CN109454635A - A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle - Google Patents
A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle Download PDFInfo
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- CN109454635A CN109454635A CN201811195698.1A CN201811195698A CN109454635A CN 109454635 A CN109454635 A CN 109454635A CN 201811195698 A CN201811195698 A CN 201811195698A CN 109454635 A CN109454635 A CN 109454635A
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- flexible cable
- fixed
- platform
- steel wire
- fixed pulley
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Classifications
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- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
Abstract
The invention discloses a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle, the device includes frame, intermediate lever system, the identical servo mould group of three groups of structures, the identical rope drive mechanism of three groups of structures and end effector mechanism, frame is in triangular prism shaped, by equilateral triangle fixed platform, three root post brackets perpendicular to fixed platform and the three cross bars composition for being parallel to fixed platform, intermediate lever system includes mobile platform, rectangular shaft, connecting rod, middle hinge, linear guide, straight-line guide rail slide block, servo mould group includes servo motor I and straight line mould group, rope drive mechanism includes steel wire flexible cable, driver, tensioning apparatus and flexible cable direction adjustment device.The present invention passes through servo mould group, the position of rope drive mechanism drive control end effector mechanism and posture respectively, has the advantages that working space is big, good rigidity, structure is simple, inertia is small.
Description
Technical field
The present invention relates to a kind of mirror processing device more particularly to a kind of steel wire flexible cable parallel connection mirror surfaces based on lever principle
Processing unit (plant).
Background technique
With the arrival of information age, contemporary optics system is just sent out towards high-precision, high-resolution and high power direction
Exhibition.Using large space telescope, space to ground detailed survey camera and superlaser nuclear fusion system as a series of researchs of representative
It is swift and violent with application development, so that the performance of contemporary optics system and scale has been reached unprecedented height.In large telescope side
Face, in order to obtain higher resolution ratio, the bore of telescope primary mirror is increasing.In order to obtain better performance, the essence of mirror surface
Degree also become higher and higher, this to large-sized mirror processing unit (plant) requirement promotion arrived new high degree.
Nowadays for mirror processing device mainly based on serial mechanism, rigidity is limited, is difficult under some special operation conditions
To application.
Summary of the invention
The object of the present invention is to provide a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle, using parallel connection
Mechanism, working space is big, structure is simple, rigidity is good, inertia is small.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle, including frame, intermediate lever system, three groups of knots
The identical servo mould group of structure, the identical rope drive mechanism of three groups of structures and end effector mechanism,
The frame is in triangular prism shaped, by equilateral triangle fixed platform, perpendicular to three root post brackets of fixed platform
And it is parallel to three cross bars composition of fixed platform, cross bar one end is fixedly connected with column support, and the cross bar other end, which surrounds, to be engraved
Empty triangular platform, at hexagonal angle between adjacent two cross bar,
The intermediate lever system includes mobile platform, rectangular shaft, connecting rod, middle hinge, linear guide, linear guide cunning
Block, mobile platform are arranged on rectangular shaft top, and connecting rod has been arranged circumferentially three and connecting rod one end passes through flexural pivot I respectively and moves
Moving platform connection, the other end of rectangular shaft pass through triangular platform and connect with end effector mechanism, and middle hinge setting is flat in triangle
On the inside of platform, middle hinge includes hinge outline border, hinge inside casing, bearing I and bearing II, and hinge inside casing passes through outside bearing I and hinge
Frame connection, hinge outline border are connected by bearing II with triangular platform, and linear guide is symmetricly set on the two sides in rectangular shaft middle section, directly
Line guide rail slide block is matched with linear guide, and straight-line guide rail slide block is fixedly connected with hinge inside casing, and rectangular shaft passes through linear guide
It is slided up and down in middle hinge,
The servo mould group includes servo motor I and straight line mould group, and straight line mould group includes cross bar upper surface is arranged in straight
Line slide unit, the ball-screw being arranged in straight line slide unit and screw slider compatible with ball-screw, straight line slide unit, it is described
