CN107870405A - Multiple degrees of freedom optical precision regulating platform - Google Patents
Multiple degrees of freedom optical precision regulating platform Download PDFInfo
- Publication number
- CN107870405A CN107870405A CN201711264075.0A CN201711264075A CN107870405A CN 107870405 A CN107870405 A CN 107870405A CN 201711264075 A CN201711264075 A CN 201711264075A CN 107870405 A CN107870405 A CN 107870405A
- Authority
- CN
- China
- Prior art keywords
- flap
- screw
- slide plate
- steering wheel
- heading
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of multiple degrees of freedom optical precision regulating platform, including：Regulating platform main body, it includes the first flap, the second flap, the first slide plate, the second slide plate, the 3rd flap and the bottom plate from top to bottom set gradually；θ z rudder thermomechanical components；θ y rudder thermomechanical components；X-direction steering wheel component；Z-direction steering wheel component and θ x rudder thermomechanical components.Steering wheel is incorporated into fine adjustment platform structure by the present invention, ingenious to make use of the features such as servos control is simple, cost is cheap, realizes the regulation of regulating platform high-accuracy multiple-degree-of-freedom；The present invention is simple in construction compact, and self-locking property is good, stability is high, adapts to elongate strip load, has a wide range of application, and degree of regulation is high, control is simple, production cost is low, wide market.
Description
Technical field
The present invention relates to regulating platform apparatus field, more particularly to a kind of multiple degrees of freedom optical precision regulating platform.
Background technology
Being needed in big visual field phase contrast CT image-forming system to core component --- three pieces of cylindrical gratings carry out locus
Regulation, it is set to ensure the relative positional accuracy in hollow of physical index.It is required that the regulating platform below cylindrical grating will meet always
The requirement for space is filled, delicate structure, center of gravity is low, has five frees degree (in addition to along plummet direction) and for flat
Dynamic regulation is better than 1 μm of regulation sensitivity, can bear elongated strip load 10kg loads, and be placed on big turntable have compared with
Good stability and dynamic property, and to realize that the regulation under X-ray environment is preferably Unmanned operation.
There are many optical precision regulating platforms in the market, product is various, and versatility is good, and modularized design is still：
1. the objective table of existing product is mostly square, the heavy duty for elongated strip is not suitable for；
2. it is typically to load the module spliced of each free degree that existing product is realized for multiple degrees of freedom, can cause
Volume is big, complicated, center of gravity is high；
3. existing product is typically to apply on fixed platform, such as optical table, for moving platform (in such as CT
Turntable) stability is bad；
4. existing product uses guide rail more for the steady realization without the movement creeped, but is often deposited in locking
In gap, easily changed particularly with heavy duty and in the case of rotating；
It is that translator realizes that remote operation is adjusted that 5. existing product, which has many types, but for irregular heavy duty
Regulating platform often volume is larger, complicated, center of gravity is higher, and needs configuration driven device controller, and system cost is high,
It is uneconomical.
With the development of steering wheel technology, the birth of especially digital serial ports steering wheel, the application of steering wheel is no longer limited to play
Tool, model plane, robot field.Steering wheel is on the basis of original high pulling torque, and the sensor of its position feedback is also by original electricity
Position meter is replaced with encoder, and this can not only improve the precision of position feedback but also can improve the Motion Resolution rate of steering wheel, heavier
What is wanted is that steering wheel can be made to become continuous rotation from 180 ° original of stroke.Serial communication eliminates general more system without constraints
Expensive controller in system, and control is simple, cost is cheap, most multipotency controls 200 multichannel motors simultaneously.And existing
In technology, the technology in few actuating mechanisms applied steering wheel in optical precision optical machinery.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of how free
Spend optical precision regulating platform.
On the basis of original high pulling torque, the sensor of its position feedback is also replaced with steering wheel by original potentiometer
Encoder, this can not only improve the precision of position feedback so as to improving the Motion Resolution rate of steering wheel, it is often more important that can make
Steering wheel becomes continuous rotation from 180 ° original of stroke.Serial communication eliminates expensive in general more free systems
Controller, and control is simple, cost is cheap, most multipotency controls 200 multichannel motors simultaneously.The present invention has successfully tracked machine
The development of steering wheel in device people's technology, and successfully applied in the actuating mechanism in optical precision optical machinery.This is for light
The inexpensive automation regulation for learning precision optical machinery provides a new thinking.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of multiple degrees of freedom optical precision regulation
Platform, including：
Regulating platform main body, its first flap for including from top to bottom setting gradually, the second flap, the first slide plate, second are slided
Plate, the 3rd flap and bottom plate；
θ z rudder thermomechanical components, for driving first flap, direction rotates about the z axis, and it includes θ z directions steering wheel, θ z
Direction adjustment organization and the first arc-shaped guide rail mechanism being arranged between first flap and the second flap；
θ y rudder thermomechanical components, for driving second flap to be rotated around Y direction, it includes θ y direction steering wheels and θ
Y direction adjustment organizations；
X-direction steering wheel component, for driving first slide plate to move in X direction, it includes X-direction steering wheel and X-direction
Governor motion；
Z-direction steering wheel component, for driving second slide plate to be moved along Z-direction, it includes Z-direction steering wheel and Z-direction
Governor motion；
θ x rudder thermomechanical components, for driving the 3rd flap to be rotated around X-direction, it includes θ x directions steering wheel, θ x
Direction adjustment organization and the second arc-shaped guide rail mechanism being arranged between the 3rd flap and bottom plate.
Preferably, the θ z direction adjustment organizations include the first nut seat, the one end being fixed on second flap
Another movable end cooperation is connected with the output end of the θ z directions steering wheel and is plugged in the first spiral shell opened up on first nut seat
The first screw in female hole and the first stacker being fixed on first flap, it is solid on the movable end of first screw
Be connected to the first heading, offered on first stacker for described first heading coordinate insertion the first hole clipping, described first
Head a ball rotatable be fastened in first hole clipping.
Preferably, the first arc-shaped guide rail mechanism includes being fixed on second flap and upper surface is curved
The first lower guideway, be slidably arranged on first lower guideway and the first top shoe that bottom surface is curved, be arranged on it is described
The first curved retainer between first top shoe and the first lower guideway and be filled in first retainer first
Steel ball；First top shoe and first flap are affixed.
Preferably, the first arc-shaped guide rail mechanism sidepiece is provided with the first retaining mechanism, first retaining mechanism
Including be fixed in first time latch segment that on second flap and upper surface is curved, be fixed on first flap and
Lower surface it is curved first on latch segment and be arranged on described first between latch segment and first time latch segment and bottom surface is in
First tapered arc paster of arc, offer on latch segment on described first and opened for accommodating the first of first tapered arc paster
Hole.
Preferably, second flap is connected on first slide plate by rotating assembly, second flap and
The second retainer is provided between first slide plate, the second steel ball is filled with second retainer, is set on second flap
It is equipped with the first lock screw；The θ y direction adjustment organizations include the second nut seat, the one end being fixed on first slide plate
Another movable end cooperation is connected with the output end of the θ y directions steering wheel and is plugged in the second spiral shell opened up on second nut seat
The second screw in female hole and the second stacker being fixed on second flap；It is solid on the movable end of second screw
The second heading is connected to, the arc bearing plate for coordinating apical grafting with the described second heading is connected with second stacker；It is described
The first retracting spring that the other end is connected with first slide plate is also connected with second stacker.
Preferably, first slide plate is slidably arranged on second slide plate, and first slide plate and second is slided
The 3rd retainer is provided between plate, the 3rd steel ball is filled with the 3rd retainer；Is provided with first slide plate
Two lock screws；The X-direction governor motion include being fixed in the 3rd nut seat on second slide plate and one end with it is described
The output end of X-direction steering wheel connects another movable end cooperation and is plugged in the 3rd nut bore opened up on the 3rd nut seat
The 3rd screw, the 3rd heading is connected with the 3rd screw, the 3rd heading and the side of first slide plate are pushed up
Patch；The second retracting spring is connected between first slide plate and the second slide plate.
Preferably, second slide plate is slidably arranged on the 3rd flap, second slide plate and the 3rd turn
It is provided with the 4th retainer between plate, the 4th steel ball is filled with the 4th retainer, the is provided with second slide plate
Three lock screws；The Z-direction governor motion include being fixed in the 4th nut seat on the 3rd flap and one end with it is described
The output end of Z-direction steering wheel connects another movable end cooperation and is plugged in the 4th nut bore opened up on the 4th nut seat
The 4th screw, the 4th heading is connected with the 4th screw, the 4th heading and the side of second slide plate are pushed up
Patch；The 3rd retracting spring is connected between second slide plate and the 3rd flap.
Preferably, the θ x direction adjustment organizations include the 5th nut seat, one end and the institute being fixed on the bottom plate
Another movable end of output end connection for stating θ x directions steering wheel coordinates the 5th nut bore for being plugged in and being opened up on the 5th nut seat
The 5th interior screw and the 3rd stacker being fixed on the 3rd flap, it is connected with the movable end of the 5th screw
5th is headed a ball, and the second hole clipping for coordinating insertion for the described 5th heading is offered on the 3rd stacker, and the described 5th heads a ball
It is rotatable to be fastened in second hole clipping.
Preferably, the second arc-shaped guide rail mechanism includes being fixed on the 3rd flap and upper surface is curved
The second lower guideway, be slidably arranged on second lower guideway and the second top shoe that bottom surface is curved, be arranged on it is described
The 5th curved retainer between second top shoe and the second lower guideway and be filled in the 5th retainer the 5th
Steel ball；Second top shoe and the 3rd flap are affixed；
Preferably, the second arc-shaped guide rail mechanism sidepiece is provided with the second retaining mechanism, second retaining mechanism
Including being fixed on the bottom plate and second time latch segment that upper surface is curved, being fixed on the 3rd flap and following table
Face it is curved second on latch segment and be arranged on described second between latch segment and second time latch segment and bottom surface is curved
The second tapered arc paster, the second perforate for accommodating second tapered arc paster is offered on described second on latch segment.
Preferably, first lock screw, the second lock screw and the 3rd lock screw are low certainly using modified form
By degree screw, the modified form low degree-of-freedom screw includes screw body and the pad that is set on the screw body and micro-
Type thrust ball bearing, the screw body include screw head, the smooth surface thin bar being connected with the screw head and are connected to institute
The threaded rod of the smooth surface thin bar other end is stated, the pad and miniature thrust ball bearing are sequentially sleeved in the smooth surface thin bar.
The beneficial effects of the invention are as follows：Steering wheel is incorporated into fine adjustment platform structure by the present invention, ingenious to make use of steering wheel
Torque is big, small volume, it is in light weight, control is simple, cost is cheap the features such as, realize the tune of regulating platform high-accuracy multiple-degree-of-freedom
Section；By using modified form low degree-of-freedom screw, the skew that locking member is treated caused by during locking is avoided that, is ensured
Assembly precision, improve locking effect；The present invention is simple in construction compact, and self-locking property is good, stability is high, adapts to elongate strip and bears
Carry, have a wide range of application, and degree of regulation is high, control is simple, production cost is low, wide market.
Brief description of the drawings
Fig. 1 is the structural representation of the multiple degrees of freedom optical precision regulating platform of the present invention；
Fig. 2 is the exploded view of the multiple degrees of freedom optical precision regulating platform of the present invention；
Fig. 3 is the first flap of the present invention and the cooperation schematic diagram of the second flap；
Fig. 4 is the structural representation of the θ z rudder thermomechanical components of the present invention；
Fig. 5 is the second flap of the present invention and the cooperation schematic diagram of the first slide plate；
Fig. 6 is the structural representation of the θ y rudder thermomechanical components of the present invention；
Fig. 7 is the first slide plate of the present invention and the cooperation schematic diagram of the second slide plate；
Fig. 8 is the structural representation of the X-direction steering wheel component of the present invention；
Fig. 9 is the second slide plate of the present invention and the cooperation schematic diagram of the 3rd flap；
Figure 10 is the structural representation of the Z-direction steering wheel component of the present invention；
Figure 11 is the 3rd flap of the present invention and the cooperation schematic diagram of bottom plate；
Figure 12 is the structural representation of the θ x rudder thermomechanical components of the present invention；
Figure 13 is the structural representation of the modified form low degree-of-freedom screw of the present invention；
Figure 14 is the cooperation schematic diagram of the modified form low degree-of-freedom screw and part to be locked of the present invention.
