CN106286761B - Differential attachment formula three-axle table - Google Patents

Differential attachment formula three-axle table Download PDF

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Publication number
CN106286761B
CN106286761B CN201610891348.3A CN201610891348A CN106286761B CN 106286761 B CN106286761 B CN 106286761B CN 201610891348 A CN201610891348 A CN 201610891348A CN 106286761 B CN106286761 B CN 106286761B
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China
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axis
differential
rolling
bevel type
pitching
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CN201610891348.3A
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CN106286761A (en
Inventor
姚建涛
李海利
周玉林
曾达幸
杨彦东
侯雨雷
战磊
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Yanshan University
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Yanshan University
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H48/00Differential gearings
    • F16H48/12Differential gearings without gears having orbital motion

Abstract

The present invention discloses a kind of differential attachment formula three-axle table,Including engine base,Pitch components group,Differential attachment component group,Differential attachment component group cooperatively forms pitch axis with pitch components group,The axis of rolling,Three rotation axis systems of azimuth axis,Pitch axis realizes the pitch rotation of upper table surface using independent driving unit,The rotation of the axis of rolling and azimuth axis is realized by differential attachment,There are three bevel gears for differential attachment tool,Wherein there are two the axis of bevel gear to overlap,Third bevel gear axis perpendicular to the first two bevel gear common axis and engaged respectively with the first two bevel gear,Two bevel gears of coaxial line are sequentially connected with the drive motor being arranged symmetrically realize the compound motion of two bevel gears respectively,To drive third bevel gear to complete two degree of freedom movements,Third bevel gear connects with upper table surface,Rolling and the orientation rotation of work top are just realized in this way.The present invention has compact-sized, the axis of rolling and the characteristics of orientation shaft size is small, light weight, is suitable for turntable field.