One end of straight line slide unit is arranged in servo motor I, and the motor shaft of servo motor I passes through shaft coupling and intermediate ball-screw phase
Even, screw slider is connect by Hooke's hinge with the connecting rod other end,
The rope drive mechanism includes steel wire flexible cable, driver, tensioning apparatus and flexible cable direction adjustment device, the drive
Dynamic device is internally provided with servo motor II, speed reducer, worm screw, turbine, rotating bar, the output axis connection speed reducer of servo motor II
Input terminal, the output end connecting worm of speed reducer, turbine is meshed with worm screw, and rotating bar is fixedly connected with turbine, described
Tight device includes fixed pulley I, I support of fixed pulley, fixed pulley II, II support of fixed pulley, two movable pulleys, movable pulley support, cross
Beam, spring, fixed pulley I, fixed pulley II are fixed on cross bar lower surface by I support of fixed pulley, II support of fixed pulley respectively, and two
Movable pulley is separately fixed at crossbeam both ends, and crossbeam is fixed on cross bar lower surface by movable pulley support, and I support of fixed pulley is slided calmly
It takes turns II support and is symmetricly set on movable pulley support two sides, one end of spring is fixed on beam-end, and the spring other end is fixed on cross
Bar lower surface, the flexible cable direction adjustment device include that two swing components, two rotating members and U-shaped pedestal, U-shaped pedestal are fixed on
Rectangular shaft lower part, two rotating members are symmetrically fixed on U-shaped pedestal, and rotating member outboard end is separately connected swing component,
The rotating bar of one end of steel wire flexible cable and driver connects, the other end successively bypass II, two movable pulley of fixed pulley,
Fixed pulley I, then pass through flexural pivot II and end execution machine after sequentially passing through a swing component, two rotating members, another swing component
Structure connection.
Further, the end effector mechanism includes rotatable platform, mirror finish cutter and cutter drive motor, is passed through
Cutter drive motor drives cutter rotation, and the motor cabinet of cutter drive motor is mounted on rotatable platform, cutter drive motor
Motor cabinet passes through flexural pivot III simultaneously and connect with rectangular shaft end, and cutter is located at the geometric center of rotatable platform and vertical rotatable platform
It extends downwardly.
Further, one end of the driver is additionally provided with sleeve, and steel wire flexible cable passes through sleeve, can correct steel wire flexible cable
Disengaging direction, improve precision.
Preferably, the rotating member is connect by pin with the swing component.
Preferably, two movable pulleys for being fixed on crossbeam both ends are symmetrical relative to fixed pulley support.
Compared with prior art, the invention has the following beneficial effects:
1, processing unit (plant) of the invention is based on lever principle, and rectangular shaft forms lever system, square by fulcrum of middle hinge
The movement of shape bar upper end is amplified by center hinge, so that the working space of end effector mechanism is huge；
2, the present invention is using the pose of steel wire flexible cable control end effector mechanism, and structure is simple, and inertia is small；
3, the position of end effector mechanism of the present invention and posture are respectively by two sets of servo mould group, rope drive mechanism driving systems
System control, simplifies control, improves precision；
4, during using steel wire Wire driven robot, using flexible cable direction adjustment device, the interference in flexible cable is effectively reduced
External force improves precision.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of middle hinge of the present invention；
Fig. 3 is internal drive structural schematic diagram of the present invention；
Fig. 4 is the structural schematic diagram of tensioning apparatus of the present invention；
Fig. 5 is the structural schematic diagram of flexible cable direction adjustment device of the present invention；
Fig. 6 is the cross-sectional view of flexible cable direction adjustment device of the present invention；
Fig. 7 is the structural schematic diagram of end effector mechanism of the present invention；
In figure, 1, fixed platform, 2, column support, 3, end effector mechanism, 3-1, cutter, 3-2, rotatable platform, 3-3,
Cutter drive motor, 4, flexural pivot II, 5, flexural pivot III, 6, flexible cable direction adjustment device, 6-1, swing component, 6-2, rotating member, 6-3, U
Type pedestal, 6-4, pin, 7, steel wire flexible cable, 8, tensioning apparatus, 8-1, I support of fixed pulley, 8-2, fixed pulley I, 8-3, movable pulley
Support, 8-4, movable pulley, 8-5, II support of fixed pulley, 8-6, crossbeam, 8-7, spring, 8-8, fixed pulley II, 9, driver, 9-1,
Servo motor II, 9-2, speed reducer, 9-3, worm screw, 9-4, turbine, 9-5, rotating bar, 9-6, sleeve, 10, cross bar, 11, servo electricity
Machine I, 12, straight line slide unit, 13, ball-screw, 14, screw slider, 15, Hooke's hinge, 16, connecting rod, 17, flexural pivot I, 18, mobile flat
Platform, 19, rectangular shaft, 20, middle hinge, 20-1, bearing II, 20-2, hinge outline border, 20-3, bearing I, 20-4, hinge inside casing,
21, linear guide, 22, straight-line guide rail slide block, 23, triangular platform.
