CN109176489B - Continuous variable-rigidity flexible robot - Google Patents
Continuous variable-rigidity flexible robot Download PDFInfo
- Publication number
- CN109176489B CN109176489B CN201811181627.6A CN201811181627A CN109176489B CN 109176489 B CN109176489 B CN 109176489B CN 201811181627 A CN201811181627 A CN 201811181627A CN 109176489 B CN109176489 B CN 109176489B
- Authority
- CN
- China
- Prior art keywords
- magnet
- corrugated pipe
- rigidity
- fixed
- continuous variable
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a continuous variable-rigidity flexible robot, which comprises a variable-rigidity device, an installation fixing device and a control device, wherein the installation fixing device comprises a base and a base; the rigidity-variable device comprises a first corrugated pipe, a second corrugated pipe, a first magnet, a second magnet, a third magnet, a fourth magnet and frosted iron balls, wherein the first magnet and the second magnet are respectively fixed in hard pipes at two ends of the first corrugated pipe, and a plurality of frosted iron balls are filled in a soft corrugated pipe in the middle of the first corrugated pipe; the second corrugated pipe is fixed at the top of the first corrugated pipe, the third magnet and the fourth magnet are respectively fixed in hard pipes at two ends of the second corrugated pipe, and a plurality of frosted iron balls are also filled in the soft corrugated pipe in the middle of the second corrugated pipe; the invention changes the interaction force among the frosted iron balls by controlling the strength of the magnetic field, further changes the integral rigidity, achieves the purpose of changing the rigidity, does not change the shape of the main body of the robot, and has the advantages of simple principle, stepless regulation and control of the rigidity, large rigidity change range, large bearing capacity, good bending performance and the like.
Description
Technical Field
The invention relates to the technical field of flexible robots, in particular to a continuous variable stiffness flexible robot.
Background
With the development of the robot technology, the soft robot gradually enters the visual field of people, and compared with a rigid robot, the soft robot has the characteristics of good bending performance, small floor area, high safety index and the like, but the soft robot at the present stage has the problems of incapability of bearing large load, poor control precision and the like. The appearance of the variable-rigidity soft robot provides a thought for solving the problem.
The Ningbo material technology and engineering research institute of Chinese academy of science introduces a variable-rigidity flexible gripping device (application number 201810616196.5), and the design adjusts the distribution angle of each flexible mechanism branch chain through a gear transmission mechanism so as to adjust the rigidity state of a variable-rigidity flexible parallel mechanism, can continuously change the clamping rigidity in the opening and closing movement direction of the variable-rigidity flexible parallel mechanism, and is suitable for clamping objects with different shapes and different qualities. But the whole structure of the invention is rigid, and the invention has no characteristics of good bending performance of the soft robot, small floor area and the like.
At present, the invention patent with the application number of 201810414556.3 discloses a soft robot consisting of hollow glass beads, which comprises a plug, a deformation sleeve, an opening and closing elastic matrix, a supporting framework, an end sealing plate, an elastic blocking plate and a tightening spring. The device can change rigidity through the hollow glass bead of packing, can have great flexibility, can have great rigidity again. However, the invention has difficulty in realizing the filling and reduction mode of the hollow glass beads, and the original shape of the soft robot is easy to change in the filling process.
The invention patent with application number 201810630451.1 discloses a flexible continuous parallel robot with variable rigidity. The invention is composed of a movable platform, a flexible continuous driver, a fixed platform and a combined actuator, and has higher bearing capacity and positioning accuracy of a parallel mechanism, and also has inherent flexibility and small mass of a flexible continuous robot. However, the invention has larger volume, and the main body of the parallel robot can generate large deformation when changing the rigidity, thereby failing to realize the purpose of rigidity-changing locking.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a soft robot in which the robot body is not deformed when the rigidity is changed.
Disclosure of Invention
The invention aims to provide a continuous variable-stiffness flexible robot, which solves the problems in the prior art, has the advantages of simple principle, stepless stiffness regulation, wide stiffness variation range, large bearing capacity, good bending performance and the like, and is suitable for precise control and positioning in man-machine cooperation.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a continuous variable-rigidity flexible robot, which comprises a variable-rigidity device, an installation and fixing device and a control device, wherein the installation and fixing device comprises a base and a base;
the variable-rigidity device comprises a first corrugated pipe, a second corrugated pipe, a first magnet, a second magnet, a third magnet, a fourth magnet and frosted iron balls, hard pipe sections are arranged at two ends of the first corrugated pipe and the second corrugated pipe, a soft corrugated pipe section is arranged in the middle of the first corrugated pipe, the first magnet and the second magnet are respectively fixed in the hard pipes at two ends of the first corrugated pipe, and the frosted iron balls are filled in the soft corrugated pipe in the middle of the first corrugated pipe; the second corrugated pipe is fixed to the top of the first corrugated pipe through a connecting part, the third magnet and the fourth magnet are respectively fixed in hard pipes at two ends of the second corrugated pipe, and a plurality of the frosted iron balls are also filled in a soft corrugated pipe in the middle of the second corrugated pipe;
the mounting and fixing device can fix the variable rigidity device at a specified station; the control device is capable of controlling the magnetic fields of the first magnet, the second magnet, the third magnet, and the fourth magnet.
Preferably, the hard pipe sections at the two ends of the first corrugated pipe and the second corrugated pipe are hard threaded pipes provided with external threads, and the hard pipe section at the bottom end of the first corrugated pipe is in threaded connection with a bottom end cover; the connecting part is a connecting end cover with two ends provided with internal thread sleeves, the sleeve at the bottom end of the connecting end cover is in threaded connection with the hard pipe section at the top end of the first corrugated pipe, and the sleeve at the top end of the connecting end cover is in threaded connection with the hard pipe section at the bottom end of the second corrugated pipe; and the hard pipe section at the top end of the second corrugated pipe is in threaded connection with a connecting flange.
Preferably, the installation fixing device comprises a working platform and a fixing platform, the connecting flange is fixedly connected with a transverse connecting plate arranged on one side of the top of the working platform through bolts, the fixing platform is arranged on the bottom of the working platform and is hinged to the transverse connecting plate arranged on the other side of the bottom of the working platform, a vertical fixing plate is arranged between the transverse connecting plates on the top and the bottom of the working platform, a positioning backup plate is fixed to the side face of the vertical fixing plate and used for fixing the fixing platform in a vertical state.
Preferably, the top both sides of fixed platform are provided with relative solid fixed ring, be provided with on the location backup plate with gu the fixed ring cooperation sets up the fixed orifices.
Preferably, the bottom of the fixed platform is also provided with a plurality of rubber suckers distributed in a rectangular shape.
Preferably, the control device comprises a signal receiver and an electric cabinet, the signal receiver is connected with the electric cabinet through a signal receiver power line, the first magnet, the second magnet, the third magnet and the fourth magnet are electromagnets, and the first magnet, the second magnet, the third magnet and the fourth magnet are respectively connected with the electric cabinet through electromagnet power lines.
Preferably, the signal receiver is fixed on the top of the transverse connecting plate on the top of the working platform.
Preferably, the electric cabinet is fixed on the vertical fixing plate and is positioned at the top of the positioning backup plate.
Compared with the prior art, the invention has the following beneficial technical effects:
1. according to the continuous variable-stiffness flexible robot, when the stiffness of the robot is changed, the shape of the main body of the robot is not changed, the principle is simple, the robot can be suitable for various complex environments, and the stiffness can be regulated and controlled in a stepless mode in the bending deformation process.
2. The continuous variable stiffness flexible robot provided by the invention is used as a bridge for communicating a rigid mechanism and a flexible mechanism, and breaks the interconversion limit of the rigid mechanism and the flexible mechanism.