Description

Differential attachment formula three-axle table
Technical field
The present invention relates to a kind of three-axle tables for Inertial Navigation and Guidance Simulation Test, and in particular to a kind of tool There is self-stabilization and adjusts the differential attachment formula three-axle table of targeted loads spatial attitude.
Background technology
Currently, most three-axle table bulk mechanical system is made of three frames and engine base two large divisions, it is predominantly negative It carries and reference for installation is provided and realizes rolling, pitching, three shafting rotary motion of orientation, so it can really be simulated on the ground The various flight attitudes of aircraft, guided missile etc., test its element and system, avoid and carry out expensive actual loading test, Its process can be predicted and be repeated by simulation, solid foundation has been established for development in kind.With regard to its mechanical structure From the point of view of it is most of use real axis serial configureds, each shafting mixes independent driving unit, to realize the space of targeted loads Attitude regulation.Such as the Chinese patent that Authorization Notice No. is 103606737 B of CN discloses a kind of three-axle table, passes through lower section Position turntable, upper position turntable, pitch axis and it is respective connection drive mechanism, it can be achieved that three axis directions posture changing.For another example The Chinese patent of Patent No. 201220751996.6 discloses a kind of electronic three-axle table, and pedestal passes through conducting slip ring and rotation Pivoted frame is connected, and swivel mount is equipped with turntable module, it can be achieved that freely adjusting the angle, and positioning accuracy is high.But this kind of turntable exists General problem is that structure is not compact enough, each shafting must add a set of driving unit, this certainly will will increase the shafting Bulk and quality hinder the promotion of turntable performance, and when especially retarder size used is larger such as worm and gear slows down Device, this problem will be protruded more.
Invention content
In order to overcome the single rotating shaft unit mass size of existing turntable big, the not compact deficiency of structure, the present invention is directed to There is provided that a kind of its turntable rolls shafting and the quality and size of azimuth axle are relatively small, the differential attachment formula of structure relative compact Three-axle table.
The technical solution adopted by the present invention is:A kind of differential attachment formula three-axle table, including engine base, pitch components group, institute State engine base and provide reference for installation for load, which is characterized in that further include differential attachment component group, the differential attachment component group with Pitch components group cooperatively forms pitch axis, the axis of rolling, the azimuth axis of pitching, rolling, the orientation rotation for realizing targeted loads Three rotation axis systems;When original state, the axis of described three rotation axis systems is mutually perpendicular to, pitch axis axis and axis of rolling axis Line is located at horizontal plane, and azimuth axis axis is located at vertical plane;In the course of work, pitch axis axis and axis of rolling axis are vertical always, Azimuth axis axis and axis of rolling axis are vertical always;The pitch axis realizes that the pitching of upper table surface turns using independent driving unit It is dynamic;The axis of rolling and azimuth axis realize that the rolling of upper table surface and orientation rotate by differential attachment, and the differential attachment includes Bevel type differential gear one, two, three, the differential gearing one, three horizontally-opposed installations, the bevel type differential gear two and bevel type differential gear One, it three engages respectively, the axis of bevel type differential gear one, three overlaps in the horizontal direction, and the axis of bevel type differential gear two is perpendicular to difference The common axis of dynamic bevel gear one, three, the bevel type differential gear one, three of coaxial line is driven with the drive motor being arranged symmetrically respectively to be connected The compound motion for realizing bevel type differential gear one, three is connect, to drive bevel type differential gear two to complete two degree of freedom movements, the difference Dynamic bevel gear two is connect with upper table surface.
Preferably, the bevel type differential gear one, three of differential attachment of the present invention is connected to Differential Driving with spline On axis one, two, rotational support and driving are provided by the pitch components group, the flower of bevel type differential gear two of the differential attachment Key is connect with differential output axis one end, and the differential output axis passes through differential a set of cups, differential angular contact bearing, differential a set of cups end cap It is connected on differential main board, constitutes the movable connection of rotational support, differential output axis other end spline and differential coupling piece Connection, the upper table surface is fixed by bolts on differential coupling piece, the differential component group left end by differential turntable bearing one, Differential spacer one is connect with pitching rack, constitutes the dynamic connection of the rotational support around the axis of rolling, and the differential component group right end is logical Cross differential turntable bearing two, differential spacer two is connect with pitching rack, constitute around the axis of rolling rotational support dynamic connection, be on duty When dynamic bevel gear one reversely rotates at the same speed with bevel type differential gear three, upper table surface makees orientation rotation around azimuth axis;Work as bevel type differential gear One with three synchronized rotating Vortex of bevel type differential gear when, upper table surface makees rolling movement around the axis of rolling, when normal work, needs differential cone Gear one, three realizes the compound motion of the axis of rolling and azimuth axis as compound motion.
The beneficial effects of the invention are as follows:Long-distance transmission may be implemented using differential attachment, drive motor uses symmetrical cloth It sets, such drive motor is mounted on the axis of rolling and orientation the tip of the axis, makes the quality of the axis of rolling and azimuth axis and size all can be big Amplitude reduces, and to keep turntable structure compact, dynamic property is promoted.
Description of the drawings
Fig. 1 is overall effect figure of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the A-A sectional views of Fig. 2.
Fig. 4 is the right view of the present invention.
Fig. 5 is the B-B sectional views of Fig. 4.
Fig. 6 is the differential attachment structural schematic diagram of the present invention.
In figure:1- pitching protective cover one, 2- hanging rings, 3- upper table surfaces, 4- pitching racks, 5- pitching protective cover two, 6- engine bases Frame, 7- engine base servo motors, 8- engine base protective covers, 9- engine base worm type of reduction gearing, 10- engine base deep groove ball bearings, 11- engine bases Reducer output shaft, 12- engine base pinion gears, 13- engine base eccentric bushings, 14- engine base sector gears, 15- engine base drive shaft end caps, 16- engine base drive shafts, 17- engine base driving shaft bearings, 18- engine base limited blocks, 19- pitching expansion sleeve one, 20- pitching limited blocks, 21- pitching expansion sleeve two, 22- engine base driven shafts, the driven axle bearing of 23- engine bases, the driven hubcap of 24- engine bases, 25- clump weights, 26- engine base pilot hole end caps, 27- pitching pinion gear one, 28- pitching deep groove ball bearings, 29- pitching reducer output shaft one, 30- Pitching gear wheel one, 31- pitching worm type of reduction gearing one, 32- pitching eccentric bushing one, 33- elevation servos motor one, 34- bows Elevation angle contact bearing one, 35- pitching a set of cups one, 36- pitching a set of cups two, 37- pitching angular contact bearing two, 38- pitching a set of cups two End cap, 39- elevation servos motor two, 40- pitching eccentric bushing two, 41- pitching worm type of reduction gearing two, 42- pitching gear wheels Two, 43- pitching reducer output shaft two, 44- pitching deep groove ball bearing two, 45- pitching pinion gear two, 46- bevel type differential gears one, The differential main boards of 47-, the differential turntable bearings one of 48-, the differential spacers one of 49-, 50- bevel type differential gears two, 51- differential output axis, The differential a set of cups of 52-, the differential angular contact bearings of 53-, the differential a set of cups end caps of 54-, the differential turntable bearings three of 55-, the differential shaft couplings of 56- Part, the differential auxiliary force plates of 57-, the differential turntable bearings two of 58-, the differential spacers two of 59-, 60- differential drives two, the differential cones of 61- Wheel gear locking nut, 62- bevel type differential gears three, 63- differential drives one, the differential cappings of 64-, I- pitch axis, the II-axis of rolling, III-azimuth axis.
Specific implementation mode
The present invention is described in detail with reference to the accompanying drawings and examples.
The differential attachment formula three-axle table of the embodiment of the present invention is made of three parts, including engine base, pitch components group and Differential component group;III 3 pitch axis I, the axis of rolling II, azimuth axis rotations are formed by engine base, pitch components group and differential component group Shafting, referring to Fig. 1;Three rotation axis systems are used for realizing that pitching, rolling, the orientation rotation of targeted loads, engine base provide for load One reference for installation.As shown in Figure 2 and Figure 3, one end is driven by pitching expansion sleeve 1 and engine base between pitching rack 4 and engine base Moving axis 16 is connected, and the other end is connected by pitching expansion sleeve 2 21 and engine base driven shaft 22, constitutes around I rotational support of pitch axis Dynamic connection.On the other hand, the engine base pinion gear 12 on engine base drives the engine base sector gear 14 being connected in engine base drive shaft 16 Band engine-bed drive shaft 16 rotates, to realize pitching rack 4 ± 20 degree of ranges pitching movement.It rolls and orientation rotation Realization method, as shown in Figure 5, Figure 6, the realization of the two movements have used a differential attachment, and the differential attachment is by differential cone Gear 1, bevel type differential gear 2 50, bevel type differential gear 3 62 are constituted, and wherein bevel type differential gear 2 50 and upper table surface 3 is affixed simultaneously It is engaged with bevel type differential gear 1 and bevel type differential gear 3 62, and bevel type differential gear 1, bevel type differential gear 3 62 pass through transmission System is connected with two drive motors, forms differential attachment.As shown in fig. 6, differential component group left end passes through differential turntable bearing One 48, differential spacer 1 is connect with pitching rack 4, constitutes the dynamic connection of the rotational support around the axis of rolling II, similarly differential portion Part group right end is connect by differential turntable bearing 2 58, differential spacer 2 59 with pitching rack 4, and the rotation around the axis of rolling II is constituted The dynamic connection of support.When bevel type differential gear 1 and bevel type differential gear 3 62 reversely rotate at the same speed, upper table surface 3 is around azimuth axis III Make orientation rotation;When bevel type differential gear 1 and 3 62 synchronized rotating Vortex of bevel type differential gear, upper table surface 3 is made around the axis of rolling II Rolling movement.When normal work, the movement of the axis of rolling II and azimuth axis III is all the combination of above two movement.It is differential by this Mechanism, upper table surface 3 can realize the rolling of ± 20 degree of ranges and the orientation rotation of ± 135 degree of ranges.