Specific embodiment
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle of the invention, including frame
Frame, intermediate lever system, the identical servo mould group of three groups of structures, the identical rope drive mechanism of three groups of structures and end execute machine
Structure 3,
The frame is in triangular prism shaped, by equilateral triangle fixed platform 1, perpendicular to three root post branch of fixed platform 1
Frame 2 and three cross bars 10 composition for being parallel to fixed platform 1,10 one end of cross bar are fixedly connected with column support 2, and cross bar 10 is another
One end surrounds the triangular platform 23 of hollow out, at hexagonal angle between adjacent two cross bar 10,
The intermediate lever system includes mobile platform 18, rectangular shaft 19, connecting rod 16, middle hinge 20, linear guide 21, straight
Line guide rail slide block 22, mobile platform 18 are arranged on 19 top of rectangular shaft, and connecting rod 16 has been arranged circumferentially three and connecting rod 16 1
End is connect by flexural pivot I 17 with mobile platform 18 respectively, and the other end of rectangular shaft 19 passes through triangular platform 23 and end executes machine
Structure 3 connects, as shown in Fig. 2, the setting of middle hinge 20 is in the inside of triangular platform 23, middle hinge 20 include hinge outline border 20-2,
Hinge inside casing 20-4, I 20-3 of bearing and bearing II 20-1, hinge inside casing 20-4 are connected by bearing I 20-3 and hinge outline border 20-2
It connects, hinge outline border 20-2 is connected by II 20-1 of bearing and triangular platform 23, and linear guide 21 is symmetricly set in rectangular shaft 19
The two sides of section, straight-line guide rail slide block 22 are matched with linear guide 21, straight-line guide rail slide block 22 and the fixed company of hinge inside casing 20-4
It connects, rectangular shaft 19 is slided up and down in middle hinge 20 by linear guide 21；
The servo mould group includes servo motor I 11 and straight line mould group, and straight line mould group includes being arranged in 10 upper surface of cross bar
Straight line slide unit 12, the ball-screw 13 that is arranged in straight line slide unit 12 and be adapted with ball-screw 13, straight line slide unit 12
Screw slider 14, one end of straight line slide unit 12 is arranged in the servo motor I 11, and the motor shaft of servo motor I 11 passes through
Shaft coupling is connected with intermediate ball-screw 13, and screw slider 14 is connect by Hooke's hinge 15 with 16 other end of connecting rod；
The rope drive mechanism includes steel wire flexible cable 7, driver 9, tensioning apparatus 8 and flexible cable direction adjustment device 6, institute
It states driver 9 and is internally provided with II 9-1 of servo motor, speed reducer 9-2, worm screw 9-3, turbine 9-4, rotating bar 9-5, servo motor
The input terminal of the output axis connection speed reducer 9-2 of II 9-1, output end the connecting worm 9-3, turbine 9-4 of speed reducer 9-2 and worm screw
9-3 is meshed, and rotating bar 9-5 is fixedly connected with turbine 9-4；In order to correct the disengaging direction of steel wire flexible cable 7, precision, institute are improved
The one end for stating driver 9 is additionally provided with sleeve 9-6, and steel wire flexible cable 7 passes through sleeve 9-6；
As shown in figure 4, the tensioning apparatus 8 includes I 8-2 of fixed pulley, I support 8-1 of fixed pulley, II 8-8 of fixed pulley, slides calmly
Take turns II support 8-5, two movable pulley 8-4, movable pulley support 8-3, crossbeam 8-6, spring 8-7, I 8-2 of fixed pulley, II 8- of fixed pulley
8 are fixed on 10 lower surface of cross bar by I support 8-1 of fixed pulley, II support 8-5 of fixed pulley respectively, and two movable pulley 8-4 are solid respectively