3. The continuous variable-rigidity flexible robot provided by the invention has a flexible structure, and the framework is rigid, so that the rigidity change range is large, and the integral volume of the variable-rigidity mechanism can be kept unchanged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a perspective view of a continuously variable stiffness flexible robot according to the present invention;
FIG. 2 is a schematic diagram of a forward structure of the continuous variable stiffness flexible robot in the present invention, wherein the fixed platform is in a horizontal state;
FIG. 3 is a schematic diagram of a forward structure of the continuous variable stiffness flexible robot of the present invention, wherein the fixed platform is in a vertical state;
FIG. 4 is a schematic diagram of a forward structure of the continuous variable stiffness flexible robot in the present invention, wherein the variable stiffness device is in a deformed state;
FIG. 5 is a schematic structural view of a variable stiffness device according to the present invention;
in the figure: 1-bottom end cover, 2-first corrugated pipe, 3-first magnet, 4-frosted iron ball, 5-second magnet, 6-connecting end cover, 7-second corrugated pipe, 8-third magnet, 9-fourth magnet, 10-connecting flange, 11-working platform, 12-fixing platform, 13-positioning backup plate, 14-rubber sucker, 15-signal receiver, 16-electric cabinet, 17-signal receiver power line, 18-electromagnet power line, 19-fixing ring and 20-fixing hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a continuous variable-rigidity flexible robot to solve the problems in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment provides a continuous variable stiffness flexible robot, which comprises a variable stiffness device, a mounting and fixing device and a control device, as shown in fig. 1-5;
the variable stiffness device comprises a first corrugated pipe 2, a second corrugated pipe 7, a first magnet 3, a second magnet 5, a third magnet 8, a fourth magnet 9 and frosted iron balls 4, hard pipe sections are arranged at two ends of the first corrugated pipe 2 and two ends of the second corrugated pipe 7, a soft corrugated pipe section is arranged in the middle of the first corrugated pipe 2, the first magnet 3 and the second magnet 5 are respectively fixed in the hard pipes at two ends of the first corrugated pipe 2, and the soft corrugated pipe in the middle of the first corrugated pipe 2 is filled with the frosted iron balls 4; the second corrugated pipe 7 is fixed at the top of the first corrugated pipe 2 through a connecting part, the third magnet 8 and the fourth magnet 9 are respectively fixed in hard pipes at two ends of the second corrugated pipe 7, and a plurality of frosted iron balls 4 are also filled in a soft corrugated pipe in the middle of the second corrugated pipe 7;
the mounting and fixing device can fix the variable stiffness device at a designated station; the control means is capable of controlling the magnetic fields of the first magnet 3, the second magnet 5, the third magnet 8 and the fourth magnet 9.
Specifically, in this embodiment, the hard pipe sections at the two ends of the first corrugated pipe 2 and the second corrugated pipe 7 are hard threaded pipes provided with external threads, the hard pipe section at the bottom end of the first corrugated pipe 2 is in threaded connection with a bottom end cap 1, and after the first magnet 3 is embedded into the first corrugated pipe 2, the bottom end of the first corrugated pipe 2 is plugged by the bottom end cap 1; the connecting part is a connecting end cover 6, two ends of the connecting end cover are both provided with internal thread sleeves, the sleeve at the bottom end of the connecting end cover 6 is in threaded connection with the hard pipe section at the top end of the first corrugated pipe 2, and the sleeve at the top end of the connecting end cover 6 is in threaded connection with the hard pipe section at the bottom end of the second corrugated pipe 7; the hard pipe section at the top end of the second corrugated pipe 7 is in threaded connection with a connecting flange 10.
The mounting and fixing device comprises a working platform 11 and a fixing platform 12, a connecting flange 10 is fixedly connected with a transverse connecting plate arranged on one side of the top of the working platform 11 through bolts, the fixing platform 12 is arranged at the bottom end of the working platform 11 and is hinged with the transverse connecting plate arranged on the other side of the bottom of the working platform 11, the fixing platform 12 can be horizontally connected or vertically connected with the working platform 11 (detailed in figures 2 and 3) in a hinged connection mode, the fixing platform 12 can be fixed on a table top during horizontal connection, and the fixing platform 12 can be fixed on a wall during vertical connection; meanwhile, a vertical fixing plate is arranged between the transverse connecting plates at the top and the bottom of the working platform 11, a positioning backup plate 13 is fixed on the side surface of the vertical fixing plate, two opposite fixing rings 19 are arranged on two sides of the top of the fixing platform 12, a fixing hole 20 matched with the fixing rings 19 is arranged on the positioning backup plate 13, and when the fixing platform 12 is vertically connected with the working platform 11, the fixing of the fixing platform 12 can be realized by using a fixing rod to simultaneously penetrate through the fixing rings 19 and the fixing hole 20; the bottom of the fixed platform 12 is further provided with a plurality of rubber suckers 14 which are distributed in a rectangular shape and used for adsorbing the fixed platform 12 on a corresponding plane.
In this embodiment, the control device includes signal receiver 15 and electric cabinet 16, signal receiver 15 is fixed in the top of the transverse connection board at work platform 11 top, electric cabinet 16 is fixed in on the vertical fixed plate to be located the top of location backup plate 13, signal receiver 15 passes through signal receiver power transmission line 17 with electric cabinet 16 and is connected, first magnet 3, second magnet 5, third magnet 8 and fourth magnet 9 are the electro-magnet, and first magnet 3, second magnet 5, third magnet 8 and fourth magnet 9 pass through electro-magnet power transmission line 18 with electric cabinet 16 respectively and are connected.
The working principle of the continuous variable stiffness flexible robot provided by the invention is as follows: the attractive force between the frosted iron balls 4 is influenced by changing the size of the controllable magnetic field of the magnet, so that the maximum static friction force between the frosted iron balls 4 is increased, and the integral rigidity is hardened; and because the frosted iron ball 4 is rigid, the integral rigidity is increased, and the integral volume of the rigidity-variable mechanism can be kept unchanged.