As shown in Figure 2 and Figure 3, engine base servo motor 7 is connected in series with engine base worm type of reduction gearing 9, engine base Pinion gear 12 is mounted in 9 output end of engine base worm type of reduction gearing, and engine base worm type of reduction gearing 9 is connected in engine base eccentric bushing 13 On base frame 6, the center of engine base pinion gear 12 and engine base sector gear 14 is adjusted by rotating the corner of engine base eccentric bushing 13 Away to eliminate the backlash of roller gear engagement.Engine base drive shaft 16 engine base driving shaft bearing 17 and engine base drive shaft End cap 15 is connected on base frame 6, and is connected by spline with engine base sector gear 14, passes through pitching tensioner with pitching rack 4 1 are covered to be connected.Engine base driven shaft 22 is connected to the driven axle bearing 23 of engine base and the driven hubcap of engine base 24 on base frame 6, and It is connected by pitching expansion sleeve 2 21 with pitching rack 4.Power is exported from engine base servo motor 7, is subtracted by engine base worm and gear Fast device 9, engine base reducer output shaft 11, engine base pinion gear 12 are transmitted to engine base sector gear 14, to which engine base drive shaft 16 can To drive pitching rack 4 to realize pitching movement.
As shown in Figure 4, Figure 5, pitch components group is by pitching protective cover 1, pitching rack 4, pitching protective cover 25, pitching Expansion sleeve 1, pitching limited block 20, pitching expansion sleeve 2 21, pitching pinion gear 1, pitching deep groove ball bearing 28, pitching subtracts Fast device output shaft 1, pitching gear wheel 1, pitching worm type of reduction gearing 1, pitching eccentric bushing 1, elevation servo Motor 1, pitching angular contact bearing 1, pitching a set of cups 1, pitching a set of cups 2 36, pitching angular contact bearing 2 37, pitching Two end cap 38 of a set of cups, elevation servo motor 2 39, pitching eccentric bushing 2 40, pitching worm type of reduction gearing 2 41, pitching canine tooth Take turns 2 42, pitching reducer output shaft 2 43, pitching deep groove ball bearing 2 44, pitching pinion gear 2 45 forms.Such as Fig. 5 right ends institute Show, elevation servo motor 2 39 is connected in series with pitching worm type of reduction gearing 2 41, and pitching pinion gear 2 45 fills In 2 41 output end of pitching worm type of reduction gearing, pitching worm type of reduction gearing 2 41 is connected in pitching eccentric bushing 2 40 and is bowed It faces upward in rack 4, pitching pinion gear 2 45 and pitching gear wheel 2 42 is adjusted by rotating the corner of pitching eccentric bushing 2 40 Centre-to-centre spacing, to eliminate the backlash of roller gear engagement.Pitching a set of cups 2 36, pitching angular contact bearing 2 37, pitching set Two end cap 38 of cup constitutes the dynamic connection of rotational support with differential drive 2 60, and pitching gear wheel 2 42 is connected in differential with spline In drive shaft 2 60.Power is exported from elevation servo motor 2 39, by pitching worm type of reduction gearing 2 41, pitching retarder Output shaft 2 43 drives pitching gear wheel 2 42 by pitching pinion gear 2 45, to drive bevel type differential gear 3 62 to rotate.Together Reason, as shown in Fig. 5 left ends, elevation servo motor 1 is connected in series with pitching worm type of reduction gearing 1, bows It faces upward pinion gear 1 and is mounted in one 31 output end of pitching worm type of reduction gearing, pitching worm type of reduction gearing 1 is eccentric with pitching It covers 1 to be connected in pitching rack 4, adjusts pitching pinion gear 1 by rotating the corner of pitching eccentric bushing 1 and bow The centre-to-centre spacing for facing upward gear wheel 1, to eliminate the backlash of roller gear engagement.Pitching a set of cups 1, pitch angle engagement shaft 1 are held, the dynamic connection of rotational support is constituted with differential drive 1, pitching gear wheel 1 is connected in differential drive with spline On moving axis 1.Power is exported from elevation servo motor 1, defeated by pitching worm type of reduction gearing 1, pitching retarder Shaft 1 faces upward gear wheel 1 by the driving of pitching pinion gear 1, to drive bevel type differential gear 1 to rotate.
As shown in Figure 5, Figure 6, the differential component group is by upper table surface 3, bevel type differential gear 1, differential main board 47, Differential turntable bearing 1, differential spacer 1, bevel type differential gear 2 50, differential output axis 51, differential a set of cups 52, differential corner connection Contact bearing 53, differential a set of cups end cap 54, differential turntable bearing 3 55, differential coupling piece 56, differential auxiliary force plate 57, differential turntable Bearing 2 58, differential spacer 2 59, differential drive 2 60, bevel type differential gear locking nut 61, bevel type differential gear 3 62 are differential Drive shaft 1,64 composition of differential capping.Bevel type differential gear 1, the coincidence of 3 62 axis of bevel type differential gear are horizontally disposed, with flower Key is connected to differential drive 1, on differential drive 2 60, and bevel type differential gear locking nut 61 is used in combination to lock, turn Dynamic support and driving are provided by I component group of pitch axis.2 50 axis of bevel type differential gear and bevel type differential gear 1 and differential cone tooth It is vertical to take turns 3 62 axis, spline and bevel type differential gear locking nut 61 is used in combination to be connect with 51 one end of differential output axis.Differential output Axis 51 is connected to differential main board 47 with differential a set of cups 52, differential angular contact bearing 53, differential a set of cups end cap 54, constitutes rotation branch The movable connection of support.51 other end of differential output axis is connected with spline and differential coupling piece 56, and upper table surface 3 is fixed by bolts to difference On dynamic coupling piece 56, to which the rotation of bevel type differential gear 2 50 can drive the movement of upper table surface 3.Differential component group is around the axis of rolling II rotational support is by the differential turntable bearing 1 and differential spacer 1 of left end, the differential turntable bearing 2 58 of right end and poor Dynamic spacer 2 59 movably connect offer with what pitching rack 4 separately constituted.Upper table surface around azimuth axis III rotational support by connecting Differential turntable bearing 3 55 between differential coupling piece 56 and differential main board 47 provides.

Claims (2)

1. a kind of differential attachment formula three-axle table, including engine base, pitch components group, the engine base provides reference for installation for load, It is characterized in that, further including differential component group, the differential component group cooperatively forms negative for realizing target with pitch components group Three pitch axis, the axis of rolling, azimuth axis rotation axis systems of pitching, the rolling, orientation rotation of load;When original state, described three The axis of a rotation axis system is mutually perpendicular to, and pitch axis axis is located at horizontal plane with axis of rolling axis, and azimuth axis axis is located at vertical Face;In the course of work, pitch axis axis and axis of rolling axis are vertical always, and azimuth axis axis and axis of rolling axis are vertical always; The pitch axis realizes the pitch rotation of upper table surface using independent driving unit;The axis of rolling and azimuth axis pass through differential machine Structure realizes rolling and the orientation rotation of upper table surface, and the differential attachment includes bevel type differential gear one, two, three, the differential gearing One, three horizontally-opposed installation, the bevel type differential gear two engage respectively with bevel type differential gear one, three, bevel type differential gear one, three Axis overlaps in the horizontal direction, the axis of bevel type differential gear two perpendicular to bevel type differential gear one, three common axis, coaxial line Bevel type differential gear one, three is sequentially connected with the drive motor being arranged symmetrically realizes the compound motion of bevel type differential gear one, three respectively, To drive bevel type differential gear two to complete two degree of freedom movements, the bevel type differential gear two is connect with upper table surface.
2. differential attachment formula three-axle table according to claim 1, which is characterized in that the differential cone tooth of the differential attachment Wheel one, three is connected to spline on differential drive one, two, and rotational support and driving are carried by the pitch components group For the bevel type differential gear two of the differential attachment is connect with spline with differential output axis one end, and the differential output axis passes through difference Dynamic a set of cups, differential angular contact bearing, differential a set of cups end cap are connected on differential main board, constitute the movable connection of rotational support, Differential output axis other end spline is connect with differential coupling piece, and the upper table surface is fixed by bolts on differential coupling piece, institute It states differential component group left end to connect with pitching rack by differential turntable bearing one, differential spacer one, constitutes and turn around the axis of rolling The dynamic connection of dynamic support, the differential component group right end are connect by differential turntable bearing two, differential spacer two with pitching rack, The dynamic connection for constituting the rotational support around the axis of rolling, when bevel type differential gear one and the reverse rotation at the same speed of bevel type differential gear three, on Table top makees orientation rotation around azimuth axis;When bevel type differential gear one and three synchronized rotating Vortex of bevel type differential gear, upper table surface is around rolling Moving axis makees rolling movement, when normal work, needs bevel type differential gear one, three as compound motion to realize the axis of rolling and azimuth axis Compound motion.
CN201610891348.3A 2016-10-12 2016-10-12 Differential attachment formula three-axle table Active CN106286761B (en)

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Publication number Priority date Publication date Assignee Title
CN107246870B (en) * 2017-06-01 2019-10-15 中国人民解放军国防科学技术大学 A kind of difference structure stabilized platform based on flexible cable transmission
CN111279114B (en) * 2018-03-28 2021-08-31 深圳市大疆创新科技有限公司 Differential gear drive device, stability augmentation mechanism, holder device and shooting equipment
CN108869674B (en) * 2018-07-30 2019-12-24 燕山大学 Differential speed reducer

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US7488144B2 (en) * 2003-06-25 2009-02-10 The Boeing Company Methods and apparatus for track members having a neutral-axis rack
CN1838330B (en) * 2006-04-21 2011-06-29 清华大学 Electromagnetic force parallel-connection driving type plane 3-DOF micropositioner
CN203031571U (en) * 2012-12-31 2013-07-03 北京微纳光科仪器有限公司 Motor-driven three-shaft rotating platform
CN103606737B (en) * 2013-11-12 2016-03-30 合肥开泰工贸有限责任公司 A kind of three-axle table
CN104942822B (en) * 2015-06-05 2017-03-08 上海宇航系统工程研究所 A kind of two-freedom degree joint of robot for space
CN206130032U (en) * 2016-10-12 2017-04-26 燕山大学 Differential mechanism formula three -axle table

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