Description of reference numerals：
1-regulating platform main body；2-θ z rudder thermomechanical components；3-θ y rudder thermomechanical components；4-X-direction steering wheel component；
5-Z-direction steering wheel component；6-θ X-direction steering wheel components；
10-the first flap；11-the second flap；12-the first slide plate；13-the second slide plate；14-the three flap；
15-bottom plate；110-the second retainer；111-the second steel ball；112-the first lock screw；113-rotating assembly；120—
3rd retainer；121-the three steel ball；122-the second lock screw；130-the four retainer；131-the four steel ball；
132-the three lock screw；
20-θ z directions steering wheel；21-θ z direction adjustment organizations；22-the first arc-shaped guide rail mechanism；23-the first nut
Seat；24-the first nut bore；25-the first screw；26-the first stacker；27-the first heading；28-the first hole clipping；29—
First retaining mechanism；220-the first lower guideway；221-the first top shoe；222-the first retainer；223-the first steel ball；
290-the first time latch segment；Latch segment on 291-the first；292-the first tapered arc paster；293-the first perforate；
30-θ y directions steering wheel；31-θ y direction adjustment organizations；32-the second nut seat；33-the second screw；34-the
Two nut bores；35-the second heading；36-the second stacker；37-arc bearing plate；38-the first retracting spring；
40-X-direction steering wheel；41-X-direction governor motion；42-the three nut seat；43-the three screw；44-the three
Nut bore；45-the three heading；46-the second retracting spring；
50-Z-direction steering wheel；51-Z-direction governor motion；52-the four nut seat；53-the four screw；54-the four
Nut bore；55-the four heading；56-the three retracting spring；
60-θ X-direction steering wheels；61-θ X-direction governor motions；62-the second arc-shaped guide rail mechanism；63-the five nut
Seat；64-the five nut bore；65-the five screw；66-the three stacker；67-the five heading；68-the second hole clipping；69—
Second retaining mechanism；620-the second lower guideway；621-the second top shoe；622-the five retainer；623-the five steel ball；
690-the second time latch segment；Latch segment on 691-the second；692-the second tapered arc paster；693-the second perforate；
70-screw body；71-screw head；72-smooth surface thin bar；73-threaded rod；74-pad；75-miniature
Thrust ball bearing.
Embodiment
With reference to embodiment, the present invention is described in further detail, to make those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded from one or more
The presence or addition of individual other elements or its combination.
X-direction, Y-direction, Z-direction, θ y directions, θ z directions and θ x directions in the present invention is with the triaxial coordinate in Fig. 1
Direction shown in system is reference, only for ease of present invention is described and explanation, does not form the limit to the present invention
It is fixed.Wherein, the description for the direction such as forward and backward drives the direction of screw horizontal movement to be described referring also to steering wheel, so that this
Application is easy to describe and understood.
As shown in Fig. 1-Figure 13, a kind of multiple degrees of freedom optical precision regulating platform of the present embodiment, including：
Regulating platform main body 1, it includes the first flap 10, the second flap 11, the first slide plate from top to bottom set gradually
12nd, the second slide plate 13, the 3rd flap 14 and bottom plate 15；
θ z rudders thermomechanical components 2, for driving the first flap 10, direction rotates about the z axis, and it includes θ z directions steering wheel 20, θ
Z-direction governor motion 21 and the first arc-shaped guide rail mechanism 22 being arranged between the first flap 10 and the second flap 11；
θ y rudders thermomechanical components 3, for driving the second flap 11 to be rotated around Y direction, it includes the He of θ y directions steering wheel 30
θ y direction adjustment organizations 31；
X-direction steering wheel component 4, for driving the first slide plate 12 to move in X direction, it includes X-direction steering wheel 40 and X side
To governor motion 41；
Z-direction steering wheel component 5, for driving the second slide plate 13 to be moved along Z-direction, it includes Z-direction steering wheel and Z-direction
Governor motion 51；
θ X-direction steering wheels component 6, for driving the 3rd flap 14 to be rotated around X-direction, it includes θ X directions steering wheel 60, θ
X-direction governor motion 61 and the second arc-shaped guide rail mechanism 62 being arranged between the 3rd flap 14 and bottom plate 15.
So as to realize the regulation in five directions of regulating platform.Fig. 2 gives the multiple degrees of freedom optical precision regulation of the present invention
The exploded view of platform, wherein each steering wheel is not shown.
θ Z-directions governor motion 21 includes the first nut seat 23, one end and the θ z rudders being fixed on the second flap 11
The output end of machine 20 connects another movable end and coordinates first be plugged in the first nut bore 24 opened up on the first nut seat 23
Screw 25 and the first stacker 26 being fixed on the first flap 10, the first heading is connected with the movable end of the first screw 25
27, the first hole clipping 28 for coordinating insertion for the first heading 27 is offered on the first stacker 26, the first 27 rotatable cards of heading are set
In the first hole clipping 28.I.e. first heading 27 can rotate freely in the first hole clipping 28, but move forward and backward and be restricted, so as to
The first stacker 26 and the first flap 10 is driven to move forward and backward by moving forward and backward for the first heading 27.
First arc-shaped guide rail mechanism 22 includes being fixed in the first lower guideway that on the second flap 11 and upper surface is curved
220th, slidably it is arranged on the first top shoe 221 that on the first lower guideway 220 and bottom surface is curved, is arranged on the first top shoe
221 and first the first curved retainer 222 between lower guideway 220 and the first steel for being filled in the first retainer 222
Ball 223；First top shoe 221 and the first flap 10 are affixed.First top shoe 221 is arcuately slided on the first lower guideway 220
Dynamic, the first arc-shaped guide rail mechanism 22 makes the first flap 10 moving forward and backward on the second flap 11 be limited to arcuate movement, so as to
Realize the rotation (rotation in θ z directions) in direction about the z axis on the second flap 11 of the first flap 10.
In one embodiment, the first arc-shaped guide rail mechanism 22 includes two connected side by side.
Reference picture 4, the output end of θ z directions steering wheel 20 and the pin joint of the first screw 25, drive the first screw 25 to rotate, the
Under the position-limiting action of one nut seat 23, the first screw 25 to left or right stepping, drives the first heading 27 horizontal to left or right simultaneously
Motion, so as to convert rotational motion to horizontal movement；First heading 27 drives the side-to-side movement of the first flap 10, in the first arc
Under the restriction effect of shape guide rail mechanism 22, the 10 curved motion of the first flap, the first flap 10 is set to be rotated in direction about the z axis.
For example, under the position-limiting action of the first nut seat 23 of driving and the fixation of θ z directions steering wheel 20, the rotation of the side of the first screw 25
Side stepping to the right, the first heading 27 is driven to move right, first 27 the first stackers of top pressure 26 of heading, the first stacker 26 leads to
Cross cylinder to contact with the first heading 27, the linear motion of the first heading 27 is converted to the rotation of the first stacker 26, filtered out
The rotary motion of first heading 27, so as to make arcuate movement to the right by first flap 10 of promotion of the first heading 27, first turn
The right-hand member of plate 10 upwarps, and left end falls, and produces the rotation in direction about the z axis.When θ z directions steering wheel 20 inverts, the first heading 27 is driven
During to left movement, due in the first hole clippings 28 that are fastened on the first stacker 26 of the first heading 27, so as to drive first
Flap 10 makees drawback movement, i.e., to left movement, backhaul power is improved for the first flap 10.
The sidepiece of first arc-shaped guide rail mechanism 22 is provided with the first retaining mechanism 29, and the first retaining mechanism 29 includes being fixed in
On second flap 11 and first time latch segment 290 that upper surface is curved, it is fixed on the first flap 10 and lower surface is curved
First on latch segment 291 and be arranged on first between latch segment 291 and first time latch segment 290 and bottom surface is curved
First tapered arc paster 292, the first perforate 293 for accommodating the first tapered arc paster 292 is offered on first on latch segment 291.
First retaining mechanism 29 is used for the locking for realizing the first flap 10 and the second flap 11；When not locking, the first tapered arc paster
Latch segment 291 can match somebody with somebody cooperation arc with the arcuate movement of the first flap 10 on first time latch segment 290 on 292 and first
Slide.
When not locked between the first flap 10 and the second flap 11, the first steel ball 223 jacks up the first top shoe 221, makes
Less gap is left between first top shoe 221 and the first lower guideway 220, can reduce and be led under the first top shoe 221 and first
Frictional force between rail 220, beneficial to arc sliding of first top shoe 221 on the first lower guideway 220, avoid creeping phenomenon
Generation, the relative motion of the first flap 10 and the second flap 11 is smoothed out progress, stepping is kept preferable line
Property.After θ z angles are regulated, when need to lock, by tightening the screw (being not drawn into figure) on first on latch segment 291, make
The first tapered arc paster 292 on first between latch segment 291 and first time latch segment 290 is close on first on latch segment 291
With latch segment 291 in extruding first, then latch segment 291 on first is set to be close on first time latch segment 290, so that first
Locked between the flap 11 of flap 10 and second, to keep fixed.
Second flap 11 is connected on the first slide plate 12 by rotating assembly 113, the second flap 11 and the first slide plate 12 it
Between be provided with the second retainer 110, be filled with the second steel ball 111 in the second retainer 110, the be provided with the second flap 11
One lock screw 112.
First lock screw 112 is used to lock the second flap 11 admittedly after the anglec of rotation of the second flap 11 regulates
It is scheduled on the first slide plate 12, to keep stable.The He of the second retainer 110 is provided between second flap 11 and the first slide plate 12
Second steel ball 111, when the second flap 11 and the first slide plate 12 are not locked, the second steel ball 111 jacks up the second flap 11, makes the
There is less gap between two flaps 11 and the first slide plate 12, sliding friction is replaced with rolling friction, to reduce between the two
Sliding friction, so as to reduce "blind"effect, the relative motion of the second flap 11 and the first slide plate 12 is set to smooth out progress,
Stepping can be made to keep preferably linear.When needing locking, the first lock screw 112 on 11 4 angles of the second flap is tightened,
Now the second flap 11 is adjacent on the first slide plate 12, keeps fixing.
θ y direction adjustment organizations 31 include the second nut seat 32, one end and the θ y rudders being fixed on the first slide plate 12
The output end of machine 30 connects another movable end and coordinates second be plugged in the second nut bore 34 opened up on the second nut seat 32
Screw 33 and the second stacker 36 being fixed on the second flap 11；The second heading is connected with the movable end of second screw 33
35, the arc bearing plate 37 for coordinating apical graftings with the second heading 35 is connected with the second stacker 36；It is also solid on second stacker 36
It is connected to the first retracting spring 38 that the other end is connected with the first slide plate 12.
Reference picture 6, the output end of θ y directions steering wheel 30 and the pin joint of the second screw 33, drive the second screw 33 to rotate, the
Under the position-limiting action of two nut seats 32, the stepping forward or backward simultaneously of the second screw 33, the second 35 horizontal movements of heading are driven,
So as to convert rotational motion to horizontal movement, the limitation of rotating assembly 113 revolves the second flap 11 shaft assembly 113 that can only rotate
Turn.For example, under the driving of θ y directions steering wheel 30, the stepping forward in rotation of the second screw 33, the second heading 35 is driven forward
Motion, the second 35 top pressure arc bearing plates 37 of heading, the shaft assembly 113 so that the second flap 11 rotates on the first slide plate 12
On rotating shaft rotate horizontally, i.e., rotated in (θ y directions) around Y direction.35 sphere-contacts of heading of arc bearing plate 37 and second, arc
The envelope of shape bearing plate 37 is outside the second heading 35, and the second heading 35 rotates when moving along a straight line, and arc bearing plate 37 passes through post
Face contacts with the second heading 35, and so as to filter out the rotation of the second heading 35, this kinematic pair that sphere and cylinder coordinate will be straight
Line becomes rotation, i.e., the linear motion of the second heading 35 is converted to the rotary motion of arc bearing plate 37, has filtered out second
The rotation of heading 35 and remain linear motion so as to promoting arc bearing plate 37 to do Plane Rotation；Second can also be improved simultaneously
Heading 35 and the contact area of arc bearing plate 37, improve the stability of its top pressure effect.First retracting spring 38 is fixed on
On one stacker 26, the other end is connected on the first slide plate 12, and its shrinkage direction and the top pressure of the first heading 27 are in opposite direction,
On the one hand backhaul power is provided, on the other hand can reduce backhaul gap.
First slide plate 12 is slidably arranged on the second slide plate 13, is provided between the first slide plate 12 and the second slide plate 13
3rd retainer 120, the 3rd steel ball 121 is filled with the 3rd retainer 120；The second locking screw is provided with first slide plate 12
Silk 122；X-direction governor motion 41 includes the 3rd nut seat 42 being fixed on the second slide plate 13 and one end and X-direction steering wheel 40
Output end connect another movable end and coordinate the 3rd screw being plugged in the 3rd nut bore 44 opened up on the 3rd nut seat 42
43, the side topstick of the 3rd heading 45, the 3rd heading 45 and the first slide plate 12 is connected with the 3rd screw 43；First slide plate 12
And second be connected with the second retracting spring 46 between slide plate 13.
The output end of X-direction steering wheel 40 and the pin joint of the 3rd screw 43, drive the 3rd screw 43 to rotate, in the 3rd nut seat
Under 42 spacing cooperation, the stepping in rotation of the 3rd screw 43, the 3rd 45 the first slide plates of top pressure 12 of heading are driven, make the first cunning
The step motion of plate 12, the both ends of the second retracting spring 46 catch on the first slide plate 12 and the second slide plate 13, on the one hand provide backhaul respectively
Power, it on the other hand can reduce backhaul gap.The He of the 3rd retainer 120 set between first slide plate 12 and the second slide plate 13
3rd steel ball 121 is identical with the effect of the second foregoing retainer 110 and the second steel ball 111.When needing locking, the is tightened
The second lock screw 122 on one 12 4, slide plate angle, now the first slide plate 12 be adjacent on the second slide plate 13, keep fix.
Second slide plate 13 is slidably arranged on the 3rd flap 14, is provided between the second slide plate 13 and the 3rd flap 14
4th retainer 130, the 4th steel ball 131 is filled with the 4th retainer 130, the 3rd locking screw is provided with the second slide plate 13
Silk 132；Z-direction governor motion 51 includes the 4th nut seat 52 being fixed on the 3rd flap 14 and one end and Z-direction steering wheel
Output end connects another movable end and coordinates the 4th screw being plugged in the 4th nut bore 54 opened up on the 4th nut seat 52
53, the side topstick of the 4th heading 55, the 4th heading 55 and the second slide plate 13 is connected with the 4th screw 53；Second slide plate 13
And the 3rd be connected with the 3rd retracting spring 56 between flap 14.
The output end of Z-direction steering wheel and the pin joint of the 4th screw 53, drive the 4th screw 53 to rotate, in the 4th nut seat 52
Spacing cooperation under, the 4th screw 53 while rotation while stepping, drive the 4th heading 55 the second slide plates of top pressure 13, make the second slide plate
13 step motions.The 4th retainer 130 and the 4th steel ball 131 set between second slide plate 13 and the 3rd flap 14 with it is foregoing
The second retainer 110 it is identical with the effect of the second steel ball 111.When needing locking, tighten on 13 4 angles of the second slide plate
3rd lock screw 132, now the second slide plate 13 be adjacent on the 3rd flap 14, keep fix.
θ X-directions governor motion 61 includes the 5th nut seat 63, one end and the θ X directions steering wheel 60 being fixed on bottom plate 15
Output end connect another movable end and coordinate the 5th screw being plugged in the 5th nut bore 64 opened up on the 5th nut seat 63
65 and the 3rd stacker 66 that is fixed on the 3rd flap 14, the 5th heading 67 is connected with the movable end of the 5th screw 65, the
Offer the second hole clipping 68 for coordinating insertion for the 5th heading 67 on three stackers 66, the 5th heading 67 is rotatable to be fastened on the
In two hole clippings 68.I.e. second heading 35 can rotate freely in the second hole clipping 68, but move forward and backward and be restricted, so as to pass through
Moving forward and backward for second heading 35 drives the 3rd stacker 66 and the 3rd flap 14 to move forward and backward.
Second arc-shaped guide rail mechanism 62 includes being fixed in the second lower guideway that on the 3rd flap 14 and upper surface is curved
620th, slidably it is arranged on the second top shoe 621 that on the second lower guideway 620 and bottom surface is curved, is arranged on the second top shoe
621 and second the 5th curved retainer 622 between lower guideway 620 and the 5th steel that is filled in the 5th retainer 622
Ball 623；Second top shoe 621 and the 3rd flap 14 are affixed.Second top shoe 621 is arcuately slided on the second lower guideway 620
Dynamic, the second arc-shaped guide rail mechanism 62 makes the 3rd the moving forward and backward on bottom plate 15 of flap 14 be limited to arcuate movement, so as to realize
The rotation (rotation in θ x directions) in direction about the z axis on bottom plate 15 of 3rd flap 14.
In one embodiment, the second arc-shaped guide rail mechanism 62 includes spaced two.
Reference picture 12, output end and the pin joint of the 5th screw 65 of θ X-directions steering wheel 60, drives the 5th screw 65 to rotate,
Under the position-limiting action of 5th nut seat 63, the 5th screw 65 to left or right stepping, drives the 5th heading 67 to left or right water simultaneously
Flat motion, so as to convert rotational motion to horizontal movement；5th heading 67 drives the side-to-side movement of the 3rd flap 14, second
Under the restriction effect of arc-shaped guide rail mechanism 62, the 14 curved motion of the 3rd flap, the 3rd flap 14 is set to be turned around X-direction
It is dynamic.For example, under the position-limiting action of the 5th nut seat 63 of driving and the fixation of θ X directions steering wheel 60, the rotation of the side of the 5th screw 65
Turn side stepping to the right, drive the 5th heading 67 to move right, the 5th heading stacker 66 of 67 top pressure the 3rd, so as to drive the 3rd
Flap 14 makees to the right arcuate movement, and the right-hand member of the 3rd flap 14 upwarps, and left end falls, and produces the rotation around X-direction.When θ X sides
When being inverted to steering wheel 60, drive the 5th heading 67 to left movement when, due to the 5th heading 67 be fastened on three stackers second
In hole clipping 68, so as to drive the 3rd flap 14 to make drawback movement, i.e., to left movement, backhaul power is improved for the 3rd flap 14.
The sidepiece of second arc-shaped guide rail mechanism 62 is provided with the second retaining mechanism 69, and the second retaining mechanism 69 includes being fixed in
On bottom plate 15 and second time latch segment 690 that upper surface is curved, it is fixed on the 3rd flap 14 and lower surface is curved
On two latch segment 691 and be arranged on second that between latch segment 691 and second time latch segment 690 and bottom surface is curved second
Tapered arc paster 692, the second perforate 693 for accommodating the second tapered arc paster 692 is offered on second on latch segment 691.
When not locked between the 3rd flap 14 and bottom plate 15, the 5th steel ball 623 jacks up the second top shoe 621, makes second
Less gap is left between the lower guideway 620 of top shoe 621 and second, the second top shoe 621 and the second lower guideway can be reduced
Frictional force between 620, beneficial to arc sliding of second top shoe 621 on the second lower guideway 620, avoid creeping phenomenon
Produce, the relative motion of the 3rd flap 14 and bottom plate 15 is smoothed out progress, stepping is kept preferably linear.When
After regulating θ x angles, when need to lock, by tightening the screw on second on latch segment 691, make the He of latch segment 691 on second
The second tapered arc paster 692 between second time latch segment 690 is close on second on latch segment 691, so that second locks
Tight block 691 is close on second time latch segment 690, finally makes to lock between the 3rd flap 14 and bottom, to keep fixed.
Wherein, first lock screw, the second lock screw and the 3rd lock screw use modified form low degree-of-freedom
Screw.Reference picture 14, the modified form low degree-of-freedom screw include screw body 70 and are set on the screw body 70
Pad 74 and miniature thrust ball bearing 75, the screw body 70 include screw head 71, are connected with the screw head 71
Smooth surface thin bar 72 and the threaded rod 73 for being connected to the other end of smooth surface thin bar 72, the pad 74 and miniature thrust ball bearing
75 are sequentially sleeved in the smooth surface thin bar 72.In use, screw body 70 sequentially passes through pad 74 and miniature thrust ball axle
Screwed hole is inserted into after holding 75, pad 74 and miniature thrust ball bearing 75 are set in the smooth surface thin bar 72 of the lower end of screw body 70
On, threaded rod 73 and the screwed hole of the lower end of smooth surface thin bar 72 coordinate, and part to be locked is fastened into locking.The low freedom of modified form
The screw body 70 for spending screw is not full thread, but middle one section of smooth surface thin bar 72 for non-threaded, the lower end of smooth surface thin bar 72
Reconnect threaded rod 73；During locking, smooth surface thin bar 72 will not produce interference, screw body 70 and pad with part to be locked
74 are rotated on miniature thrust ball bearing 75, the miniature top concomitant rotation of thrust ball bearing 75, so that screw body
The part that 70 rotation will not treat locking has an impact.Specific reference picture 14, with modified form low degree-of-freedom screw to two pieces
The locking of plate illustrates；Modified form low degree-of-freedom screw is plugged in the screwed hole for waiting to lock upper and lower two plate, pad 74 and micro-
The pad of type thrust ball bearing 75 is located among the screw head 71 of upper plate and screw body 70, and the periphery in smooth surface thin bar 72,
Smooth surface thin bar 72 does not contact with upper and lower plates, so that the smooth surface thin bar 72 on the top of screw body 70 will not be to upper and lower two plate
Produce interference；When screwing, screw body 70 moved downward in rotation screw head 71 due to screw body 70 with it is upper
Pad 74 and miniature thrust ball bearing 75 are provided between class, when screw body 70 rotates, the top of miniature thrust ball bearing 75
Rotate simultaneously, the rotation of screw sheet is reversed and will not be being had influence on two plates, treated so as to filter out the rotation of screw body 70
The influence of two plates above and below locking, prevent the torsion that screw body 70 rotates from making the unwanted motion of two plates generation up and down, final energy
Avoid during locking coping screw body 70 from rotating and caused by treat the skew of locking member, can guarantee that assembly precision, improve
Locking effect.
In one embodiment, the output end of each steering wheel of the invention is with the mode of corresponding screw pin connection：Rudder
In the slot that screw one end corresponding to the output end insertion of machine opens up, the socket sidewalls on screw open up neck, utilization and steering wheel
Output end connection pin insertion neck in, by pin drive screw rotate, realize the drive connection of steering wheel and screw, and rudder
The output end and can of machine moves back and forth vertically in jack.Wherein, also may be used with the output end of each steering wheel with corresponding screw
Auxiliary adjustment is carried out in a manner of being twisted by hand.
Although embodiment of the present invention is disclosed as above, it is not restricted to institute in specification and embodiment
Row use, and it can be applied to various suitable the field of the invention completely, for those skilled in the art, can hold
Change places and realize other modification, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is simultaneously
It is not limited to specific details.
Claims (10)
- A kind of 1. multiple degrees of freedom optical precision regulating platform, it is characterised in that including：Regulating platform main body, its first flap for including from top to bottom setting gradually, the second flap, the first slide plate, the second slide plate, Three flaps and bottom plate；θ z rudder thermomechanical components, for driving first flap, direction rotates about the z axis, and it includes θ z directions steering wheel, θ z directions Governor motion and the first arc-shaped guide rail mechanism being arranged between first flap and the second flap；θ y rudder thermomechanical components, for driving second flap to be rotated around Y direction, it includes θ y direction steering wheels and θ y directions Governor motion；X-direction steering wheel component, for driving first slide plate to move in X direction, it includes X-direction steering wheel and X-direction regulation Mechanism；Z-direction steering wheel component, for driving second slide plate to be moved along Z-direction, it includes Z-direction steering wheel and Z-direction regulation Mechanism；θ x rudder thermomechanical components, for driving the 3rd flap to be rotated around X-direction, it includes θ x directions steering wheel, θ x directions Governor motion and the second arc-shaped guide rail mechanism being arranged between the 3rd flap and bottom plate.
- 2. multiple degrees of freedom optical precision regulating platform according to claim 1, it is characterised in that the θ z direction adjustment organizations Including the first nut seat for being fixed on second flap, one end another activity is connected with the output end of the θ z directions steering wheel End coordinates the first screw being plugged in the first nut bore opened up on first nut seat and is fixed in first flap On the first stacker, be connected with the first heading on the movable end of first screw, confession offered on first stacker First heading coordinates the first hole clipping of insertion, and first heading is rotatable to be fastened in first hole clipping.
- 3. multiple degrees of freedom optical precision regulating platform according to claim 2, it is characterised in that the first arc-shaped guide rail machine Structure include be fixed on second flap and the first lower guideway that upper surface is curved, be slidably arranged on described first under lead On rail and the first top shoe that bottom surface is curved, curved that is arranged between first top shoe and the first lower guideway One retainer and the first steel ball being filled in first retainer；First top shoe and first flap are affixed.
- 4. multiple degrees of freedom optical precision regulating platform according to claim 3, it is characterised in that the first arc-shaped guide rail machine Structure sidepiece is provided with the first retaining mechanism, and first retaining mechanism includes being fixed on second flap and upper surface is in arc First time latch segment of shape, it is fixed on first flap and lower surface is curved on first latch segment and is arranged on described On first between latch segment and first time latch segment and the first tapered arc paster that bottom surface is curved, opened on described first on latch segment Provided with the first perforate for accommodating first tapered arc paster.
- 5. multiple degrees of freedom optical precision regulating platform according to claim 1, it is characterised in that second flap is by turning Shaft assembly is connected on first slide plate, is provided with the second retainer between second flap and the first slide plate, and described The second steel ball is filled with two retainers, the first lock screw is provided with second flap；The θ y direction adjustment organizations Including the second nut seat for being fixed on first slide plate, one end another activity is connected with the output end of the θ y directions steering wheel End coordinates the second screw being plugged in the second nut bore opened up on second nut seat and is fixed in second flap On the second stacker；The second heading is connected with the movable end of second screw, be connected with second stacker with Second heading coordinates the arc bearing plate of apical grafting；The other end and first slide plate are also connected with second stacker First retracting spring of connection.
- 6. multiple degrees of freedom optical precision regulating platform according to claim 5, it is characterised in that first slide plate is slidably It is arranged on second slide plate, the 3rd retainer is provided between first slide plate and the second slide plate, the described 3rd keeps The 3rd steel ball is filled with frame；The second lock screw is provided with first slide plate；The X-direction governor motion includes affixed The 3rd nut seat and one end on second slide plate are connected another movable end cooperation with the output end of the X-direction steering wheel and inserted The 3rd screw being located in the 3rd nut bore opened up on the 3rd nut seat, the 3rd top is connected with the 3rd screw Ball, the 3rd heading and the side topstick of first slide plate；Second is connected between first slide plate and the second slide plate Retracting spring.
- 7. multiple degrees of freedom optical precision regulating platform according to claim 6, it is characterised in that second slide plate is slidably It is arranged on the 3rd flap, the 4th retainer is provided between second slide plate and the 3rd flap, the described 4th keeps The 4th steel ball is filled with frame, the 3rd lock screw is provided with second slide plate；The Z-direction governor motion includes affixed The 4th nut seat and one end on the 3rd flap are connected another movable end cooperation with the output end of the Z-direction steering wheel and inserted The 4th screw being located in the 4th nut bore opened up on the 4th nut seat, the 4th top is connected with the 4th screw Ball, the 4th heading and the side topstick of second slide plate；It is connected between second slide plate and the 3rd flap 3rd retracting spring.
- 8. multiple degrees of freedom optical precision regulating platform according to claim 1, it is characterised in that the θ x direction adjustment organizations It is connected another movable end including the 5th nut seat that is fixed on the bottom plate, one end with the output end of the θ x directions steering wheel and matches somebody with somebody Close the 5th screw being plugged in the 5th nut bore opened up on the 5th nut seat and be fixed on the 3rd flap 3rd stacker, the 5th heading is connected with the movable end of the 5th screw, is offered on the 3rd stacker described in confession 5th heading coordinates the second hole clipping of insertion, and the 5th heading is rotatable to be fastened in second hole clipping.
- 9. multiple degrees of freedom optical precision regulating platform according to claim 8, it is characterised in that the second arc-shaped guide rail machine Structure include be fixed on the 3rd flap and the second lower guideway that upper surface is curved, be slidably arranged on described second under lead On rail and the second top shoe that bottom surface is curved, curved that is arranged between second top shoe and the second lower guideway Five retainers and the 5th steel ball being filled in the 5th retainer；Second top shoe and the 3rd flap are affixed；The second arc-shaped guide rail mechanism sidepiece is provided with the second retaining mechanism, and second retaining mechanism is described including being fixed in On bottom plate and second time latch segment that upper surface is curved, it is fixed on the 3rd flap and lower surface is curved on second Latch segment and the second tapered arc paster that between latch segment and second time latch segment and bottom surface is curved, institute are arranged on described second State the second perforate offered on second on latch segment for accommodating second tapered arc paster.
