with platform 1 are threadedly coupled, bearing holder (housing, cover) 40 and single-row tapered roller axle
I45 outer shrouds interference fit is held, single-row tapered roller bearing I45 inner ring coordinates with hinge 4, and the both ends of hinge 4 are by axial lock nut
I42 is fastened；The pedestal 5 for the hook hinge being connected with platform 1 is connected firmly with axle 49, and the other end is threadedly coupled with flange IV 51, axle 49
Coordinate with the inner ring of single-row tapered roller bearing II 52, the outer shroud of single-row tapered roller bearing II 52 coordinates with hinge, the end of axle 49
Fastened by axial lock nut II 50.
The Three Degree Of Freedom mounting plate have lean forward, be left-leaning, Right deviation and any angle locking fixing function, there is level
The function that lifting and at an arbitrary position locking are fixed, can realize various rotating disc type assembly by installing the frocks such as transition disc additional
Reliably, safety is fixed.Such as：In aero-engine assembling process, by being adjusted its posture, allow the operator to stand
Assembling, disintegration this requirement can not completed by ladder on the ground, design one kind can realize three, space from
Aero-engine Three Degree Of Freedom mounting plate by degree motion is very necessary.Specific work process is：When assembling elevating movement, four
Individual servomotor 24 drives the ball-screw 14 in fixed arm 47, swing arm I8, the ˊ of swing arm II 8 and the 〞 of swing arm III 8 to make simultaneously
Four poles 12 carry out elevating movement simultaneously, platform 1 is completed elevating movement；Assembling lean forward motion when, fixed arm 47 and swing
The servomotor 24 of arm I8 lower ends does not work, and the servomotor 24 of the ˊ of swing arm II 8 and the 〞 lower ends of swing arm III 8 drives pendulum simultaneously
Ball-screw 14 in the ˊ of swing arm II 8 and the 〞 of swing arm III 8 moves two poles 12, completes the motion of leaning forward of platform 1；Assembling is left-leaning
During motion, the servomotor 24 of fixed arm 47 and the ˊ lower ends of swing arm II 8 does not work, swing arm I8 and the 〞 lower ends of swing arm III 8
Servomotor 24 drives the ball-screw 14 in swing arm I8 and the 〞 of swing arm III 8 to move two poles 12 simultaneously, completes platform
"Left"-deviationist motion；When assembling Right deviation motion, the servomotor 24 of swing arm I8 and the 〞 lower ends of swing arm III 8 does not work, the He of fixed arm 47
The servomotor 24 of the ˊ lower ends of swing arm II 8 drives the ball-screw 14 in fixed arm 47 and the ˊ of swing arm II 8 to make two poles simultaneously
12 motions, complete the Right deviation motion of platform 1；The platform 1 by more than motion come complete the lifting of Three Degree Of Freedom mounting plate,
The functions such as pitching, inclination.Digital display angle instrument 46 can show 1 inclined angle of platform, the position of the controllable motion of proximity switch 54
Put.
Three Degree Of Freedom mounting plate is driven using four actuators, large carrying capacity, and angle attitude control accuracy is high, stability
Greatly, the fields such as integrated assembling, robot, lathe be can be widely applied to.The present invention can carry out elevating movement, lean forward, be left-leaning and right
Incline motion, while these motions are carried out, parts, the integrated assembling to complete particular component etc. can be transported in mesa base
Function, substantially increase production efficiency.
Claims (4)
1. a kind of Three Degree Of Freedom mounting plate, including platform (1), hook hinge, proximity switch (54), reductor (23), servo
Motor (24) and digital display inclinometer (46), it is characterized in that：The platform (1) and fixed arm (47), swing arm I (8), swing arm II
(8 ˊ), the upper end of swing arm III (8 〞) are coupled by hook hinge, output shaft and fixed arm (47), the pendulum of the reductor (23)
Swing arm I (8), swing arm II (8 ˊ), swing arm III (8 〞) ball-screw (14) bottom by flat key (57) couple, it is described to watch
Take motor (24) and reductor (23) input shaft Flat dey joint；The digital display angle instrument (46) is mounted in the centre of the platform (1)
Position, the hold-down support (25) on the fixed arm (47), which is connected through a screw thread, to be fixed on pedestal (56), the swing arm I
(8), swing arm II (8 ˊ) is with being that cylindrical hinge is connected between bearing III (36), bearing I (28), the swing arm III (8 〞) and bearing
II (32) are hook hinge connections, and the fixed branch on bearing I (28), bearing II (32), bearing III (36) and fixed arm (47)
Seat (25) is each attached on pedestal (56)；The pedestal (5) and fixed arm (47), swing arm I for the hook hinge being connected with platform (1)
(8), swing arm II (8 ˊ), the flange I (7) on swing arm III (8 〞) are by being threadedly coupled, and the free bearing (3) of the hook hinge is by screw thread
It is fastened on platform (1), and coordinates with locating shaft (2), is to be threadedly coupled between the locating shaft (2) and platform (1).
2. Three Degree Of Freedom mounting plate according to claim 1, it is characterized in that：The pedestal (56) and the platform (1)
Between four support arms of mounting structure identical, four support arms be successively fixed arm (47), swing arm I (8), swing arm II (8 ˊ),
Swing arm III (8 〞), the top of four support arms is in approximately the same plane, and it is the location of planar just one
Individual four square summits, when the mounting plate is in initial position, i.e., when platform (1) is parallel with pedestal (56), four
Also in approximately the same plane, the position on its four summits is identical with the position distribution on the four of top summits for the bottom of support arm；Institute
State swing arm I (8), swing arm II (8 ˊ) is connected to form cylindrical pair between bearing III (36), bearing I (28) by mandrel I (27)；
The swing arm III (8 〞) is connected through jackscrew (33) and apical axis (34) with positioning core axle (31), and positioning core axle (31) and pendular ring
(30) fixed by threaded connection so that revolute pair I, pendular ring (30) and bearing are formed between swing arm III (8 〞) and pendular ring (30)
Connected between II (32) by mandrel II (55) so that revolute pair II, the rotation are formed between pendular ring (30) and bearing II (32)
Secondary I is collectively forming U pairs with revolute pair II.
3. Three Degree Of Freedom mounting plate according to claim 1 or 2, it is characterized in that：The fixed arm (47) and guide sleeve I
(9), it is connected through a screw thread and is fixed together between spacer (10), guide sleeve II (11), oil ga(u)ge (53) is set thereon；Pole (12) with
Be threaded connection between flange I (7), pedestal (5), guide sleeve III (13) connects firmly with ball-screw (14), ball screw (16) and
Transition sleeve (15) is connected firmly, and transition sleeve (15) connects firmly with pole (12), and prismatic pair is formed between guide sleeve III (13) and pole (12)；Institute
Fixed arm (47), swing arm I (8), swing arm II (8 ˊ), swing arm III (8 〞) are stated respectively with flange seat (22) by being threadedly coupled,
Ball-screw (14) low side is connected with axle sleeve (19), locking nut (48) successively, axle sleeve (19) upper end and angular contact ball bearing
(18) connect, lower end is connected with self-aligning thrust roller bearing (20), flange III (21) successively, flange III (21) and flange seat (22)
Screw thread connects firmly；The swing arm I (8), connected mode and the fixation of swing arm II (8 ˊ), swing arm III (8 〞) and other parts
Arm (47) is identical.
4. Three Degree Of Freedom mounting plate according to claim 1, it is characterized in that：The free bearing (3) and axle of the hook hinge
Bearing sleeve (40) is threadedly coupled, and the bearing holder (housing, cover) (40) is interference fitted with single-row tapered roller bearing I (45) outer shroud, single-row circular cone rolling
Sub- bearing I (45) inner ring coordinates with hinge (4), and hinge (4) both ends are fastened by axial lock nut I (42)；The hook hinge
Pedestal (5) connected firmly with axle (49), the other end is threadedly coupled with flange IV (51), axle (49) and single-row tapered roller bearing II
(52) inner ring coordinates, and single-row tapered roller bearing II (52) outer shroud coordinates with hinge (4), and the end of axle (49) is by axial lock spiral shell
Cap II (50) fastens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328812.8A CN105773145B (en) | 2016-05-18 | 2016-05-18 | Three Degree Of Freedom mounting plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328812.8A CN105773145B (en) | 2016-05-18 | 2016-05-18 | Three Degree Of Freedom mounting plate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105773145A CN105773145A (en) | 2016-07-20 |
| CN105773145B true CN105773145B (en) | 2017-12-12 |
Family
ID=56379894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610328812.8A Expired - Fee Related CN105773145B (en) | 2016-05-18 | 2016-05-18 | Three Degree Of Freedom mounting plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105773145B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635010B (en) * | 2021-08-12 | 2023-07-28 | 山西北方机械制造有限责任公司 | Small-angle accurate side-tipping device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101745905A (en) * | 2010-02-03 | 2010-06-23 | 北京航空航天大学 | Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings |
| US7762531B2 (en) * | 2008-04-03 | 2010-07-27 | Mark Bond | Calibrated mechanical winch and method of manufacture |
| CN201803712U (en) * | 2010-08-15 | 2011-04-20 | 吉林大学 | Wheel clearance test table with three degrees of freedom |
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN103009376A (en) * | 2012-12-04 | 2013-04-03 | 天津大学 | Spatial three-dimensional rotation parallel mechanism |
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
-
2016
- 2016-05-18 CN CN201610328812.8A patent/CN105773145B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7762531B2 (en) * | 2008-04-03 | 2010-07-27 | Mark Bond | Calibrated mechanical winch and method of manufacture |
| CN101745905A (en) * | 2010-02-03 | 2010-06-23 | 北京航空航天大学 | Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings |
| CN201803712U (en) * | 2010-08-15 | 2011-04-20 | 吉林大学 | Wheel clearance test table with three degrees of freedom |
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN103009376A (en) * | 2012-12-04 | 2013-04-03 | 天津大学 | Spatial three-dimensional rotation parallel mechanism |
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105773145A (en) | 2016-07-20 |
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Granted publication date: 20171212 Termination date: 20180518 |