When the continuous variable-rigidity flexible robot is used, the connection state of the working platform 11 and the fixed platform 12 is changed, the continuous variable-rigidity flexible robot can be selectively used near a desktop or a wall, the strength of a magnetic field output by the electromagnet is controlled by changing the current in the electromagnet, and each electromagnet can be independently controlled to control the rigidity of each section of variable-rigidity device.
The continuous variable-stiffness flexible robot provided by the invention adopts passive deformation control, the variable-stiffness device can be bent in a self-adaptive manner under the action of external force, and the deformed robot shape is fixed by changing the stiffness after the bending deformation.
The principle and the implementation mode of the invention are explained by applying specific examples, and the description of the above examples is only used for helping understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (8)
1. A continuous variable rigidity flexible robot is characterized in that: comprises a variable rigidity device, a mounting and fixing device and a control device;
the variable-rigidity device comprises a first corrugated pipe, a second corrugated pipe, a first magnet, a second magnet, a third magnet, a fourth magnet and frosted iron balls, hard pipe sections are arranged at two ends of the first corrugated pipe and the second corrugated pipe, a soft corrugated pipe section is arranged in the middle of the first corrugated pipe, the first magnet and the second magnet are respectively fixed in the hard pipes at two ends of the first corrugated pipe, and the soft corrugated pipe in the middle of the first corrugated pipe is filled with a plurality of frosted iron balls; the second corrugated pipe is fixed at the top of the first corrugated pipe through a connecting part, the third magnet and the fourth magnet are respectively fixed in hard pipes at two ends of the second corrugated pipe, and a plurality of frosted iron balls are filled in a soft corrugated pipe in the middle of the second corrugated pipe;
the mounting and fixing device can fix the variable rigidity device at a specified station; the control device is capable of controlling the magnetic fields of the first magnet, the second magnet, the third magnet, and the fourth magnet.
2. The continuous variable stiffness flexible robot of claim 1, wherein: hard pipe sections at two ends of the first corrugated pipe and the second corrugated pipe are hard threaded pipes provided with external threads, and the hard pipe section at the bottom end of the first corrugated pipe is in threaded connection with a bottom end cover; the connecting part is a connecting end cover with two ends provided with internal thread sleeves, the sleeve at the bottom end of the connecting end cover is in threaded connection with the hard pipe section at the top end of the first corrugated pipe, and the sleeve at the top end of the connecting end cover is in threaded connection with the hard pipe section at the bottom end of the second corrugated pipe; and the hard pipe section at the top end of the second corrugated pipe is in threaded connection with a connecting flange.
3. The continuous variable stiffness flexible robot of claim 2, wherein: the installation fixing device comprises a working platform and a fixing platform, wherein the connecting flange is fixedly connected with a transverse connecting plate arranged on one side of the top of the working platform through a bolt, the fixing platform is arranged at the bottom of the working platform and is hinged with the transverse connecting plate arranged on the other side of the bottom of the working platform, a vertical fixing plate is arranged between the transverse connecting plates on the top and the bottom of the working platform, a positioning backup plate is fixed on the side surface of the vertical fixing plate, and the positioning backup plate is used for fixing the fixing platform in a vertical state.
4. The continuous variable stiffness flexible robot of claim 3, wherein: the top both sides of fixed platform are provided with relative solid fixed ring, be provided with on the location backup plate with gu the fixed orifices that solid fixed ring cooperation set up.
5. The continuous variable stiffness flexible robot of claim 4, wherein: the fixed platform bottom still is provided with a plurality of rubber suction cups that are the rectangle and distribute.
6. The continuous variable stiffness flexible robot of claim 5, wherein: the control device comprises a signal receiver and an electric cabinet, the signal receiver is connected with the electric cabinet through a signal receiver power line, the first magnet, the second magnet, the third magnet and the fourth magnet are electromagnets, and the first magnet, the second magnet, the third magnet and the fourth magnet are respectively connected with the electric cabinet through electromagnet power lines.
7. The continuous variable stiffness flexible robot of claim 6, wherein: the signal receiver is fixed on the top of the transverse connecting plate on the top of the working platform.
