CN114313130B - Three-degree-of-freedom stable platform with static load compensation function - Google Patents
Three-degree-of-freedom stable platform with static load compensation function Download PDFInfo
- Publication number
- CN114313130B CN114313130B CN202111441262.8A CN202111441262A CN114313130B CN 114313130 B CN114313130 B CN 114313130B CN 202111441262 A CN202111441262 A CN 202111441262A CN 114313130 B CN114313130 B CN 114313130B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- guide sleeve
- support
- degree
- hinged
- 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
Landscapes
- Bearings For Parts Moving Linearly (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention relates to a three-degree-of-freedom stable platform with a static load compensation function, which comprises a bottom plate, a top plate, a first moving branched chain and two second moving branched chains, wherein the first moving branched chain comprises a first lower connecting rod, a first upper connecting rod, a first linear driver and a first elastic bearing device, the lower end of the first lower connecting rod is hinged with a first lower support, the upper end of the first upper connecting rod is hinged with a first upper support through a first cross shaft, the central lines of shaft holes of the first upper support and the first lower support are mutually perpendicular, the second moving branched chain comprises a second lower connecting rod, a second upper connecting rod, a second linear driver and a second elastic bearing device, the lower end of the second lower connecting rod is hinged with a second lower support through a second cross shaft, the upper end of the second upper connecting rod is hinged with a second upper support, the central lines of shaft holes of the second upper support and the second lower support are mutually perpendicular, and the central lines of the shaft holes of the second upper support and the first upper support are mutually parallel. The anti-overturning device has the advantages of simple structure, stable support, strong adaptability and good anti-overturning effect.
Description
Technical Field
The invention relates to a bearing platform, in particular to a three-degree-of-freedom stable platform with a static load compensation function.
Background
The parallel support mechanism is widely applied to the fields of space motion simulation devices, carrier-based stabilized platforms and the like by virtue of the advantages of stable structure and strong bearing capacity. However, most of the existing space motion simulation devices and ship-based stable platforms are based on a six-leg direct-driven full-freedom-degree structure, and control is complex due to strong dynamic coupling property; meanwhile, in order to improve the bearing capacity, some ways of adding rope wheels and counterweights are adopted for static load balancing, and other ways of adding independent elastic bearing branches are adopted for static load balancing, but the ways of adding the rope wheels and the counterweights can introduce larger dynamic load, so that the improvement of response speed is not facilitated, and the ways of adding the independent elastic bearing branches are adopted for avoiding introducing additional constraint, generally, a six-degree-of-freedom branched chain form is adopted, and the static load balancing capacity of the independent elastic bearing branches in a partial pose form is obviously insufficient.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom stable platform with a static load compensation function, which has the advantages of simple structure, easiness in control, stability in support, strong adaptability and good anti-overturning effect.
In order to solve the problems in the prior art, the three-degree-of-freedom stable platform with the static load compensation function comprises a bottom plate and a top plate, wherein a first movement branched chain and two second movement branched chains are arranged between the bottom plate and the top plate, the first movement branched chain and the two second movement branched chains are distributed in a triangle shape, the two second movement branched chains are symmetrically distributed, the first movement branched chains comprise a first lower connecting rod, a first upper connecting rod, a first linear driver and a first elastic bearing device, the lower end of the first lower connecting rod is hinged with a first lower support fixed on the bottom plate through a pin shaft, the upper end of the first lower connecting rod is hinged with the lower end of the first upper connecting rod through a pin shaft, the upper end of the first upper connecting rod is hinged with a first upper support fixed on the top plate through a first cross shaft, the central lines of the shaft holes of the first upper support and the first lower support are mutually perpendicular, and the upper end and the lower end of the first linear driver and the first elastic bearing device are correspondingly hinged with the first upper connecting rod and the first lower connecting rod; the second motion branched chain comprises a second lower connecting rod, a second upper connecting rod, a second linear driver and a second elastic bearing device, wherein the lower end of the second lower connecting rod is hinged with a second lower support fixed on the bottom plate through a second horizontal shaft, the upper end of the second lower connecting rod is hinged with the lower end of the second upper connecting rod through a pin shaft, the upper end of the second upper connecting rod is hinged with a second upper support fixed on the top plate through a pin shaft, the central lines of shaft holes of the second upper support and the second lower support are mutually perpendicular, the central lines of the shaft holes of the second upper support and the first upper support are mutually parallel, and the upper end and the lower end of the second linear driver and the second elastic bearing device are correspondingly hinged with the second upper connecting rod and the second lower connecting rod.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function is characterized in that the upper end and the lower end of the first elastic bearing device are correspondingly connected with the first upper connecting rod and the first lower connecting rod through joint bearings respectively, and the upper end and the lower end of the second elastic bearing device are correspondingly connected with the second upper connecting rod and the second lower connecting rod through joint bearings respectively.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function is characterized in that the lower ends of the first linear driver and the second linear driver are correspondingly connected with the first lower connecting rod and the second lower connecting rod through pin shafts respectively, and the upper ends of the first linear driver and the second linear driver are correspondingly connected with the first upper connecting rod and the second upper connecting rod through joint bearings respectively.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function provided by the invention is characterized in that the first elastic bearing device comprises a first lower guide sleeve and a first upper guide sleeve which are coaxially sleeved, a first lower annular table is arranged on the first lower guide sleeve, a first upper annular table is arranged on the first upper guide sleeve, and first spiral springs with two ends correspondingly propped against the first lower annular table and the first upper annular table are sleeved on the first lower guide sleeve and the first upper guide sleeve.
Further, the three-degree-of-freedom stable platform with the static load compensation function provided by the invention is characterized in that the second elastic bearing device comprises a second lower guide sleeve and a second upper guide sleeve which are coaxially sleeved, a second lower annular table is arranged on the second lower guide sleeve, a second upper annular table is arranged on the second upper guide sleeve, and second spiral springs with two ends correspondingly pressed on the second lower annular table and the second upper annular table are sleeved on the second lower guide sleeve and the second upper guide sleeve.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function is provided, wherein the first lower guide sleeve is in sliding fit with the first upper guide sleeve.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function is provided, wherein the second lower guide sleeve is in sliding fit with the second upper guide sleeve.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function is provided, wherein the first linear driver and the second linear driver are electric push rods.
Furthermore, the three-degree-of-freedom stable platform with the static load compensation function is provided, wherein the bottom plate and the top plate are triangular.
Compared with the prior art, the three-degree-of-freedom stable platform with the static load compensation function has the following advantages: according to the invention, the bottom plate and the top plate are arranged, and the first movement branched chain and the two second movement branched chains are arranged between the bottom plate and the top plate, wherein the first movement branched chain and the two second movement branched chains are distributed in a triangular shape, and the two second movement branched chains are symmetrically distributed; the first movement branched chain is provided with a first lower connecting rod, a first upper connecting rod, a first linear driver and a first elastic bearing device, the lower end of the first lower connecting rod is hinged with a first lower support fixed on a bottom plate through a pin shaft, the upper end of the first lower connecting rod is hinged with the lower end of the first upper connecting rod through a pin shaft, the upper end of the first upper connecting rod is hinged with a first upper support fixed on a top plate through a first cross shaft, and the upper end and the lower end of the first linear driver and the first elastic bearing device are correspondingly hinged with the first upper connecting rod and the first lower connecting rod, wherein the central lines of shaft holes of the first upper support and the first lower support are mutually perpendicular; the second movable branched chain is provided with a second lower connecting rod, a second upper connecting rod, a second linear driver and a second elastic bearing device, the lower end of the second lower connecting rod is hinged with a second lower support fixed on the bottom plate through a second cross shaft, the upper end of the second lower connecting rod is hinged with the lower end of the second upper connecting rod through a pin shaft, the upper end of the second upper connecting rod is hinged with a second upper support fixed on the top plate through a pin shaft, the upper end and the lower end of the second linear driver and the second elastic bearing device are correspondingly hinged with the second upper connecting rod and the second lower connecting rod, the shaft hole center lines of the second upper support and the second lower support are mutually perpendicular, and the shaft hole center lines of the second upper support and the first upper support are mutually parallel. The three-degree-of-freedom stable platform with static load compensation function is simple in structure, easy to control, stable in support, high in adaptability and good in anti-overturning effect, the first moving branched chains and the two second moving branched chains are distributed in a triangular mode, the two second moving branched chains are symmetrically distributed, the central lines of the shaft holes of the first upper support and the first lower support are perpendicular to each other, the central lines of the shaft holes of the second upper support and the second lower support are perpendicular to each other, the central lines of the shaft holes of the second upper support and the first upper support are parallel to each other, the top plate is provided with vertical movement freedom degree through the lifting capacity of the first moving branched chains and the two second moving branched chains, the top plate is provided with longitudinal rotation freedom degree through the cooperation of the first lower support and the two second lower support, the load of the linear driver in each moving branched chains is zero at the initial static balance position, the linear driver in each moving branched chains and the elastic bearing device are provided with the same bearing characteristic in the whole effective working space, and the relative displacement of the linear driver in each moving branched chains can be stabilized relative to the longitudinal displacement of the top plate through the linear driver and the relative rotation of the two second upper support, and the relative displacement of the relative rotation is stable, and the relative angular displacement of the top plate can be prevented. The elastic bearing device is integrated in each movement branched chain, so that the high-efficiency utilization of the load capacity of the linear driver in each movement branched chain is facilitated, and the dynamic load is not obviously increased.