The both ends crossbeam 8-6 are scheduled on, crossbeam 8-6 is fixed on 10 lower surface of cross bar, preferably two movable pulleys by movable pulley support 8-3
8-4 is symmetrical arranged relative to movable pulley support 8-3, and I support 8-1 of fixed pulley, II support 8-5 of fixed pulley are symmetricly set on movable pulley
The two sides support 8-3, one end of spring 8-7 are fixed on the end crossbeam 8-6, and the spring 8-7 other end is fixed on 10 lower surface of cross bar,
As shown in Figure 5, Figure 6, the flexible cable direction adjustment device 6 includes two swing component 6-1, two rotating members 6-2 and U
Type pedestal 6-3, U-shaped pedestal 6-3 are fixed on 19 lower part of rectangular shaft, and two rotating member 6-2 are symmetrically fixed on U-shaped pedestal 6-3, turn
Moving part 6-2 outboard end passes through pin 6-4 connection swing component 6-1 respectively,
As shown in Figure 1, one end of steel wire flexible cable 7 is connect with the rotating bar 9-5 of driver 9, the other end sequentially passes through sleeve
9-6, then II 8-8 of fixed pulley, two movable pulley 8-4, I 8-2 of fixed pulley are successively bypassed, then sequentially pass through swing component 6-1, two
It is connect by flexural pivot II 4 with end effector mechanism 3 after a rotating member 6-2, another swing component 6-1.
As shown in Figure 1, Figure 7 shows, the end effector mechanism 3 includes mirror finish cutter 3-1, rotatable platform 3-2 and cutter
Driving motor 3-3 drives cutter 3-1 rotation by cutter drive motor 3-3, and the motor cabinet of cutter drive motor 3-3 is mounted on
On rotatable platform 3-2, the motor cabinet of cutter drive motor 3-3 passes through flexural pivot III 5 simultaneously and connect with 19 end of rectangular shaft, cutter 3-
1 positioned at rotatable platform 3-2 geometric center and vertical rotatable platform 3-2 extend downwardly.
As shown in Figure 1 and Figure 2, the work of servo motor I 11 drives the ball-screw 13 in straight line slide unit 12 to rotate, ball wire
The rotation of thick stick 13 drives screw slider 14 to move in straight line slide unit 12, and screw slider 14 drives connecting rod 16 by Hooke's hinge 15, even
Bar 16 drives the upper end of rectangular shaft 19 to be moved by flexural pivot I 17, and rectangular shaft 19 is sliding by linear guide 21 and linear guide
Cooperation between block 22 can be slided in middle hinge 20, hinge inside casing 20-4 and hinge outline border 20-2 in middle hinge 20
It can voluntarily be rotated using I 20-3 of bearing and II 20-1 of bearing according to 19 moving situation of rectangular shaft, rectangular shaft 19 passes through lower end
Flexural pivot III 5 drive end effector mechanism 3 so that end effector mechanism 3 reach task location.
Such as Fig. 1,3,4,5 and 6, II 9-1 of servo motor and speed reducer 9-2 cooperating drive worm screw 9-3 rotation, worm screw
9-3 drives turbine 9-4 rotation, and turbine 9-4 drives rotating bar 9-5 rotation, and rotating bar 9-5 and steel wire flexible cable 7 connect, rotating bar 9-
5 rotations can pull steel wire flexible cable 7, and steel wire flexible cable 7 is passed in and out by sleeve 9-6, can correct the direction of steel wire flexible cable 7, and steel wire is soft
Rope 7 successively passes through under the action of spring 8-7 around II 8-8 of fixed pulley, two movable pulley 8-4 and fixed pulley I 8-2, crossbeam 8-6
Two movable pulley 8-4 are tensioned steel wire flexible cable 7, and steel wire flexible cable 7 is drawn from I 8-2 of fixed pulley, sequentially enter a swing component
Two rotating member 6-2 of 6-1 and another swing component 6-1, last steel wire flexible cable 7 drive end effector mechanism 3 by flexural pivot II 4,
So that executing agency reaches task posture.