8. The continuous variable stiffness flexible robot of claim 6, wherein: the electric cabinet is fixed on the vertical fixing plate and is positioned at the top of the positioning backup plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181627.6A CN109176489B (en) | 2018-10-11 | 2018-10-11 | Continuous variable-rigidity flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181627.6A CN109176489B (en) | 2018-10-11 | 2018-10-11 | Continuous variable-rigidity flexible robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109176489A CN109176489A (en) | 2019-01-11 |
| CN109176489B true CN109176489B (en) | 2020-06-19 |
Family
ID=64948113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811181627.6A Active CN109176489B (en) | 2018-10-11 | 2018-10-11 | Continuous variable-rigidity flexible robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109176489B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113601496B (en) * | 2021-08-17 | 2022-07-12 | 东南大学 | Variable-rigidity concentric shaft robot and control method thereof |
| CN114227708B (en) * | 2021-12-16 | 2024-04-12 | 燕山大学 | Modularized bionic device based on variable rigidity and control method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001096478A (en) * | 1999-09-27 | 2001-04-10 | Ueda Seni Kagaku Shinkokai | Rope type bending mechanism, manipulator equipped with rope type bending mechanism, bending type in-liquid propelling body, and endscope |
| CN101319750A (en) * | 2007-06-05 | 2008-12-10 | 通用汽车环球科技运作公司 | Tunable impedance load-bearing structures |
| JP2016162981A (en) * | 2015-03-04 | 2016-09-05 | 国立大学法人九州工業大学 | Modified mr fluid, and grip mechanism and gripping device using modified mr fluid |
| CN107212924A (en) * | 2017-07-19 | 2017-09-29 | 连雪芳 | The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
-
2018
- 2018-10-11 CN CN201811181627.6A patent/CN109176489B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001096478A (en) * | 1999-09-27 | 2001-04-10 | Ueda Seni Kagaku Shinkokai | Rope type bending mechanism, manipulator equipped with rope type bending mechanism, bending type in-liquid propelling body, and endscope |
| CN101319750A (en) * | 2007-06-05 | 2008-12-10 | 通用汽车环球科技运作公司 | Tunable impedance load-bearing structures |
| JP2016162981A (en) * | 2015-03-04 | 2016-09-05 | 国立大学法人九州工業大学 | Modified mr fluid, and grip mechanism and gripping device using modified mr fluid |
| CN107212924A (en) * | 2017-07-19 | 2017-09-29 | 连雪芳 | The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109176489A (en) | 2019-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109176489B (en) | Continuous variable-rigidity flexible robot | |
| CN104033535B (en) | A kind of three-dimensional vibration isolating device being applicable to low-frequency vibration | |
| CN106936080A (en) | A kind of electrical control equipment cabinet with shock-absorbing function | |
| CN112211952A (en) | Low-frequency large-stroke quasi-zero rigidity vibration isolation device | |
| CN111981075A (en) | Quasi-zero rigidity vibration isolation system with bending moment resisting effect | |
| CN105006255B (en) | A kind of three DOF micro-positioning workbench | |
| CN108035598B (en) | Semi-active/passive hybrid damping device | |
| CN111677799B (en) | Three-degree-of-freedom electromagnetic vibration isolator based on horizontal pre-pressing spring | |
| CN109869439B (en) | Novel Stewart shock absorber | |
| CN202545419U (en) | Mechanical self-locking hydraulic cylinder | |
| CN209936412U (en) | Thin-wall shell clamping tool | |
| CN213479055U (en) | Three-way magnetic self-adaptive adjustable composite vibration isolation device | |
| CN112145620B (en) | Three-way magnetic force self-adaptive resistance-regulating composite vibration isolation device | |
| CN111734776B (en) | Three-degree-of-freedom low-frequency vibration isolator based on parallel connection of horizontal pre-pressing spring and magnetic spring | |
| CN105370782B (en) | A kind of automobile hanging formula isolation mounting | |
| CN103398149A (en) | Multi-connecting-rod transmission device | |
| CN113152257B (en) | Friction-free self-resetting shock absorption device | |
| CN111764529B (en) | Semi-active SMA-piezoelectric composite gear friction damper | |
| CN207526936U (en) | A kind of adjustable sextuple stable shelter of vibration isolation parameter | |
| CN216618360U (en) | Closed quasi-zero rigidity low-frequency vibration isolation device with active negative rigidity | |
| CN110723619A (en) | Elevator rope head vibration damper | |
| CN104819234A (en) | Magnetic suspension and electric combination three-way decoupling based self-adaptive equal-stiffness vibration isolator | |
| CN114351886B (en) | Be used to container of adaptive control of volume coefficient | |
| CN210525148U (en) | Support base for preventing intelligent mechanical arm from loosening | |
| CN211624693U (en) | Electromechanical device damping device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |