CN106706265A - Four-freedom-degree motion mechanism - Google Patents
Four-freedom-degree motion mechanism Download PDFInfo
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- CN106706265A CN106706265A CN201710044290.3A CN201710044290A CN106706265A CN 106706265 A CN106706265 A CN 106706265A CN 201710044290 A CN201710044290 A CN 201710044290A CN 106706265 A CN106706265 A CN 106706265A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Fluid Mechanics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a four-freedom-degree motion mechanism, and the motion mechanism comprises a longitudinal two-freedom-degree plane motion mechanism, a vertical two-freedom-degree plane motion mechanism and a system control box. The vertical two-freedom-degree plane motion mechanism is disposed at a motion output end of the longitudinal two-freedom-degree plane motion mechanism, and is driven by the longitudinal two-freedom-degree plane motion mechanism to operate. The system control box is disposed on the longitudinal two-freedom-degree plane motion mechanism, and controls the longitudinal two-freedom-degree plane motion mechanism and the vertical two-freedom-degree plane motion mechanism to operate. Through setting the longitudinal two-freedom-degree plane motion mechanism and the vertical two-freedom-degree plane motion mechanism, the mechanism is high in motion precision, is small in operation vibration, and can simulate the high-frequency motion. The mechanism can simulate the coupling motion of any one or two of the horizontal translation, rotation around a vertical axis, vertical translation and rotation around a horizontal axis, and is suitable for the testing research of the viscidity of ocean structures.
Description
Technical field
The present invention relates to ocean engineering experiment technical field, more particularly to a kind of four-degree-of-freedom motion.
Background technology
Planar motion mechanism is applied than wide in Ship Maneuverability experimental study, in the prior art disclosed level
Facial plane motion, can drive ship to do swaying, head and shake two motions of the free degree；Disclosed vertical plane in the prior art
Planar motion mechanism, can drive ship to do heaving, two motions of the free degree of pitching (or rolling).
For Ship Controling Journal of Sex Research planar motion mechanism can only simulation water plane or vertical plane two frees degree
Motion.In addition, current planar motion mechanism is using the transmission such as ball-screw, worm and gear, electric cylinder, cross sliding sash, rotating disk
Mode, is adapted to output low frequency, the motion of large amplitude, and it is relatively low to vibrate larger, precision in high frequency motion, unsuitable ocean structure
The scrutiny of thing viscous hydrodynamic forces performance, therefore, how to overcome above mentioned problem, there is provided one kind can export high-precision motion
And the motion of simple structure, it is those skilled in the art's technical problem urgently to be resolved hurrily.
The content of the invention
The present invention provides a kind of four-degree-of-freedom motion that can export high-precision motion and simple structure.
In order to solve the above technical problems, the present invention provides a kind of four-degree-of-freedom motion, including：Longitudinal two-freedom is put down
Face motion, vertical two-freedom planar motion mechanism and system control box, wherein, the vertical two-freedom plane motion
Mechanism is arranged on the movement output ends of longitudinal two-freedom planar motion mechanism, and is transported by longitudinal two-freedom plane
The drive of motivation structure is acted, and the system control box is arranged on longitudinal two-freedom planar motion mechanism and controls described vertical
Acted to two-freedom planar motion mechanism and vertical two-freedom planar motion mechanism.
Preferably, longitudinal two-freedom planar motion mechanism includes：Mounting seat, it is set in parallel in the installation
The sliding block that the longitudinal rail of base both sides and the longitudinal rail match, the collar component on the sliding block and
Zigzag tread patterns component, wherein, the zigzag tread patterns component passes through longitudinal chain connection with the collar component.
Preferably, the zigzag tread patterns component includes：The horizontal movement for being symmetricly set on the mounting seat both sides is watched
Motor, horizontal synchronization band linear actuator and longitudinal pull bar are taken, wherein, the horizontal movement servomotor is by the level
Timing Belt linear actuator drives longitudinal pull bar along lengthwise movement, longitudinal pull bar by longitudinal hinge with
The collar component connection, and the collar component is affixed with vertical two-freedom planar motion mechanism.
Preferably, the collar component includes：Be fixed on collar base on the sliding block, installed in the collar bottom
Collar on seat and the collar pressing plate being connected with the collar, the collar pressing plate and longitudinal hinge and vertical two from
Connected respectively by degree planar motion mechanism.
Preferably, the collar pressing plate includes collar inner ring pressing plate and collar outer ring pressing plate, wherein, outside the collar
Circle is affixed with the collar base by collar outer ring pressing plate, and the inner ring of the collar is wrapped up by the collar inner ring pressing plate, institute
The center for stating collar inner ring pressing plate offers the through hole passed through for the vertical two-freedom planar motion mechanism, and the collar
Inner ring pressing plate is affixed with the vertical two-freedom planar motion mechanism by vertical mounting bracket.
Preferably, longitudinal hinge includes：Longitudinal hinge seat, longitudinal hinge slider, longitudinal hinge axis and longitudinal direction hinge
Carrier bar；Wherein, longitudinal hinge seat is affixed with the collar component and longitudinal hinge seat on offer chute, the cunning
Block is arranged in the chute and is hinged with longitudinal flap by longitudinal hinge axis, longitudinal flap and institute
State the connection of zigzag tread patterns component.
Preferably, the vertical two-freedom planar motion mechanism includes：With longitudinal two-freedom plane motion
The mounting column of mechanism's connection, the mounting column two is located at respect to the vertical drive component on lateral surface and vertical with described
The connecting plate of drive component connection.
Preferably, the vertical drive component includes：The catenary motion being arranged on the mounting column lateral surface is watched
Take the vertical Timing Belt linear actuator and straight with the vertical Timing Belt of motor and catenary motion servomotor connection
The vertical pull bar of line drive connection, the vertical pull bar is hinged by vertical hinge with the connecting plate.
Preferably, the vertical hinge includes：Vertical hinge seat, vertical hinge slider and vertical hinge axis, wherein, institute
Vertical hinge seat is stated to be fixed on the connecting plate and offer an elongated slot, the vertical hinge slider on the vertical hinge seat
It is slidably connected with the vertical hinge seat by the elongated slot, the vertical pull bar is hung down by the vertical hinge axis with described
It is hinged to hinge slider.
Preferably, the surge direction one of the setting direction of the catenary motion servomotor and four-degree-of-freedom motion
Cause, and the catenary motion servomotor is also solid with longitudinal two-freedom planar motion mechanism by motor reinforced liner
Connect.
Compared with prior art, the present invention is flat by setting longitudinal two-freedom planar motion mechanism and vertical two-freedom
Face motion, high with kinematic accuracy, operational shock is small, can simulate the advantage of high-frequency motion；Can dummy level translation,
Any one in these four motion modes or two or more couplings are rotated around vertical axis rotation, vertical translation, around trunnion axis
Motion, it is adaptable to the adhering performance experimental study of marine structure.
Brief description of the drawings
Fig. 1 is the structural representation of four-degree-of-freedom motion of the invention；
Fig. 2 is the left view of four-degree-of-freedom motion of the invention；
Fig. 3 is the top view of four-degree-of-freedom motion of the invention；
Fig. 4 is the A-A faces sectional view of Fig. 1；
Fig. 5 is the B-B faces sectional view of Fig. 1.
Shown in figure：
1- longitudinal directions two-freedom planar motion mechanism；
11- mounting seats, 12- longitudinal rails, 13- sliding blocks；
Pressed on 14- collars component, 141- collars base, 142- collars, 143- collars outer ring pressing plate, 144- collar inner rings
Plate, 145- collar inner ring lower platens；
15- zigzag tread patterns component, 151- horizontal movements servomotor, 152- horizontal synchronizations band linear actuator, 153- are indulged
To pull bar；
16- longitudinal directions hinge, 161- longitudinal directions hinge seat, 162- longitudinal directions hinge slider, 163- longitudinal directions hinge axis, 164- longitudinally cut with scissors
Carrier bar；
The vertical mounting brackets of 17-；
The vertical two-freedom planar motion mechanisms of 2-, 21- mounting columns；
The vertical drive components of 22-, 221- catenary motions servomotor, the vertical Timing Belt linear actuators of 222-, 223- hang down
To pull bar；
23- connecting plates；
The vertical hinges of 24-, the vertical hinge seats of 241-, the vertical hinge sliders of 242-, the vertical hinge axis of 243-；
25- motor reinforced liners；
3- system control boxes.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.It should be noted that, accompanying drawing of the present invention is in the form of simplification and using non-essence
Accurate ratio, is only used to conveniently, lucidly aid in illustrating the purpose of the embodiment of the present invention.
As shown in Figures 1 to 5, the present invention provides a kind of four-degree-of-freedom motion, including：Longitudinal two-freedom plane fortune
Motivation structure 1, vertical two-freedom planar motion mechanism 2 and system control box 3, wherein, the vertical two-freedom plane motion
Mechanism 2 is arranged on the movement output ends of longitudinal two-freedom planar motion mechanism 1, and by longitudinal two-freedom plane
The drive of motion 1 is acted, and the system control box 3 is arranged on longitudinal two-freedom planar motion mechanism 1 and controls
Longitudinal two-freedom planar motion mechanism 1 and vertical two-freedom planar motion mechanism 2 are acted.Specifically, the longitudinal direction
Two-freedom planar motion mechanism 1 can realize the coupled motions for moving horizontally (surging) and (head shakes) being rotated around vertical axis；Institute
State the coupling fortune that vertical two-freedom planar motion mechanism 2 can realize vertical movement (heaving) and (pitching) is rotated around trunnion axis
Dynamic, by using the system control box 3, the present invention can be with dummy level translation, around vertical axis rotation, vertical translation, around water
Flat axle rotates any one or two or more coupled motions in these four motion modes, it is adaptable to the viscosity of marine structure
Performance test research.Compared with prior art, the kinematic accuracy of four-degree-of-freedom motion of the invention is higher, is vibrated during operation
Very little, can be with analog frequency motion higher.
Please emphasis reference picture 2 to Fig. 4, longitudinal two-freedom planar motion mechanism 1 includes：It is mounting seat 11, parallel
It is arranged on the longitudinal rail 12 of the both sides of the mounting seat 11 and the sliding block 13 of the gap of the longitudinal rail 12 cooperation, is arranged on
Collar component 14 and zigzag tread patterns component 15 on the sliding block 13, wherein, the zigzag tread patterns component 15 and the collar
Component 14 passes through longitudinal hinge 16 and connects, and the collar component 14 is affixed with vertical two-freedom planar motion mechanism 2.
Preferably, the zigzag tread patterns component 15 includes：It is symmetricly set on the level fortune of the both sides of the mounting seat 11
Dynamic servomotor 151, horizontal synchronization band linear actuator 152 and longitudinal pull bar 153, wherein, the horizontal movement servo electricity
Machine 151 drives longitudinal pull bar 153 along lengthwise movement by horizontal synchronization band linear actuator 152, the longitudinal direction
Pull bar 153 is connected by longitudinal hinge 16 with the collar component 14.The present invention is by using horizontal movement servo electricity
Machine 151 and horizontal synchronization band linear actuator 152, displacement accuracy reach 0.1mm, running frequency reach 2Hz, with vibrate it is small, repeat
Positioning precision advantage high.
Preferably, the collar component 14 includes：Be fixed on collar base 141 on the sliding block 13, installed in institute
The collar 142 on collar base 141 and the collar pressing plate being connected with the collar 142 are stated, the collar pressing plate is vertical with described
Connected respectively to hinge 16 and vertical two-freedom planar motion mechanism 2.
Please emphasis reference picture 4, the collar pressing plate include by collar inner ring top board 144 and collar inner ring lower platen 145
The collar inner ring pressing plate for being formed, and collar outer ring pressing plate 143 are assembled, specifically, the collar 142 is decussation roller collar,
Its outer ring is affixed with the collar base 141 by collar outer ring pressing plate 143, and the inner ring of the collar 142 is by the axle
Ring inner ring top board 144 and collar inner ring lower platen 145 are wrapped up.Further, the center of the collar inner ring pressing plate offers
For the square through hole that the vertical two-freedom planar motion mechanism 2 is passed through, and the collar inner ring pressing plate is by vertical installation
Support 17 is affixed with the mounting column 21 of the vertical two-freedom planar motion mechanism 2.
