CN113028239A - Weight type attitude self-stabilizing device - Google Patents
Weight type attitude self-stabilizing device Download PDFInfo
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- CN113028239A CN113028239A CN202110296078.2A CN202110296078A CN113028239A CN 113028239 A CN113028239 A CN 113028239A CN 202110296078 A CN202110296078 A CN 202110296078A CN 113028239 A CN113028239 A CN 113028239A
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- platform
- connecting rod
- steel truss
- weight type
- support frame
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 21
- 239000010959 steel Substances 0.000 claims abstract description 21
- 238000013016 damping Methods 0.000 claims description 19
- 239000010687 lubricating oil Substances 0.000 claims description 9
- 239000004519 grease Substances 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 abstract description 5
- 230000036544 posture Effects 0.000 description 17
- 230000005484 gravity Effects 0.000 description 6
- 241000883990 Flabellum Species 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 239000002253 acid Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/28—Counterweights, i.e. additional weights counterbalancing inertia forces induced by the reciprocating movement of masses in the system, e.g. of pistons attached to an engine crankshaft; Attaching or mounting same
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16N—LUBRICATING
- F16N1/00—Constructional modifications of parts of machines or apparatus for the purpose of lubrication
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/12—Fluid damping
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention provides a weight type posture self-stabilizing device, which comprises a bracket part and a movable part, wherein the bracket part is arranged on the bracket part; the support part comprises a steel truss, a support frame platform arranged at the upper end of the steel truss and a base block arranged at the lower end of the steel truss, and two opposite fixed blocks A and B are arranged on the support frame platform; the movable part comprises a load platform, a connecting rod, a rotating frame and a heavy hammer, the connecting rod is movably connected with the support frame platform through the rotating frame, and the load platform and the heavy hammer are respectively arranged at the top end and the bottom end of the connecting rod. When the device is used, the device is placed on a platform of the fixing device, the support part can swing along with the platform of the fixing device below the device, but the movable part can obviously reduce transverse swinging and longitudinal swinging in a heavy hammer mode, and finally the swinging of the load on the load platform can be obviously reduced, so that the aim of stabilizing the posture is finally achieved.
Description
Technical Field
The invention relates to a self-stabilizing device, in particular to a weight type posture self-stabilizing device.
Background
At present, most of attitude stabilizing devices obtain attitude data through an attitude sensor, and then the aim of attitude high-precision control is achieved by controlling a steering engine or a torquer and an angle sensor through a controller, but the mode is complex, the requirements on some attitudes are not high, only roll reduction is needed, and the mode is complex, expensive and unnecessary under the situation of reducing attitude change. The invention adopts a heavy hammer mode to stabilize the attitude of the load platform, utilizes the gravity of the heavy hammer to stabilize the attitude of the load platform, does not need to provide power or sense and has the characteristics of low price and convenience.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a weight type posture self-stabilizing device. The device can be used in occasions needing stable postures, roll stabilization and high-precision posture maintenance, such as light weapon shooting platforms, communication antennas, small radar antennas and optical observation platforms.
The invention is realized by adopting the following technical scheme:
a weight type posture self-stabilizing device is characterized by comprising a bracket part and a movable part; the support part comprises a steel truss, a support frame platform arranged at the upper end of the steel truss and a base block arranged at the lower end of the steel truss, and two opposite fixed blocks A and B are arranged on the support frame platform; the movable part comprises a load platform, a connecting rod, a rotating frame and a heavy hammer, the connecting rod is movably connected with the support frame platform through the rotating frame, and the load platform and the heavy hammer are respectively arranged at the top end and the bottom end of the connecting rod;
the connecting rod specifically is through rotating frame and support frame platform swing joint: two transverse shafts which are positioned on the same straight line are arranged at two ends of the rotating frame, and the two transverse shafts are connected with the fixing block A and the fixing block B through deep groove ball bearings; be equipped with the perpendicular to connecting rod on the connecting rod and be located two axis of ordinates on the collinear, two other edges of rotating the frame all are equipped with the fixed block, and two axis of ordinates all are connected with the fixed block through deep groove ball bearing.
In the above technical scheme, further, the both ends of cross axle and axis of ordinates all be equipped with the flabellum, the flabellum is installed on same axle with deep groove ball bearing.
Furthermore, the fan blades and the deep groove ball bearings are located in the fixing blocks, and lubricating oil adding holes and damping grease adding holes are formed in each fixing block.
Furthermore, the steel truss adopts a broken line design, and the area of the upper end of the steel truss is smaller than that of the lower end of the steel truss.
When the device is used, the device is placed on a platform of a fixing device (such as a deck of a ship, a floating platform on the sea surface or other occasions needing stable postures), the support part can rock along with the platform of the fixing device below the device, but the movable part can obviously reduce transverse rocking and longitudinal rocking in a heavy hammer mode, and finally the rocking of loads (such as light weapons, communication antennas, small radar antennas, optical observation equipment and the like) on a load platform can be obviously reduced, so that the aim of stabilizing the postures is finally achieved.
The effect of support part is for device and equipment provide firm support, fixed block A, fixed block B, support frame platform, steel truss and base piece accessible screw fixed connection, and the intensity of the screw that requires to use will guarantee that fixing device's platform can not break or lose efficacy under the condition of rocking.
The active part functions as roll reduction. The movable part can rotate around a transverse axis and a longitudinal axis, and the rocking of the connecting rod around two deep groove ball bearings connected with the longitudinal axis is defined as rolling; the rocking of the connecting rod around the two deep groove ball bearings connected with the cross shaft is pitching.
The load platform is used for supporting a load, and the connecting rod is fixedly connected with the load platform; the connecting rod is fixedly connected with the longitudinal shaft and the heavy hammer. The two fixing blocks on the rotating frame are internally provided with deep groove ball bearings, and the longitudinal shaft can rotate through the two bearings. The fixing block A and the fixing block B are fixed on the supporting frame platform through screws and used for locking the deep groove ball bearings and the two fan blades connected with the cross shaft, and the cross shaft can rotate through the two deep groove ball bearings. The lubricating oil adding holes are used for adding lubricating oil to the deep groove ball bearings so as to reduce friction. Damping fat is added for the device to the effect in damping fat interpolation hole, and when slightly rocking the flabellum stirring damping fat, the viscidity of damping fat can effectually offset and rock to remain stable. The damping effect can be increased or decreased by adding damping grease.
The device of the invention has the beneficial effects that:
1. the pitching and rolling can be obviously reduced;
2. power (energy) is not required to be provided, and the posture can be stabilized by utilizing the self gravity;
3. simple structure, few parts and convenient manufacture, installation and maintenance.
4. If the platform needs to be provided with equipment needing electricity, the heavy hammer can be replaced by a lead-acid battery, and the platform is simple and convenient.
5. The steel truss with the broken line design has a larger movable range of the movable part relative to the bracket part compared with a straight steel truss.
6. There is lubricating oil interpolation hole and damping fat interpolation hole, and the interpolation lubricating oil reduces the friction, adds the slight influence of wave is avoided to suitable damping fat, and when slightly rocking the flabellum stirs damping fat, the viscidity of damping fat can effectually offset and rock to remain stable, the damping effect size can be through what of interpolation damping fat realize increasing and decreasing.
Drawings
FIG. 1 is an overall view of a weight type posture self-stabilizing device;
FIG. 2 is a front view of the weight type posture self-stabilizing device;
FIG. 3 is a left side view of the weight type attitude self-stabilization device;
FIG. 4 is a schematic view of the connection of the connecting rod to the load platform;
FIG. 5 is a connecting frame;
FIG. 6 is a schematic diagram of the rolling of the weight type posture self-stabilizing device;
FIG. 7 is a schematic view of the pitching of the weighted self-stabilizing attitude device;
FIG. 8 is a schematic view of a lubricating oil addition hole and a damping grease addition hole;
wherein 1 is a load, 2 is a load platform, 3 is a connecting rod, 4 is a rotating frame, 5 is a fixed block A, 6 is a fixed block B, 7 is a support frame platform, 8 is a heavy hammer, 9 is a steel truss, 10 is a base block, 11 is a platform of a fixing device, 12 is a horizontal axis, 13 is a vertical axis, 14 is a lubricating oil adding hole, and 15 is a damping grease adding hole.
Detailed Description
Fig. 1-3 show a weight type posture self-stabilizing device of the present invention, which comprises a bracket part and a movable part, wherein the bracket part comprises a fixed block a5, a fixed block B6, a supporting frame platform 7, a steel truss 9 and a base block 10; the movable part comprises a load platform 2 (on which a load 1 is placed), a connecting rod 3, a rotating frame 4, a heavy hammer 8, 4 deep groove ball bearings, a transverse shaft 12 (which is a part of the rotating frame 4) and a longitudinal shaft 13 (which is a part of the connecting rod 3). The connecting rod 3 is movably connected with the supporting frame platform 7 through the rotating frame 4, and the load platform 2 and the heavy hammer 8 are respectively arranged at the top end and the bottom end of the connecting rod 3.
The end parts of the transverse shaft 12 and the longitudinal shaft 13 are both provided with fan blades (the fan blades at the end parts of the longitudinal shaft 13 are not shown in the drawing), and the fan blades and the deep groove ball bearings are arranged on the same shaft. Flabellum and deep groove ball bearing all are located the fixed block, all are equipped with lubricating oil interpolation hole 14 and damping fat interpolation hole 15 on 4 fixed blocks. The steel truss 9 is designed by adopting broken lines, and the area of the upper end of the steel truss is smaller than that of the lower end of the steel truss.