Claims (5)
1. a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle, which is characterized in that including frame, intermediate leverage
System, the identical servo mould group of three groups of structures, the identical rope drive mechanism of three groups of structures and end effector mechanism 3,
The frame is in triangular prism shaped, by equilateral triangle fixed platform (1), perpendicular to three root post branch of fixed platform (1)
Frame (2) and three cross bars (10) composition for being parallel to fixed platform (1), cross bar (10) one end and column support (2) fixed company
It connecing, cross bar (10) other end surrounds the triangular platform (23) of hollow out, at hexagonal angle between adjacent two cross bar (10),
The intermediate lever system includes mobile platform (18), rectangular shaft (19), connecting rod (16), middle hinge (20), linear guide
(21), straight-line guide rail slide block (22), mobile platform (18) are arranged on rectangular shaft (19) top, and connecting rod (16) has been arranged circumferentially
Three and connecting rod (16) one end pass through flexural pivot I (17) respectively and connect with mobile platform (18), and the other end of rectangular shaft (19) passes through
Triangular platform (23) is connect with end effector mechanism (3), and middle hinge (20) setting is on the inside of triangular platform (23), middle hinge
It (20) include hinge outline border (20-2), hinge inside casing (20-4), bearing I (20-3) and bearing II (20-1), hinge inside casing (20-
4) it is connected by bearing I (20-3) and hinge outline border (20-2), hinge outline border (20-2) is flat by bearing II (20-1) and triangle
Platform (23) connection, linear guide (21) are symmetricly set on the two sides in rectangular shaft (19) middle section, straight-line guide rail slide block (22) and straight line
Guide rail (21) matches, and straight-line guide rail slide block (22) is fixedly connected with hinge inside casing (20-4), and rectangular shaft (19) is led by straight line
Rail (21) slides up and down in middle hinge (20),
The servo mould group includes servo motor I (11) and straight line mould group, and straight line mould group includes being arranged in cross bar (10) upper surface
Straight line slide unit (12), be arranged ball-screw (13) in straight line slide unit (12) and with ball-screw (13), straight line slide unit
(12) compatible screw slider (14), the servo motor I (11) are arranged in one end of straight line slide unit (12), and servo motor
The motor shaft of I (11) is connected by shaft coupling with intermediate ball-screw (13), screw slider (14) pass through Hooke's hinge (15) and
The connection of connecting rod (16) other end,
The rope drive mechanism includes steel wire flexible cable (7), driver (9), tensioning apparatus (8) and flexible cable direction adjustment device
(6), the driver (9) is internally provided with servo motor II (9-1), speed reducer (9-2), worm screw (9-3), turbine (9-4), turns
Lever (9-5), the input terminal of the output axis connection speed reducer (9-2) of servo motor II (9-1), the output end of speed reducer (9-2)
Connecting worm (9-3), turbine (9-4) are meshed with worm screw (9-3), and rotating bar (9-5) is fixedly connected with turbine (9-4), described
Tensioning apparatus (8) include fixed pulley I (8-2), I support of fixed pulley (8-1), fixed pulley II (8-8), II support of fixed pulley (8-5),
Two movable pulleys (8-4), movable pulley support (8-3), crossbeam (8-6), spring (8-7), fixed pulley I (8-2), II (8- of fixed pulley
8) cross bar (10) lower surface, two movable pulleys are fixed on by I support of fixed pulley (8-1), II support of fixed pulley (8-5) respectively
(8-4) is separately fixed at the both ends crossbeam (8-6), and crossbeam (8-6) is fixed on cross bar (10) following table by movable pulley support (8-3)
Face, I support of fixed pulley (8-1), II support of fixed pulley (8-5) are symmetricly set on the two sides movable pulley support (8-3), spring (8-7)
One end be fixed on the end crossbeam (8-6), spring (8-7) other end is fixed on cross bar (10) lower surface, flexible cable direction tune
Engagement positions (6) include two swing components (6-1), two rotating members (6-2) and U-shaped pedestal (6-3), and U-shaped pedestal (6-3) is fixed on
Rectangular shaft (19) lower part, two rotating members (6-2) are symmetrically fixed on U-shaped pedestal (6-3), rotating member (6-2) outboard end difference
It connects swing component (6-1),
One end of steel wire flexible cable (7) is connect with the rotating bar (9-5) of driver (9), and the other end successively bypasses II (8- of fixed pulley
8), two movable pulleys (8-4), fixed pulley I (8-2), then sequentially pass through swing component (6-1), two rotating members (6-2), another
One swing component (6-1) is connect by flexural pivot II (4) with end effector mechanism (3) afterwards.
2. a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle according to claim 1, feature exist
In, the end effector mechanism (3) include mirror finish cutter (3-1), rotatable platform (3-2) and cutter drive motor (3-3),
By cutter drive motor (3-3) driving cutter (3-1) rotation, it is flat that the motor cabinet of cutter drive motor (3-3) is mounted on rotation
On platform (3-2), the motor cabinet of cutter drive motor (3-3) passes through flexural pivot III (5) simultaneously and connect with rectangular shaft (19) end, cutter
(3-1) is located at the geometric center of rotatable platform (3-2) and vertical rotatable platform (3-2) extends downwardly.
3. a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle according to claim 1, feature exist
In one end of the driver (9) is additionally provided with sleeve (9-6), and steel wire flexible cable (7) passes through sleeve (9-6).
4. a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle according to claim 1, feature exist
In the rotating member (6-2) is connect by pin (6-4) with the swing component (6-1).
5. a kind of steel wire flexible cable parallel connection mirror processing device based on lever principle according to claim 1, feature exist
In two movable pulleys (8-4) for being fixed on the both ends crossbeam (8-6) are symmetrical relative to fixed pulley support (8-3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811195698.1A CN109454635B (en) | 2018-10-15 | 2018-10-15 | Steel wire flexible cable parallel mirror surface machining device based on lever principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811195698.1A CN109454635B (en) | 2018-10-15 | 2018-10-15 | Steel wire flexible cable parallel mirror surface machining device based on lever principle |
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| CN109454635B CN109454635B (en) | 2020-09-25 |
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| CN110091319A (en) * | 2019-05-31 | 2019-08-06 | 西北农林科技大学 | A kind of novel parallel three NC axes mechanical arm based on connecting rod slider |
| CN110315511A (en) * | 2019-07-23 | 2019-10-11 | 清华大学 | A kind of rope driving sorting machine people in parallel using passive tensioned |
| CN112026951A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Multi-legged robot with modular tensioning overall structure |
| CN112025740A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Force feedback device for tensioning integral structure |
| CN113118560A (en) * | 2021-04-22 | 2021-07-16 | 合肥工业大学 | Parallel optical mirror surface processing device |
| CN113459124A (en) * | 2021-07-23 | 2021-10-01 | 合肥工业大学 | Flexible cable traction type five-axis carving robot for large circular carving |
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| CN110091319B (en) * | 2019-05-31 | 2024-02-20 | 西北农林科技大学 | Triaxial parallel mechanical arm based on connecting rod sliding block |
| CN110315511A (en) * | 2019-07-23 | 2019-10-11 | 清华大学 | A kind of rope driving sorting machine people in parallel using passive tensioned |
| CN112025740B (en) * | 2020-07-29 | 2022-07-05 | 天津大学 | Force feedback device for tensioning integral structure |
| CN112026951B (en) * | 2020-07-29 | 2022-04-19 | 天津大学 | Multi-legged robot with modular tensioning overall structure |
| CN112025740A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Force feedback device for tensioning integral structure |
| CN112026951A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Multi-legged robot with modular tensioning overall structure |
| CN113118560A (en) * | 2021-04-22 | 2021-07-16 | 合肥工业大学 | Parallel optical mirror surface processing device |
| CN113118560B (en) * | 2021-04-22 | 2023-09-08 | 合肥工业大学 | Parallel optical mirror surface processing device |
| CN113459124A (en) * | 2021-07-23 | 2021-10-01 | 合肥工业大学 | Flexible cable traction type five-axis carving robot for large circular carving |
| CN113459124B (en) * | 2021-07-23 | 2023-06-30 | 合肥工业大学 | Flexible rope traction type five-axis engraving robot for large circular engraving |
| CN113653061A (en) * | 2021-08-11 | 2021-11-16 | 合肥工业大学 | Intelligent vibrating device |
| CN114195050A (en) * | 2021-09-30 | 2022-03-18 | 安捷电维智能科技研究院(广州)有限公司 | Pulley lifting mechanism |
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