The three-degree-of-freedom stable platform with the static load compensation function is further described in detail below with reference to the specific embodiments shown in the drawings.
Drawings
FIG. 1 is a front view of a three degree of freedom stabilized platform with deadweight compensation according to the present invention;
FIG. 2 is a top view of a three degree of freedom stabilized platform with deadweight compensation according to the present invention;
FIG. 3 is a left side view of a three degree of freedom stabilized platform with deadweight compensation according to the present invention;
FIG. 4 is an isometric view of a three degree of freedom stabilized platform with static load compensation according to the present invention;
FIG. 5 is an isometric view of a first motion branch in a three degree of freedom stabilized platform with deadload compensation according to the present invention;
fig. 6 is an isometric view of a second motion branch in a three degree of freedom stabilized platform with deadload compensation according to the present invention.
Detailed Description
First, it should be noted that the terms of up, down, left, right, front, back, etc. in the present invention are merely described according to the drawings, so as to facilitate understanding, and are not limited to the technical solution of the present invention and the scope of protection claimed.
The embodiment of the three-degree-of-freedom stable platform with the static load compensation function, as shown in fig. 1 to 6, comprises a bottom plate 1 and a top plate 2, wherein a first movement branched chain 3 and two second movement branched chains 4 are arranged between the bottom plate 1 and the top plate 2, so that the first movement branched chain 3 and the two second movement branched chains 4 are distributed in a triangular shape, and the two second movement branched chains 4 are symmetrically distributed. The first moving branched chain 3 is provided with a first lower connecting rod 31, a first upper connecting rod 32, a first linear driver 33 and a first elastic bearing device 34, the lower end of the first lower connecting rod 31 is hinged with a first lower support 35 fixed on the bottom plate 1 through a pin shaft, the upper end of the first lower connecting rod 31 is hinged with the lower end of the first upper connecting rod 32 through a pin shaft, the upper end of the first upper connecting rod 32 is hinged with a first upper support 37 fixed on the top plate 2 through a first cross shaft 36, and the upper end and the lower end of the first linear driver 33 and the first elastic bearing device 34 are correspondingly hinged with the first upper connecting rod 32 and the first lower connecting rod 31, wherein the central lines of shaft holes of the first upper support 37 and the first lower support 35 are mutually perpendicular. The second movable branched chain 4 is provided with a second lower connecting rod 41, a second upper connecting rod 42, a second linear driver 43 and a second elastic bearing device 44, the lower end of the second lower connecting rod 41 is hinged with a second lower support 46 fixed on the bottom plate 1 through a second horizontal shaft 45, the upper end of the second lower connecting rod 41 is hinged with the lower end of the second upper connecting rod 42 through a pin shaft, the upper end of the second upper connecting rod 42 is hinged with a second upper support 47 fixed on the top plate 2 through a pin shaft, the upper end and the lower end of the second linear driver 43 and the second elastic bearing device 44 are correspondingly hinged with the second upper connecting rod 42 and the second lower connecting rod 41, wherein the central lines of the shaft holes of the second upper support 47 and the second lower support 46 are mutually perpendicular, and the central lines of the shaft holes of the second upper support 47 and the first upper support 37 are mutually parallel.
The three-degree-of-freedom stable platform with the static load compensation function is formed through the structure, the three-degree-of-freedom stable platform is simple in structure, easy to control, stable in supporting, high in adaptability and good in anti-overturning effect, the first moving branched chain 3 and the two second moving branched chains 4 are distributed in a triangular mode, the two second moving branched chains 4 are symmetrically distributed, the central lines of the shaft holes of the first upper support 37 and the first lower support 35 are perpendicular to each other, the central lines of the shaft holes of the second upper support 47 and the second lower support 46 are perpendicular to each other, the central lines of the shaft holes of the second upper support 47 and the first upper support 37 are parallel to each other, the vertical movement freedom degree of the top plate 2 is formed through the lifting capacity of the first moving branched chain 3 and the two second moving branched chains 4, the vertical rotation freedom degree of the top plate 2 is formed through the cooperation of the first upper support 37 and the two second upper supports 47, the vertical rotation freedom degree of the top plate 2 is formed through the cooperation of the first lower support 35 and the two second lower supports 46, the load of the linear driver in each moving branched chain is enabled to be zero in an initial static balance position, the linear driver in each moving branched chain is enabled to be parallel to each other, the linear driver in each moving branched chain is enabled to have the same linear direction and the linear movement effect and the linear movement has the same relative displacement effect, the relative displacement can be stable and the relative displacement can be realized through the relative displacement and stable axial displacement and displacement can be realized. According to the invention, the elastic bearing device is integrated in each movement branched chain, so that the high-efficiency utilization of the load capacity of the linear driver in each movement branched chain is facilitated, the dynamic load is not obviously increased, and the influence on the response speed is avoided. In practical applications, the present invention generally uses electric push rods for the first linear driver 33 and the second linear driver 43, and triangular structures for the bottom plate 1 and the top plate 2, so as to adapt to the structural layout of the first moving branch 3 and the two second moving branches 4. It should be noted that the first linear actuator and the second linear actuator are not limited to the electric push rod, but may be linear actuators such as an electric cylinder, an oil cylinder, and a gas cylinder.
As an optimization scheme, in this embodiment, the upper end and the lower end of the first elastic bearing device 34 are correspondingly connected with the first upper connecting rod 32 and the first lower connecting rod 31 through the joint bearings, and the upper end and the lower end of the second elastic bearing device 44 are correspondingly connected with the second upper connecting rod 42 and the second lower connecting rod 41 through the joint bearings, so that the adaptability of the first elastic bearing device 34 and the second elastic bearing device 44 is improved, and the stability and reliability of the action are ensured. Meanwhile, in the present embodiment, the lower ends of the first linear driver 33 and the second linear driver 43 are correspondingly connected with the first lower link 31 and the second lower link 41 through pins, respectively, and the upper ends of the first linear driver 33 and the second linear driver 43 are correspondingly connected with the first upper link 32 and the second upper link 42 through knuckle bearings, respectively, so that the adaptability of the first linear driver 33 and the second linear driver 43 is improved on the basis of ensuring the structural stability, and the stability and reliability of the motion are enhanced.
As a specific embodiment, the present invention makes the first elastic bearing device 34 adopt the following structure: comprises a first lower guide sleeve 341 and a first upper guide sleeve 342 which are coaxially sleeved, a first lower ring table 343 is arranged on the first lower guide sleeve 341, a first upper ring table 344 is arranged on the first upper guide sleeve 342, and first spiral springs 345 with two ends correspondingly propped against the first lower ring table 343 and the first upper ring table 344 are sleeved on the first lower guide sleeve 341 and the first upper guide sleeve 342. The first elastic bearing device 34 has the advantages of simple structure, low cost, easy preparation and sensitive action. Similarly, the present invention allows the second resilient carrier 44 to take the following configuration: the device comprises a second lower guide sleeve 441 and a second upper guide sleeve 442 which are coaxially sleeved, wherein a second lower annular table 443 is arranged on the second lower guide sleeve 441, a second upper annular table 444 is arranged on the second upper guide sleeve 442, and a second spiral spring 445 with two ends correspondingly pressed against the second lower annular table 443 and the second upper annular table 444 is sleeved on the second lower guide sleeve 441 and the second upper guide sleeve 442. The first elastic bearing device 34 has the advantages of simple structure, low cost, easy preparation and sensitive action. It should be noted that, in practical applications, the present invention generally uses one device for the first elastic supporting device 34 and the second elastic supporting device 44, so as to improve the versatility of the components; and the first lower guide sleeve 341 and the first upper guide sleeve 342 are in sliding fit, and the second lower guide sleeve 441 and the second upper guide sleeve 442 are also in sliding fit, so that the stability of the action is improved.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the invention as claimed, and various modifications made by those skilled in the art according to the technical solution of the present invention should fall within the scope of the invention as defined in the claims without departing from the design concept of the present invention.
Claims (9)
1. The three-degree-of-freedom stable platform with the static load compensation function is characterized by comprising a bottom plate (1) and a top plate (2), wherein a first motion branched chain (3) and two second motion branched chains (4) are arranged between the bottom plate (1) and the top plate (2), the first motion branched chain (3) and the two second motion branched chains (4) are distributed in a triangular shape, the two second motion branched chains (4) are symmetrically distributed, the first motion branched chains (3) comprise a first lower connecting rod (31), a first upper connecting rod (32), a first linear driver (33) and a first elastic bearing device (34), the lower end of the first lower connecting rod (31) is hinged with a first lower support (35) fixed on the bottom plate (1) through a pin shaft, the upper end of the first lower connecting rod (31) is hinged with the lower end of the first upper connecting rod (32) through a pin shaft, the upper end of the first upper connecting rod (32) is hinged with a first upper support (37) fixed on the top plate (2) through a first cross shaft (36), the first upper support (37) and the first lower support (35) are perpendicular to the first linear driver (33) and the first lower axial hole (33) are perpendicular to each other, and the first elastic bearing device (32) is perpendicular to the first lower axial hole (33); the second motion branched chain (4) comprises a second lower connecting rod (41), a second upper connecting rod (42), a second linear driver (43) and a second elastic bearing device (44), wherein the lower end of the second lower connecting rod (41) is hinged with a second lower support (46) fixed on the bottom plate (1) through a second horizontal shaft (45), the upper end of the second lower connecting rod (41) is hinged with the lower end of a second upper connecting rod (42) through a pin shaft, the upper end of the second upper connecting rod (42) is hinged with a second upper support (47) fixed on the top plate (2) through a pin shaft, the shaft hole center lines of the second upper support (47) and the second lower support (46) are mutually perpendicular, and the upper end and the lower end of the second linear driver (43) and the second elastic bearing device (44) are correspondingly hinged with the second upper connecting rod (42) and the second lower connecting rod (41).
2. The three-degree-of-freedom stable platform with the dead load compensation function according to claim 1, wherein the upper end and the lower end of the first elastic bearing device (34) are respectively connected with the first upper connecting rod (32) and the first lower connecting rod (31) through joint bearings, and the upper end and the lower end of the second elastic bearing device (44) are respectively connected with the second upper connecting rod (42) and the second lower connecting rod (41) through joint bearings.
3. The three-degree-of-freedom stabilized platform with the dead load compensation function according to claim 2, wherein lower ends of the first linear driver (33) and the second linear driver (43) are respectively connected with the first lower connecting rod (31) and the second lower connecting rod (41) through pin shafts correspondingly, and upper ends of the first linear driver (33) and the second linear driver (43) are respectively connected with the first upper connecting rod (32) and the second upper connecting rod (42) through knuckle bearings correspondingly.
4. A three-degree-of-freedom stable platform with a static load compensation function according to claim 3, wherein the first elastic bearing device (34) comprises a first lower guide sleeve (341) and a first upper guide sleeve (342) which are coaxially sleeved, a first lower annular table (343) is arranged on the first lower guide sleeve (341), a first upper annular table (344) is arranged on the first upper guide sleeve (342), and first spiral springs (345) with two ends correspondingly pressing on the first lower annular table (343) and the first upper annular table (344) are sleeved on the first lower guide sleeve (341) and the first upper guide sleeve (342).
5. The three-degree-of-freedom stable platform with the static load compensation function according to claim 4, wherein the second elastic bearing device (44) comprises a second lower guide sleeve (441) and a second upper guide sleeve (442) which are coaxially sleeved, a second lower annular table (443) is arranged on the second lower guide sleeve (441), a second upper annular table (444) is arranged on the second upper guide sleeve (442), and second coil springs (445) with two ends correspondingly propped against the second lower annular table (443) and the second upper annular table (444) are sleeved on the second lower guide sleeve (441) and the second upper guide sleeve (442).
6. The three degree of freedom stabilized platform with static load compensation of claim 5 wherein the first lower guide sleeve (341) and the first upper guide sleeve (342) are slip fit.
7. The three degree of freedom stabilized platform with static load compensation of claim 5 wherein the second lower guide sleeve (441) and the second upper guide sleeve (442) are slip fit.
8. The three degree of freedom stabilized platform with static load compensation of claim 5 wherein the first linear actuator (33) and the second linear actuator (43) are electric push rods.
9. The three-degree-of-freedom stabilized platform with static load compensation function according to claim 5, characterized in that the bottom plate (1) and the top plate (2) are triangular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111441262.8A CN114313130B (en) | 2021-11-30 | 2021-11-30 | Three-degree-of-freedom stable platform with static load compensation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111441262.8A CN114313130B (en) | 2021-11-30 | 2021-11-30 | Three-degree-of-freedom stable platform with static load compensation function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114313130A CN114313130A (en) | 2022-04-12 |
| CN114313130B true CN114313130B (en) | 2023-04-25 |
Family
ID=81049244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111441262.8A Active CN114313130B (en) | 2021-11-30 | 2021-11-30 | Three-degree-of-freedom stable platform with static load compensation function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114313130B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102441891B (en) * | 2011-10-12 | 2013-12-18 | 燕山大学 | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation |
| CN104526683A (en) * | 2014-12-30 | 2015-04-22 | 天津福云天翼科技有限公司 | Three-freedom-degree swing platform based on parallel mechanism |
| DE102015220357A1 (en) * | 2015-10-20 | 2017-04-20 | Krones Aktiengesellschaft | Parallel kinematic robot and method of operating such |
| CN105921917B (en) * | 2016-05-23 | 2017-12-19 | 江苏弘汉生物科技有限公司 | A kind of omnidirectional industrial automatic welding machine people uses mobile adjusting means |
| CN106112972B (en) * | 2016-07-14 | 2018-10-30 | 泉州台商投资区万鼎机械科技有限公司 | A kind of construction carrying intelligent robot damping walking device |
| CN109262592B (en) * | 2018-11-09 | 2020-06-23 | 燕山大学 | Two-translation one-rotation branch incomplete symmetrical parallel mechanism |
| CN112677139B (en) * | 2020-12-23 | 2022-10-14 | 南京全控航空科技有限公司 | Three-degree-of-freedom parallel motion platform and control method thereof |
-
2021
- 2021-11-30 CN CN202111441262.8A patent/CN114313130B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114313130A (en) | 2022-04-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103035161A (en) | Two-degree-of-freedom static load balancing in-parallel movement simulation platform | |
| CN101643182B (en) | Balancing weight handling device and movable crane | |
| CN201808063U (en) | Six-degrees-of-freedom parallel robot device | |
| CN103029120B (en) | Folding static load balance adjusting parallel platform | |
| CN102175441B (en) | Load simulator based on series-parallel mechanism | |
| CN104021718B (en) | A kind of freedom degree parallel connection tilter containing closed-loop subchain | |
| CN105500347B (en) | A kind of 3-freedom parallel mechanism of achievable stable pure translational | |
| CN110323965B (en) | Full-flexible hinge micro-displacement amplifying mechanism | |
| CN103021472A (en) | Plane parallel type three-freedom-degree precise positioning work table | |
| CN102819972A (en) | Three-degree-of-freedom static load balance parallel motion simulation platform | |
| CN101695838A (en) | Four-DOF (degree of freedom) waist joint of humanoid robot | |
| CN103302659A (en) | Single-degree-of-freedom metamorphic mechanism | |
| CN101733754B (en) | Three-dimensionally moved decoupling micro-manipulating robot | |
| CN103050047A (en) | Self-balanced parallel movement simulator of two-freedom degree closed loop | |
| CN109352631B (en) | Three-branch five-degree-of-freedom parallel platform | |
| CN114313130B (en) | Three-degree-of-freedom stable platform with static load compensation function | |
| CN104526683A (en) | Three-freedom-degree swing platform based on parallel mechanism | |
| CN101947784A (en) | Dismountable modularized in-parallel robot | |
| CN105171717A (en) | Foldable six-freedom-degree parallel motion platform | |
| CN106241629A (en) | Folding arm lorry-mounted crane jib lubbing mechanism and folding arm lorry-mounted crane | |
| CN105819384B (en) | Connecting rod amplifying type lifting mechanism | |
| CN201109120Y (en) | Microposition platform for 2dof parallel structure | |
| CN101733753A (en) | Redundant parallel mechanism containing compound spherical hinge | |
| CN209140891U (en) | The freedom degree parallel connection motion platform of the sub- closed loop collapse branch of double leval jib containing plane | |
| CN101863023A (en) | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
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 |