When the device is used, the device is placed on a platform 11 of a fixing device (such as a deck of a ship, a floating platform on the sea surface or other occasions needing stable postures), the support part can rock along with the platform 11 of the fixing device below the device, but the movable part can obviously reduce rolling and pitching in a heavy hammer mode, and finally the rocking of the load 1 can be obviously reduced, so that the aim of stabilizing the postures is finally achieved.
The device of the invention can stabilize the posture in a lever mode:
as shown in FIG. 6, when the movable part moves due to the movement of the platform 11 of the fixing device, and the projection of the axis of the connecting rod 3 on the plane of FIG. 6 (or the plane of FIG. 2, which are parallel) forms an angle α with the line pointing to the center of the earth from the intersection of the line of the horizontal axis 12 and the line of the vertical axis 13, the mass of the movable part (a part of the connecting rod 3, the weight 8) below the vertical axis 13 is assumed to be m1The distance from the center of gravity to the intersection of the line of the horizontal axis 12 and the line of the vertical axis 13 is L1The mass of the part above the longitudinal axis 13 (comprising the load 1, the load platform 2 and the other part of the connecting rod 3) is m2The distance from the center of gravity to the intersection of the line of the horizontal axis 12 and the line of the vertical axis 13 is L2M is generated1gL1 sinα-m2gL2sin α restoring torque. From this equation, as long as m1L1＞m2L2The restoring moment is positive and the amplitude of the oscillation is gradually reduced without any constant oscillation, with the frictional damping provided by the blades, so that the axis of the connecting rod 3 remains directed towards the centre of the earth in the plane of figure 6, no matter how the platform 11 of the underlying fixing means is oscillated.
As shown in FIG. 7, when the movable part moves due to the movement of the platform 11 of the fixing device, and the projection of the axis of the connecting rod 3 on the plane of FIG. 7 (or the plane of FIG. 3, which are parallel) forms an angle β with the line pointing to the earth center from the intersection of the line of the horizontal axis 12 and the line of the vertical axis 13, the mass of the movable part (a part of the connecting rod 3, the weight 8) below the horizontal axis 12 is assumed to be m1The distance from the center of gravity to the intersection of the line of the horizontal axis 12 and the line of the vertical axis 13 is L1The mass of the part (including the load 1, the load platform 2 and the other part of the connecting rod 3) above the transverse shaft 12 is m2The distance from the center of gravity to the intersection of the horizontal axis 12 and the vertical axis 13 is L2M is generated1gL1 sinβ-m2gL2sin β restoring moment. From this equation, as long as m1L1＞m2L2The restoring torque is positive and there is friction provided by the fan bladesWith frictional damping, the amplitude of the oscillation will gradually decrease without oscillating all the time, so that the axis of the connecting rod 3 will remain directed towards the centre of the earth in the plane of fig. 7, regardless of how the platform 11 of the underlying fixture is oscillating.
In summary, the projections of the movable portion on the planes of fig. 6 and 7 are all kept in the direction pointing to the geocentric, which proves that the straight line of the axis of the connecting rod 3 coincides with the straight line of the intersection point of the straight line of the transverse axis 12 and the straight line of the longitudinal axis 13 pointing to the geocentric, that is, the connecting rod 3 always points to the geocentric, and the posture stabilizing effect is achieved.
The using method of the device comprises the following steps:
firstly, selecting a proper weight 8 according to the quality of equipment with a stable posture required and the length of each section of the device.
Secondly, the device is fixed on a platform 11 of a fixed device, such as a ship deck, a sea surface floating platform and the like.
And thirdly, placing the load 1 (target equipment such as a light weapon, a communication antenna, etc.) on the load platform 2.
Fourthly, when the platform 11 of the fixing device is shaken, the roll angle and the pitch angle of the loading platform 2 are obviously smaller than those of the platform 11 of the fixing device.
And fifthly, if the equipment placed on the loading platform 2 needs to be powered by a battery, the heavy hammer 8 can be replaced by a lead-acid battery.
Claims (4)
1. A weight type posture self-stabilizing device is characterized by comprising a bracket part and a movable part; the support part comprises a steel truss, a support frame platform arranged at the upper end of the steel truss and a base block arranged at the lower end of the steel truss, and two opposite fixed blocks A and B are arranged on the support frame platform; the movable part comprises a load platform, a connecting rod, a rotating frame and a heavy hammer, the connecting rod is movably connected with the support frame platform through the rotating frame, and the load platform and the heavy hammer are respectively arranged at the top end and the bottom end of the connecting rod;
the connecting rod specifically is through rotating frame and support frame platform swing joint: two transverse shafts which are positioned on the same straight line are arranged at two ends of the rotating frame, and the two transverse shafts are connected with the fixing block A and the fixing block B through deep groove ball bearings; be equipped with the perpendicular to connecting rod on the connecting rod and be located two axis of ordinates on the collinear, two other edges of rotating the frame all are equipped with the fixed block, and two axis of ordinates all are connected with the fixed block through deep groove ball bearing.
2. The weight type posture self-stabilizing device of claim 1, wherein fan blades are arranged at the end parts of the transverse shaft and the longitudinal shaft, and the fan blades and the deep groove ball bearing are arranged on the same shaft.
3. The weight type posture self-stabilizing device according to claim 2, wherein the fan blades and the deep groove ball bearings are located in fixing blocks, and each fixing block is provided with a lubricating oil adding hole and a damping grease adding hole.
4. The weight type posture self-stabilizing device of claim 1, wherein the steel truss is designed with a broken line, so that the area of the upper end of the bracket part is smaller than that of the lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110296078.2A CN113028239A (en) | 2021-03-19 | 2021-03-19 | Weight type attitude self-stabilizing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110296078.2A CN113028239A (en) | 2021-03-19 | 2021-03-19 | Weight type attitude self-stabilizing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113028239A true CN113028239A (en) | 2021-06-25 |
Family
ID=76471817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110296078.2A Pending CN113028239A (en) | 2021-03-19 | 2021-03-19 | Weight type attitude self-stabilizing device |
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| Country | Link |
|---|---|
| CN (1) | CN113028239A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022217632A1 (en) * | 2021-04-14 | 2022-10-20 | 浙江大学 | Orientation stabilizing apparatus having anti-shake structure |
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| JP2005025085A (en) * | 2003-06-30 | 2005-01-27 | Kyushu Techno Research Kk | On-airplane photographing apparatus |
| CN103123035A (en) * | 2013-02-06 | 2013-05-29 | 中国人民解放军海军工程大学 | Ship two-degree-freedom self-adaptation and stabilization platform |
| CN204256526U (en) * | 2014-05-05 | 2015-04-08 | 北京星网卫通科技开发有限公司 | A kind of cross frame decomposes the gravity attitude stabilization device of motion |
| US20160124437A1 (en) * | 2013-05-20 | 2016-05-05 | Harbin Institute Of Technology | Measurement Control System for Multi-Shaft Supported Air Floatation Platform |
| CN106621084A (en) * | 2016-11-22 | 2017-05-10 | 重庆邮电大学 | Descent control device for escaping |
| EP3306270A1 (en) * | 2015-05-27 | 2018-04-11 | Beijing Unistrong Science & Technology Co., Ltd. | Two-degree-of-freedom rotation control device and application system therewith |
| CN108119731A (en) * | 2017-12-28 | 2018-06-05 | 吉林大学 | The adjustable omnidirectional's vibration-isolating platform of posture |
| CN110512749A (en) * | 2019-08-27 | 2019-11-29 | 云南本木科技有限公司 | A kind of coupling beam damper |
| CN211572067U (en) * | 2019-12-26 | 2020-09-25 | 山东百顿减震科技有限公司 | Coupling beam damper |
-
2021
- 2021-03-19 CN CN202110296078.2A patent/CN113028239A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2412200Y (en) * | 2000-01-27 | 2000-12-27 | 中国人民解放军海军潜艇学院科研部 | Sensor assembly of magnetic measuring ship gesture measuring system |
| JP2005025085A (en) * | 2003-06-30 | 2005-01-27 | Kyushu Techno Research Kk | On-airplane photographing apparatus |
| CN103123035A (en) * | 2013-02-06 | 2013-05-29 | 中国人民解放军海军工程大学 | Ship two-degree-freedom self-adaptation and stabilization platform |
| US20160124437A1 (en) * | 2013-05-20 | 2016-05-05 | Harbin Institute Of Technology | Measurement Control System for Multi-Shaft Supported Air Floatation Platform |
| CN204256526U (en) * | 2014-05-05 | 2015-04-08 | 北京星网卫通科技开发有限公司 | A kind of cross frame decomposes the gravity attitude stabilization device of motion |
| EP3306270A1 (en) * | 2015-05-27 | 2018-04-11 | Beijing Unistrong Science & Technology Co., Ltd. | Two-degree-of-freedom rotation control device and application system therewith |
| CN106621084A (en) * | 2016-11-22 | 2017-05-10 | 重庆邮电大学 | Descent control device for escaping |
| CN108119731A (en) * | 2017-12-28 | 2018-06-05 | 吉林大学 | The adjustable omnidirectional's vibration-isolating platform of posture |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022217632A1 (en) * | 2021-04-14 | 2022-10-20 | 浙江大学 | Orientation stabilizing apparatus having anti-shake structure |
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Application publication date: 20210625 |