Preferably, longitudinal hinge 16 includes：Longitudinal hinge seat 161, longitudinal hinge slider 162, longitudinal hinge axis
163 and longitudinal flap 164；Wherein, longitudinal hinge seat 161 is arranged on the collar inner ring pressing plate, the longitudinal direction hinge
Chute is offered on chain seat 161, longitudinal hinge slider 162 is arranged in the chute and by longitudinal hinge axis
163 are hinged with longitudinal flap 164, and longitudinal flap 164 is connected with the zigzag tread patterns component 15.
Please emphasis reference picture 3 to Fig. 5, the vertical two-freedom planar motion mechanism 2 includes：With the collar inner ring pressure
Plate is by the connected mounting column 21 of vertical mounting bracket 17, the vertical drive being located on the relative lateral surface of 21 liang of the mounting column
Dynamic component 22 and the connecting plate 23 being connected with the vertical drive component 22.
Specifically, the mounting column 21 is square tube shape, and arrangement vertically；The vertical drive component 22 includes：Set
What catenary motion servomotor 221 and the catenary motion servomotor 221 on the lateral surface of the mounting column 21 were connected
Vertical Timing Belt linear actuator 222 and the vertical pull bar 223 being connected with the vertical Timing Belt linear actuator 222,
The vertical pull bar 223 is hinged by vertical hinge 24 with the connecting plate 23.Similarly, using catenary motion servomotor
221 and vertical Timing Belt linear actuator 222, it is same to have the advantages that the small, repetitive positioning accuracy of vibration is high.
The vertical hinge 24 can prevent the vertical pull bar 223 of the both sides of the mounting column 21 from producing horizontal separation.
Further, emphasis reference picture 5 is asked, the vertical hinge 24 includes：Vertical hinge seat 241, vertical hinge slider 242 and vertical
Hinge axis 243, wherein, the vertical hinge seat 241 is fixed on the connecting plate 23 and is opened up on the vertical hinge seat 241
There is an elongated slot, the vertical hinge slider 242 is slidably connected by the elongated slot with the vertical hinge seat 241, described vertical
Pull bar 223 is hinged by the vertical hinge axis 243 with the vertical hinge slider 242.
The setting direction of the catenary motion servomotor 221 is consistent with the surge direction of four-degree-of-freedom motion, and
The catenary motion servomotor 221 also passes through motor reinforced liner 25 and longitudinal two-freedom planar motion mechanism 1
Collar inner ring pressing plate is affixed.
With continued reference to Fig. 1 to Fig. 5, the course of work of the invention is：
The horizontal synchronization band linear actuator 152 of longitudinal two-freedom planar motion mechanism 1 is in horizontal movement servomotor
Lengthwise movement is carried out under 151 drive, longitudinal pull bar 153 and longitudinal lengthwise movement of flap 164 is driven, and then drive described
Collar 142 is moved.When two horizontal synchronization band 152 Complete Synchronizations of linear actuator, inner ring and the outer ring of the collar 142 do not have
There is relative rotation, it is overall to be moved horizontally (surging) along longitudinal rail 12；When two horizontal synchronization band linear actuators 152
When completely asynchronous, slip is not produced between longitudinal rail 12 and sliding block 13, the only inner ring of collar 142 is carried out around vertical relative to outer ring
The rotation (head shakes) of d-axis；Can realize moving horizontally by two motions of the horizontal synchronization with linear actuator 152 of control and (indulge
Swing) and around the coupled motions of vertical axis rotation (head shakes).When the inner ring of the collar 142 relatively rotates with outer ring, two
Individual longitudinal hinge seat 161 diminishes in the distance for being transversely to the machine direction the direction of motion of pull bar 153.Preferably, longitudinal hinge seat
Track length in 161 is adapted with the distance change, and longitudinal hinge axis 163 can be by longitudinal hinge slider 162 in the cunning
Slided in groove, longitudinal hinge 16 can be avoided stuck.
The method of operation with longitudinal two-freedom planar motion mechanism 1 is similar, the vertical two-freedom plane fortune
The vertical Timing Belt linear actuator 222 of motivation structure 2 carries out catenary motion, band under the drive of catenary motion servomotor 221
Dynamic vertical pull bar 223 carries out catenary motion, and then drives connecting plate 23 to move.When two vertical Timing Belt linear actuators
During 222 Complete Synchronization, connecting plate 23 carries out vertical movement (heaving)；When two vertical Timing Belt linear actuators 222 are completely different
During step, connecting plate 23 carries out the rotation (pitching) around trunnion axis；By controlling two fortune of the vertical synchronization with linear actuator 222
The dynamic coupled motions that can be realized vertical movement (heaving) and (pitching) is rotated around trunnion axis.When connecting plate 23 is rotated around trunnion axis
When, two vertical hinge seats 241 diminish in the distance perpendicular to the direction of motion of vertical pull bar 223.Similarly, vertical hinge seat
The size of the elongated slot in 241 is adapted with the distance change, and vertical hinge axis 243 is by vertical hinge slider 242 in elongated slot
Slide, vertical hinge 24 can be avoided stuck.
During this, 3 pairs of levels of the system control box are entered to motion servo motor and catenary motion servomotor
Row is controlled respectively.Longitudinal two-freedom planar motion mechanism 1 is using bi-motor, dual drive, it is possible to achieve surging and head shake；It is vertical
Two-freedom planar motion mechanism 2 realizes heaving and pitching using bi-motor, dual drive.Vertical two-freedom planar motion mechanism
2 movement output ends for being arranged on longitudinal two-freedom planar motion mechanism 1, under being uniformly controlled of system control box 3, are capable of achieving
Surging, heaving, pitching and head shake any one or two or more coupled motions in these four motion modes.Vertical two freely
The connecting plate 23 for spending planar motion mechanism 2 is final movement output structure, and the marine structure of required test need to be connected with this
Plate 23 is connected.
To sum up, the present invention is arranged on longitudinal two-freedom plane motion by by vertical two-freedom planar motion mechanism 2
The movement output ends of mechanism 1, finally the ocean structure model of test enters needed for vertical two-freedom planar motion mechanism 2 drives
Row motion, realizes the function of four-degree-of-freedom motion.That is, longitudinal two-freedom planar motion mechanism 1 can drive it is vertical
Two-freedom planar motion mechanism 2 carries out horizontal translation, both motions is rotated around vertical axis, along with vertical two-freedom is flat
Face motion 2 itself can carry out vertical translation, be rotated around trunnion axis, finally realize that motoring ring test model carries out four selfs jointly
By the function of degree motion.Mechanism of the invention is simple, maintenance, easy maintenance.
Obviously, those skilled in the art can carry out various changes and modification without deviating from spirit of the invention to invention
And scope.So, if these modifications of the invention and modification belong to the claims in the present invention and its equivalent technologies scope it
Interior, then the present invention is also intended to including including these changes and modification.
Claims (10)
1. a kind of four-degree-of-freedom motion, it is characterised in that including：Longitudinal two-freedom planar motion mechanism, vertical two are certainly
By degree planar motion mechanism and system control box, wherein, the vertical two-freedom planar motion mechanism is arranged on the longitudinal direction
The movement output ends of two-freedom planar motion mechanism, and acted by longitudinal two-freedom planar motion mechanism drive, institute
System control box is stated to be arranged on longitudinal two-freedom planar motion mechanism and control longitudinal two-freedom plane to transport
Motivation structure and vertical two-freedom planar motion mechanism are acted.
2. four-degree-of-freedom motion as claimed in claim 1, it is characterised in that longitudinal two-freedom plane motion machine
Structure includes：Mounting seat, it is set in parallel in the cunning that the longitudinal rail and the longitudinal rail of the mounting seat both sides match
Block, collar component and zigzag tread patterns component on the sliding block, wherein, the zigzag tread patterns component and the collar
Component passes through longitudinal chain connection, and the collar component is affixed with vertical two-freedom planar motion mechanism.
3. four-degree-of-freedom motion as claimed in claim 2, it is characterised in that the zigzag tread patterns component includes：Symmetrically
Horizontal movement servomotor, horizontal synchronization band linear actuator and longitudinal pull bar of the mounting seat both sides are arranged on, its
In, the horizontal movement servomotor drives longitudinal pull bar to be transported along longitudinal direction by horizontal synchronization band linear actuator
Dynamic, longitudinal pull bar is connected by longitudinal hinge with the collar component.
4. four-degree-of-freedom motion as claimed in claim 2, it is characterised in that the collar component includes：It is fixed on institute
State the collar base on sliding block, the collar on the collar base and the collar pressing plate being connected with the collar, institute
Collar pressing plate is stated to be connected respectively with longitudinal hinge and vertical two-freedom planar motion mechanism.
5. four-degree-of-freedom motion as claimed in claim 4, it is characterised in that the collar pressing plate includes collar inner ring pressure
Plate and collar outer ring pressing plate, wherein, the outer ring of the collar is affixed with the collar base by collar outer ring pressing plate, the axle
The inner ring of ring is wrapped up by the collar inner ring pressing plate, and the center of the collar inner ring pressing plate is offered for the vertical two-freedom
The through hole that planar motion mechanism is passed through, and the collar inner ring pressing plate is flat with the vertical two-freedom by vertical mounting bracket
Face motion is affixed.
6. the four-degree-of-freedom motion as described in Claims 2 or 3 or 4 or 5, it is characterised in that longitudinal hinge includes：
Longitudinal hinge seat, longitudinal hinge slider, longitudinal hinge axis and longitudinal flap；Wherein, longitudinal hinge seat and the collar
Component is affixed and longitudinal hinge seat on offer chute, longitudinal hinge slider is arranged in the chute and passes through institute
State longitudinal hinge axis to be hinged with longitudinal flap, longitudinal flap is connected with the zigzag tread patterns component.
7. four-degree-of-freedom motion as claimed in claim 1, it is characterised in that the vertical two-freedom plane motion machine
Structure includes：The mounting column that is connected with longitudinal two-freedom planar motion mechanism, to be located at the mounting column two-phase external
Vertical drive component on side and the connecting plate being connected with the vertical drive component.
8. four-degree-of-freedom motion as claimed in claim 7, it is characterised in that the vertical drive component includes：Set
Catenary motion servomotor on the mounting column lateral surface is vertical synchronous with what the catenary motion servomotor was connected
The vertical pull bar being connected with linear actuator and with the vertical Timing Belt linear actuator, the vertical pull bar passes through
Vertical hinge is hinged with the connecting plate.
9. four-degree-of-freedom motion as claimed in claim 8, it is characterised in that the vertical hinge includes：Vertical hinge
Seat, vertical hinge slider and vertical hinge axis, wherein, the vertical hinge seat is fixed on the connecting plate and the vertical hinge
An elongated slot is offered on chain seat, the vertical hinge slider is slidably connected by the elongated slot with the vertical hinge seat, described
Vertical pull bar is hinged by the vertical hinge axis with the vertical hinge slider.
10. four-degree-of-freedom motion as claimed in claim 8, it is characterised in that the catenary motion servomotor sets
Put direction consistent with the surge direction of four-degree-of-freedom motion, and the catenary motion servomotor also reinforces branch by motor
Frame is affixed with longitudinal two-freedom planar motion mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710044290.3A CN106706265B (en) | 2017-01-19 | 2017-01-19 | Four-degree-of-freedom movement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710044290.3A CN106706265B (en) | 2017-01-19 | 2017-01-19 | Four-degree-of-freedom movement mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN106706265A true CN106706265A (en) | 2017-05-24 |
| CN106706265B CN106706265B (en) | 2023-06-30 |
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ID=58909319
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710044290.3A Active CN106706265B (en) | 2017-01-19 | 2017-01-19 | Four-degree-of-freedom movement mechanism |
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| Country | Link |
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| CN (1) | CN106706265B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243570A (en) * | 2019-06-25 | 2019-09-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Planar motion mechanism for surface ship model maneuverability test |
| CN110793747A (en) * | 2019-10-10 | 2020-02-14 | 中国直升机设计研究所 | Multi freedom removes measuring mechanism |
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| GB1358585A (en) * | 1973-01-03 | 1974-07-03 | Lang T N | Stabilising apparatus for ships |
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| CN103743331A (en) * | 2013-12-31 | 2014-04-23 | 哈尔滨工程大学 | Large-amplitude motion follow-up five-degree-of-freedom airworthiness instrument |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243570A (en) * | 2019-06-25 | 2019-09-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Planar motion mechanism for surface ship model maneuverability test |
| CN110243570B (en) * | 2019-06-25 | 2021-02-09 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Plane motion mechanism for water surface ship model maneuverability test |
| CN110793747A (en) * | 2019-10-10 | 2020-02-14 | 中国直升机设计研究所 | Multi freedom removes measuring mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106706265B (en) | 2023-06-30 |
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