- 10. multiple degrees of freedom optical precision regulating platform according to claim 7, it is characterised in that first lock screw, Second lock screw and the 3rd lock screw use modified form low degree-of-freedom screw, and the modified form low degree-of-freedom screw includes Screw body and the pad being set on the screw body and miniature thrust ball bearing, the screw body include screw terminal Portion, the smooth surface thin bar being connected with the screw head and the threaded rod for being connected to the smooth surface thin bar other end, the pad and Miniature thrust ball bearing is sequentially sleeved in the smooth surface thin bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264075.0A CN107870405B (en) | 2017-12-05 | 2017-12-05 | Multi-degree-of-freedom optical precision adjusting table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264075.0A CN107870405B (en) | 2017-12-05 | 2017-12-05 | Multi-degree-of-freedom optical precision adjusting table |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107870405A true CN107870405A (en) | 2018-04-03 |
| CN107870405B CN107870405B (en) | 2023-08-25 |
Family
ID=61755190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711264075.0A Active CN107870405B (en) | 2017-12-05 | 2017-12-05 | Multi-degree-of-freedom optical precision adjusting table |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107870405B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187460A (en) * | 2019-05-15 | 2019-08-30 | 中国空气动力研究与发展中心超高速空气动力研究所 | Suitable for the multiple degrees of freedom high intensity high-precision regulating platform used under wind-tunnel environment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010026404A1 (en) * | 2000-04-03 | 2001-10-04 | Lg Electronics Inc. | Optical pick-up actuator |
| CN101081507A (en) * | 2007-06-21 | 2007-12-05 | 重庆大学 | Self control type multi- degree of freedom buttjunction platform |
| CN101488371A (en) * | 2009-03-04 | 2009-07-22 | 上海微电子装备有限公司 | Precise positioning platform with six freedom of motion |
| CN102615644A (en) * | 2012-03-29 | 2012-08-01 | 天津大学 | Novel posture adjustment mechanism capable of achieving three-rotation one-translation degree of freedom |
| WO2012171145A1 (en) * | 2011-06-17 | 2012-12-20 | 中国科学院上海光学精密机械研究所 | Three-dimensional angle adjusting mechanism |
| CN104731107A (en) * | 2015-03-26 | 2015-06-24 | 北京特种机械研究所 | Power-driven six-degree of freedom motion platform high-precision control system and control method |
| CN105522548A (en) * | 2015-11-27 | 2016-04-27 | 北京卫星制造厂 | Tandem type six-degree-of-freedom accurate adjustment device |
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
-
2017
- 2017-12-05 CN CN201711264075.0A patent/CN107870405B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010026404A1 (en) * | 2000-04-03 | 2001-10-04 | Lg Electronics Inc. | Optical pick-up actuator |
| CN101081507A (en) * | 2007-06-21 | 2007-12-05 | 重庆大学 | Self control type multi- degree of freedom buttjunction platform |
| CN101488371A (en) * | 2009-03-04 | 2009-07-22 | 上海微电子装备有限公司 | Precise positioning platform with six freedom of motion |
| WO2012171145A1 (en) * | 2011-06-17 | 2012-12-20 | 中国科学院上海光学精密机械研究所 | Three-dimensional angle adjusting mechanism |
| CN102615644A (en) * | 2012-03-29 | 2012-08-01 | 天津大学 | Novel posture adjustment mechanism capable of achieving three-rotation one-translation degree of freedom |
| CN104731107A (en) * | 2015-03-26 | 2015-06-24 | 北京特种机械研究所 | Power-driven six-degree of freedom motion platform high-precision control system and control method |
| CN105522548A (en) * | 2015-11-27 | 2016-04-27 | 北京卫星制造厂 | Tandem type six-degree-of-freedom accurate adjustment device |
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187460A (en) * | 2019-05-15 | 2019-08-30 | 中国空气动力研究与发展中心超高速空气动力研究所 | Suitable for the multiple degrees of freedom high intensity high-precision regulating platform used under wind-tunnel environment |
| CN110187460B (en) * | 2019-05-15 | 2024-06-04 | 中国空气动力研究与发展中心超高速空气动力研究所 | Multi-degree-of-freedom high-strength high-precision adjusting table suitable for wind tunnel environment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107870405B (en) | 2023-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105466662B (en) | A kind of wind-tunnel angle of attack adjusting apparatus | |
| US7997161B2 (en) | Device for the movement and orientation of an object in space and use thereof in rapid machining | |
| CN105598991A (en) | Composite spherical shell joint device and control method thereof | |
| CN110169825A (en) | A kind of nine-degree of freedom series connection main manipulator suitable for micro-wound operation robot | |
| EP1655574B1 (en) | Construction laser with inclinable turning means | |
| CN107870405A (en) | Multiple degrees of freedom optical precision regulating platform | |
| CN206605967U (en) | A kind of plotter | |
| CN104029742B (en) | A kind of omnidirectional rolling spherical robot | |
| TWI487593B (en) | Three axis on one surface designed oblique-driven platform | |
| CN207824831U (en) | A kind of three axis automatic aligning platforms | |
| CN207799201U (en) | Multiple degrees of freedom optical precision regulating platform | |
| CN101587327A (en) | General kinetic control system and control method on the Industry Control platform | |
| CN107741621A (en) | Five degree of freedom fine adjustment platform | |
| US11745365B2 (en) | 3-axis parallel linear robot | |
| CN206140958U (en) | Crossbeam formula polar coordinates 3D printer | |
| CN207601401U (en) | Five degree of freedom fine adjustment platform | |
| CN206367525U (en) | Vehicle balance system | |
| US20240002080A1 (en) | Unmanned aerial vehicle parking device | |
| CN103042535B (en) | Three-degree-of-freedom movable joint mechanism and bionic robot | |
| CN105690770B (en) | A kind of cross beam type polar coordinates 3D printer | |
| CN110325326B (en) | Control device and control method for link actuator | |
| CN206216710U (en) | Robot and its cervical motion mechanism and headwork mechanism | |
| CN209579548U (en) | A kind of small-sized apery class mandibular movement device | |
| Ge et al. | A novel self-reconfigurable modular robot (M2SBot): Docking mechanism design and its kinematic analysis | |
| DE19811220C2 (en) | Toy manipulator and method for positioning, assembling and / or disassembling components using a toy manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Jun Inventor after: Sun Haixuan Inventor after: Wang Bidou Inventor after: Zeng Weijun Inventor after: Wang Zhongzhou Inventor before: Wang Jun Inventor before: Sun Haixuan Inventor before: Wang Bidou Inventor before: Zeng Weijun Inventor before: Wang Zhongzhou |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |