CN201633007U - Platform with six freedom of motion - Google Patents
Platform with six freedom of motion Download PDFInfo
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- CN201633007U CN201633007U CN2009201778607U CN200920177860U CN201633007U CN 201633007 U CN201633007 U CN 201633007U CN 2009201778607 U CN2009201778607 U CN 2009201778607U CN 200920177860 U CN200920177860 U CN 200920177860U CN 201633007 U CN201633007 U CN 201633007U
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Abstract
The utility model relates to a mechanism for controlling a platform to freely lift, horizontally move and overturn, in particular to a platform with six freedom of motion. The platform is of a framework structure, the upper surface of which is provided with a panel, and the platform at least is hinged with six drive parts; three of the six drive parts are lift drive parts, which are arranged in the form of a triangle under the platform, and both ends of each lift drive part are respectively provided with a cardan joint type hinge; the other three lift drive parts are horizontal movement drive parts, and both ends of each horizontal movement drive part are respectively provided with a knuckle bearing type hinge; the life drive parts are used for driving the platform to move along the Z-axis direction and/or swing around the X axis and/or the Y axis; and the horizontal movement drive parts are used for driving the platform to move along the X-axis or Y-axis direction and/or swing around the Z axis. The platform can be controlled to optionally move and/or rotate in six freedom of motion, and also is characterized by small size, flexible operation, high bearing capability, easy assembly and disassembly and the like.
Description
Technical field
The utility model relates to a kind of device of controlling platform free lifting, translation, upset, is specifically related to a kind of platform with six degrees of freedom of motion.
Background technology
In the prior art, moving of locating platform is to utilize leading screw to drive mostly.When controlling with leading screw, in order to realize the motion of a plurality of frees degree, need be by leading screw than multilayer, stacked setting between the leading screw adopts the made platform bottom level of this technology too high, is unfavorable for the loading of instrument, equipment; If when platform needs lifting and/or translation, will realize that this platform only is applicable to middle-size and small-size load by the running of leading screw, and the gearratio of this platform is little, power is low, and complicated operation, also needs artificial assisting, and is not easy to the use in engineering; Inclination rollover that more can not implementation platform, the rear platform of dismounting finish to(for) the loading and unloading engineering also is a bigger difficult problem.Therefore, be necessary driving mechanism, and the mode of transmission is improved to existing platform.
The utility model content
The purpose of this utility model is to overcome defective of the prior art, designs a kind of platform with six degrees of freedom of motion.This platform can move arbitrarily in six-freedom degree and/or rotate by operating desk or computer system control platform, and it is little that this platform also has a volume, flexible operation, and bearing capacity is strong, is easy to characteristics such as assembly unit, dismounting.
For achieving the above object, the technical solution of the utility model is to adopt a kind of platform with six degrees of freedom of motion, it is characterized in that, described platform is the frame-type platform, upper surface at described framework is provided with panel, and the lower end of described framework and/or panel is hinged with six driver parts at least; Three in described six driver parts are the lifting driver part, the upper end of described lifting driver part and described platform are hinged, the lower end and the frame of described lifting driver part are hinged, described lifting driver part is triangular in shape be arranged on described platform below, be respectively arranged with the universal joint hinge at the two ends of described lifting driver part; In described six driver parts in addition three be the driven in translation parts, one end of described driven in translation parts is parallel with described platform or tilt hinged in the lower end of described panel, the other end and the frame of described driven in translation parts are hinged, are provided with the joint bearing type hinge at described driven in translation parts two ends; Described lifting driver part is used for driving described platform and moves along the Z-direction of rectangular coordinate system, and/or the swing of the X-axis in rectangular coordinate system, and/or the swing of the Y-axis in rectangular coordinate system; Described driven in translation parts are used for driving described platform and move along the X-axis and/or the Y direction of rectangular coordinate system, and/or the swing of the Z axle in rectangular coordinate system.
Interim, described platform is a rectangular platform, described rectangular platform is divided into two-layer up and down, described framework comprises some crossbeams and the longeron that is stitched together mutually, described panel be laid on described crossbeam and longeron above, periphery at described platform is provided with frame, and described platform moves in described frame.
Interim, described driver part is piston rod and the cylinder body that cooperatively interacts, and described piston rod and cylinder body produce relative motion by the inflow of gas in the cylinder body or liquid with outflow; If with described piston rod is driver part, the end of described piston rod is hinged by hinge and described platform, and described cylinder body is hinged by hinge and described frame; If with described cylinder body is driver part, the end of described cylinder body is hinged by hinge and described platform, and described piston rod is hinged by hinge and described frame.
Interim, described universal joint hinge includes spherical parts and a pair of parts in relative rotation, on the opposite face of described a pair of parts in relative rotation, be respectively equipped with spherical groove, described spherical parts is installed between a pair of described spherical groove, in the described a pair of parts in relative rotation one is the end of described piston rod or is the end of described cylinder body, another part in the described a pair of parts in relative rotation is the end face of described frame, or be the end face of upper frame, described frame support is in ground or be supported on the machine, and described upper frame is connected with described panel lower end or framework in the described platform.
Interim, end at described driven in translation parts is provided with pin shaft hole, in described pin shaft hole, bearing pin is housed, described bearing pin is installed along the Z-direction in the rectangular coordinate system, what be used in the described bearing pin to connect described platform and described driven in translation ends is first bearing pin, second bearing pin, described second bearing pin is an oscillating bearing, described first bearing pin, second bearing pin and first bearing pin, the connector at the second bearing pin two ends and connecting rod constitute first hinge together, second hinge, described first hinge, second hinge is used for promoting or spur described platform to rotate around described Z-direction, and/or promotes or spur described platform to move along X-axis in the described rectangular coordinate system and/or Y direction.
Interim, what be used to connect the other end of described driven in translation parts and ring flange one end in the described bearing pin is the 3rd bearing pin, described the 3rd bearing pin is an oscillating bearing, one end of described the 3rd bearing pin and described ring flange and the other end of described driven in translation parts constitute the 3rd hinge, described the 3rd bearing pin parallels with described first bearing pin, one end of the other end of described ring flange and the 4th hinge is same a connection piece, in described the 4th hinge, be provided with the 4th bearing pin, described the 4th bearing pin is along X-axis in the rectangular coordinate system or Y direction setting, described the 4th hinge is used to connect the other end and the 5th bearing pin of described ring flange by described the 4th bearing pin, and described the 4th bearing pin also is used for described driven in translation parts and follows described platform together around the Y-axis or the X-axis swing of rectangular coordinate system.
Interim, being set with outer surface on described second bearing pin and the 3rd bearing pin is the sphere collar of sphere, and the sphere in the described sphere collar is used for matching with the sphere hole of described piston rod or cylinder ends.
Interim, described the 5th bearing pin slides or rolls with slide rail on being arranged on described frame and cooperates, and the other end that described the 5th bearing pin is used for described the 4th hinge is followed described platform and moved along rectangular coordinate system Y direction or X-direction.
Interim, the described driven in translation parts between described platform and the described frame are provided with two along the Y direction in the rectangular coordinate system, are provided with one along the X-direction in the rectangular coordinate system.
Advantage of the present utility model and beneficial effect are:
1, owing to adopt hydraulic jack to replace leading screw, platform can reduce with certain height, has reduced volume, and the loading and unloading of instrument also can be oversimplified thereupon, the transfer of platform, transportation easily after fractionation;
When 2, adopting hydraulic jack and correspondent control circuits to control the ascending, descending of platform, inclination and translation, driving power is increased, and efficient uprises, and flexibility is grow thereupon also, with respect to existing technology, can further improve platform and can bear load;
3, use hydraulic jack work, can reduce fault rate, can also avoid the fault of mechanical load one class.
Description of drawings
Fig. 1 is the structural representation that the utlity model has the platform of six degrees of freedom of motion;
Fig. 2 is the cutaway view of A-A position among Fig. 1;
Fig. 3 is the local amplification view at K position among Fig. 2;
Fig. 4 is the cutaway view of B-B position among Fig. 1;
Fig. 5 is the local amplification view at I position among Fig. 4;
Fig. 6 is the cutaway view of C-C position among Fig. 1;
Fig. 7 is the local amplification view at J position among Fig. 1;
Fig. 8 is the hydraulic system schematic diagram that the utlity model has in the six degrees of freedom of motion platform.
Among the figure: 1, platform; 2, framework; 3, panel; 4, lifting driver part; 5, frame; 6, driven in translation parts; 7, frame; 8, leg; 9, piston rod; 10, cylinder body; 11, spherical parts; 12, spherical groove; 13, upper frame; 14, bearing pin; 15, first bearing pin; 16, second bearing pin; 17, connecting rod; 18, first hinge; 19, second hinge; 20, ring flange; 21, the 3rd bearing pin; 22, the 3rd hinge; 23, the 4th hinge; 24, the 4th bearing pin; 25, the sphere collar; 26, sphere hole; 27, the 5th bearing pin; 28, slide rail; 29, hook.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is further described.Following examples only are used for the technical solution of the utility model more clearly is described, and can not limit protection domain of the present utility model with this.
Shown in accompanying drawing 1 to 8, the concrete technical scheme of implementing of the utility model is:
Shown in Fig. 1～4, a kind of platform with six degrees of freedom of motion, this platform 1 are framework 2 formula platforms, are provided with panel 3 at the upper surface of described framework 2, are hinged with six driver parts in the lower end of described framework 2 or panel 3.Three in described six driver parts are lifting driver part 4, the upper end and the described platform 1 of described lifting driver part 4 are hinged, the lower end of described lifting driver part 4 and frame 5 are hinged, described lifting driver part 4 is triangular in shape be arranged on described platform 1 below, be respectively arranged with the universal joint hinge at the two ends of described lifting driver part 4; In described six driver parts in addition three be driven in translation parts 6, one end of described driven in translation parts 6 is parallel or tilt hinged at the lower end of described panel 3 and described platform 1, the other end of described driven in translation parts 6 and frame 5 are hinged, are provided with the joint bearing type hinge at described driven in translation parts 6 two ends; Described lifting driver part 4 is used for driving described platform 1 and moves along the Z-direction of rectangular coordinate system, and/or the swing of the X-axis in rectangular coordinate system, and/or the swing of the Y-axis in rectangular coordinate system; Described driven in translation parts 6 are used for driving described platform 1 and move along the X-axis and/or the Y direction of rectangular coordinate system, and/or the swing of the Z axle in rectangular coordinate system.
Shown in Fig. 1,2,6, on the basis of embodiment 1, the utility model preferred embodiment comprises, the platform 1 that described platform 1 can be a rectangle, described rectangular platform 1 can be divided into two-layer up and down, and described framework 2 is stitched together mutually by some crossbeams and longeron, with described panel 3 be laid on described crossbeam and longeron above, periphery at described platform 1 is provided with frame 7, is provided with leg 8 below described frame 7, can control described platform 1 and move in described frame 7.
Shown in Fig. 1,3, on the basis of embodiment 2, the utility model preferred embodiment also comprises, described driver part is the piston rod 9 and cylinder body 10 that cooperatively interacts, described piston rod 9 and inflow and the outflow of cylinder body 10 by gas or liquid in the cylinder body 10 can make between described piston rod 9 and the cylinder body 10 and produce relative motion; If, the end of described piston rod 9 can be hinged by hinge and described platform 1 as driver part with described piston rod 9, described cylinder body is hinged by hinge and described frame 5; If, the end of described cylinder body 10 can be hinged by hinge and described platform 1 as driver part with described cylinder body 10, described piston rod 9 is hinged by hinge and described frame 5.
Embodiment 4
As Fig. 4, shown in 6, on the basis of embodiment 3, the utility model preferred embodiment also comprises, described universal joint hinge is made of spherical parts 11 and a pair of parts in relative rotation, on the opposite face of described a pair of parts in relative rotation, be respectively equipped with spherical groove 12, described spherical parts 11 is installed between a pair of described spherical groove 12, in the described a pair of parts in relative rotation one is the end of described piston rod 9 or is the end of described cylinder body 10, another part in the described a pair of parts in relative rotation is the end face of described frame 5, or be the end face of upper frame 13, described frame 5 is supported in ground or is supported on the machine, and described upper frame 13 is connected with described panel 3 lower ends or framework 2 in the described platform 1.
As Fig. 1,2,3, shown in 7, on the basis of embodiment 2, the utility model preferred embodiment also comprises, end at described driven in translation parts 6 is provided with pin shaft hole, bearing pin 14 is housed in described pin shaft hole, described bearing pin 14 is installed along the Z-direction in the rectangular coordinate system, what be used to connect described platform 1 and described driven in translation parts 6 ends in the described bearing pin 14 is first bearing pin 15, second bearing pin 16, described second bearing pin is an oscillating bearing, described first bearing pin 15, second bearing pin 16 and first bearing pin 15, the connector and the connecting rod 17 at second bearing pin, 16 two ends constitute first hinge 18 together, second hinge 19, described first hinge 18, second hinge 19 is used for promoting or spur described platform 1 to rotate around described Z-direction, and/or promotes or spur described platform 1 to move along X-axis in the described rectangular coordinate system and/or Y direction.
As Fig. 3, shown in 7, on the basis of embodiment 5, the utility model preferred embodiment also comprises, what be used to connect the other end of described driven in translation parts 6 and ring flange 20 1 ends in the described bearing pin 14 is the 3rd bearing pin 21, described the 3rd bearing pin is an oscillating bearing, described the 3rd bearing pin 21 constitutes the 3rd hinge 22 with an end of described ring flange 20 and the other end of described driven in translation parts 6, described the 3rd bearing pin 21 parallels with described first bearing pin 15, one end of the other end of described ring flange 20 and the 4th hinge 23 is same a connection piece, in described the 4th hinge 23, be provided with the 4th bearing pin 24, described the 4th bearing pin 24 is along X-axis in the rectangular coordinate system or Y direction setting, described the 4th hinge 23 is used to connect the other end and the 5th bearing pin 27 of described ring flange 20 by described the 4th bearing pin 24, and described the 4th bearing pin 24 also is used for described driven in translation parts 6 and follows described platform 1 together around the Y-axis or the X-axis swing of rectangular coordinate system.
As shown in Figure 3, on the basis of embodiment 5, the utility model preferred embodiment also comprises, be set with the sphere collar 25 that outer surface is a sphere on described second bearing pin 16 and the 3rd bearing pin 21, the sphere in the described sphere collar 25 is used for matching with the sphere hole 26 of described piston rod 9 or cylinder body 10 ends.
Shown in Fig. 2,7, on the basis of embodiment 5, the utility model preferred embodiment also comprises, described the 5th bearing pin 27 slides or rolls with slide rail 29 on being arranged on described frame 5 and cooperates, and the other end that described the 5th bearing pin 27 is used for described the 4th hinge 23 is followed described platform and moved along rectangular coordinate system Y direction or X-direction.
As shown in Figure 1, on the basis of embodiment 5, the utility model preferred embodiment also comprises, the described driven in translation parts 6 between described platform 1 and the described frame 5, be provided with two along the Y direction in the rectangular coordinate system, be provided with one along the X-direction in the rectangular coordinate system.
As shown in Figure 5, the utility model is provided with the hook 30 that is used for fixing or spurs described platform from the side in the side of described platform 1.
Fig. 8 is a hydraulic scheme of realizing the six-freedom degree motion in the present embodiment with the described platform of hydraulic-driven.The not fuel-displaced pipeline of P in the way, T is return line not, and F is a solenoid directional control valve, and K is an oil pump.
The platform that has six degrees of freedom of motion described in the utility model, its operation principle with the concrete course of work is:
This locating platform 1 adopts six lifting, inclination and translations that hydraulic jack comes implementation platform.Three vertical piston rods of being responsible in the lifting driver part 49 and cylinder body 10 (support cylinder) 4-1,4-2,4-3 of placing are housed in platform 1 bottom; Three horizontal positioned be responsible in the driven in translation parts 6 adjustment oil cylinder 6-1,6-2,6-3.
Support cylinder 4-1,4-2,4-3 realize support platform 1 by the angle that turns to of (bulb) in its lifting and the end spherical parts 11, and bulb turns to the angle of each side all to be not less than 25 °.
The lifting of control platform 1, inclination are so long as utilize support cylinder 4-1,4-2,4-3 to realize.
As these three support cylinder 4-1,4-2, the 4-3 synchronous operation is fuel-displaced or during oil return, then can finish the lifting of platform on same horizontal plane.
The utility model at platform when length direction tilts, can control 4-1,4-2 synchronous operation in the support cylinder, and during the independent lifting of 4-3, platform just can be realized to lopsidedness, when support cylinder 4-3 oil mass changed, platform was just to lopsidedness, and the angle of platform inclination can control to adjust by the oil cylinder recirculating oil quantity, when the angle that tilts when support cylinder 4-3 returns full oil is still not enough, the angle of inclination is increased.Otherwise by support cylinder 4-1,4-2 oil return, 4-3 is fuel-displaced, but then implementation platform tilts to other direction.Inclination by can the implementation platform long both direction of this method.This inclination mode is loaded the platform instrument can play good booster action.
The utility model during to the inclination of width, can be controlled support cylinder 4-1,4-2,4-3 by certain cooperation running at platform 1, promptly can implementation platform to rollover on one side.
When all distinguishing of support cylinder 4-1,4-2,4-3 oil cylinder operated separately, then platform can be realized tilting to the direction at individual angle.
If moving horizontally of control platform 1 only needs to adjust oil cylinder 6-1,6-2,6-3 can realize.
Operate separately when adjusting oil cylinder 6-1, then can implementation platform 1 in the direction translation of X-axis.
Synchronous operation when adjusting oil cylinder 6-2,6-3 then can move in the direction of Y-axis by implementation platform 1.When adjusting oil cylinder 6-2,6-3 cooperation running, can allow platform rotate around Z-direction.
When adjust oil cylinder 6-1, when 6-2,6-3 cooperate running, can implementation platform to any direction translation.
When these six oil cylinders cooperate running, the then adjustment of the six-freedom degree any direction of the demand of implementation platform substantially, in the present embodiment, the range 0mm of Z-direction～50mm, the range of translation 0mm of X-axis and Y direction～85mm, described platform 1 also can rotate in this scope.
The above only is a preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (9)
1. the platform with six degrees of freedom of motion is characterized in that, described platform is the frame-type platform, is provided with panel at the upper surface of described framework, and the lower end of described framework and/or panel is hinged with six driver parts at least; Three in described six driver parts are the lifting driver part, the upper end of described lifting driver part and described platform are hinged, the lower end and the frame of described lifting driver part are hinged, described lifting driver part is triangular in shape be arranged on described platform below, be respectively arranged with the universal joint hinge at the two ends of described lifting driver part; In described six driver parts in addition three be the driven in translation parts, one end of described driven in translation parts is parallel with described platform or tilt hinged in the lower end of described panel, the other end and the frame of described driven in translation parts are hinged, are provided with the joint bearing type hinge at described driven in translation parts two ends; Described lifting driver part is used for driving described platform and moves along the Z-direction of rectangular coordinate system, and/or the swing of the X-axis in rectangular coordinate system, and/or the swing of the Y-axis in rectangular coordinate system; Described driven in translation parts are used for driving described platform and move along the X-axis and/or the Y direction of rectangular coordinate system, and/or the swing of the Z axle in rectangular coordinate system.
2. the platform that has six degrees of freedom of motion according to claim 1, it is characterized in that, described platform is a rectangular platform, described rectangular platform is divided into two-layer up and down, described framework comprises some crossbeams and the longeron that is stitched together mutually, described panel be laid on described crossbeam and longeron above, be provided with frame at the periphery of described platform, described platform moves in described frame.
3. as having the platform of six degrees of freedom of motion as described in the claim 2, it is characterized in that described driver part is piston rod and the cylinder body that cooperatively interacts, the inflow by gas in the cylinder body or liquid of described piston rod and cylinder body produces relative motion with flowing out; If with described piston rod is driver part, the end of described piston rod is hinged by hinge and described platform, and described cylinder body is hinged by hinge and described frame; If with described cylinder body is driver part, the end of described cylinder body is hinged by hinge and described platform, and described piston rod is hinged by hinge and described frame.
4. as having the platform of six degrees of freedom of motion as described in the claim 2, it is characterized in that, described universal joint hinge includes spherical parts and a pair of parts in relative rotation, on the opposite face of described a pair of parts in relative rotation, be respectively equipped with spherical groove, described spherical parts is installed between a pair of described spherical groove, in the described a pair of parts in relative rotation one is the end of described piston rod or is the end of described cylinder body, another part in the described a pair of parts in relative rotation is the end face of described frame, or be the end face of upper frame, described frame support is in ground or be supported on the machine, and described upper frame is connected with described panel lower end or framework in the described platform.
5. as having the platform of six degrees of freedom of motion as described in the claim 2, it is characterized in that, end at described driven in translation parts is provided with pin shaft hole, in described pin shaft hole, bearing pin is housed, described bearing pin is installed along the Z-direction in the rectangular coordinate system, what be used in the described bearing pin to connect described platform and described driven in translation ends is first bearing pin, second bearing pin, described second bearing pin is an oscillating bearing, described first bearing pin, second bearing pin and first bearing pin, the connector at the second bearing pin two ends and connecting rod constitute first hinge together, second hinge, described first hinge, second hinge is used for promoting or spur described platform to rotate around described Z-direction, and/or promotes or spur described platform to move along X-axis in the described rectangular coordinate system and/or Y direction.
6. as having the platform of six degrees of freedom of motion as described in the claim 5, it is characterized in that, what be used to connect the other end of described driven in translation parts and ring flange one end in the described bearing pin is the 3rd bearing pin, described the 3rd bearing pin is an oscillating bearing, one end of described the 3rd bearing pin and described ring flange and the other end of described driven in translation parts constitute the 3rd hinge, described the 3rd bearing pin parallels with described first bearing pin, one end of the other end of described ring flange and the 4th hinge is same a connection piece, in described the 4th hinge, be provided with the 4th bearing pin, described the 4th bearing pin is along X-axis in the rectangular coordinate system or Y direction setting, described the 4th hinge is used to connect the other end and the 5th bearing pin of described ring flange by described the 4th bearing pin, and described the 4th bearing pin also is used for described driven in translation parts and follows described platform together around the Y-axis or the X-axis swing of rectangular coordinate system.
7. as having the platform of six degrees of freedom of motion as described in claim 5 or 6, it is characterized in that, being set with outer surface on described second bearing pin and the 3rd bearing pin is the sphere collar of sphere, and the sphere in the described sphere collar is used for matching with the sphere hole of described piston rod or cylinder ends.
8. as having the platform of six degrees of freedom of motion as described in the claim 6, it is characterized in that, described the 5th bearing pin slides or rolls with slide rail on being arranged on described frame and cooperates, and the other end that described the 5th bearing pin is used for described the 4th hinge is followed described platform and moved along rectangular coordinate system Y direction or X-direction.
9. as having the platform of six degrees of freedom of motion as described in the claim 5, it is characterized in that, described driven in translation parts between described platform and the described frame are provided with two along the Y direction in the rectangular coordinate system, are provided with one along the X-direction in the rectangular coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201778607U CN201633007U (en) | 2009-09-07 | 2009-09-07 | Platform with six freedom of motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201778607U CN201633007U (en) | 2009-09-07 | 2009-09-07 | Platform with six freedom of motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201633007U true CN201633007U (en) | 2010-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201778607U Expired - Lifetime CN201633007U (en) | 2009-09-07 | 2009-09-07 | Platform with six freedom of motion |
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| Country | Link |
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| CN (1) | CN201633007U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648686B (en) * | 2009-09-07 | 2011-11-02 | 江苏海鹏特种车辆有限公司 | Platform with six degrees of freedom of motion |
| CN102922498A (en) * | 2012-11-02 | 2013-02-13 | 西安飞机工业（集团）有限责任公司 | Plane fixed-axle rotation supporting platform |
| CN103612094A (en) * | 2013-11-22 | 2014-03-05 | 北京卫星环境工程研究所 | Six-degree-of-freedom adjustment turnover frame cart for spacecraft |
| CN104128918A (en) * | 2014-07-18 | 2014-11-05 | 四川万冠机电技术有限公司 | Tooling platform for pump installation |
| CN105929585A (en) * | 2016-06-28 | 2016-09-07 | 深圳耐诺科技股份有限公司 | Full-automatic front maintenance bracket for liquid crystal splicing screen |
| CN104128918B (en) * | 2014-07-18 | 2017-01-04 | 四川万冠液压技术股份有限公司 | Pump installation tool table |
| CN109373177A (en) * | 2018-09-30 | 2019-02-22 | 北京航天发射技术研究所 | A kind of link-type Three Degree Of Freedom position adjusts device |
| CN109675899A (en) * | 2019-03-05 | 2019-04-26 | 浙江国自机器人技术有限公司 | A kind of handling device and photovoltaic cleaning equipment |
-
2009
- 2009-09-07 CN CN2009201778607U patent/CN201633007U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648686B (en) * | 2009-09-07 | 2011-11-02 | 江苏海鹏特种车辆有限公司 | Platform with six degrees of freedom of motion |
| CN102922498A (en) * | 2012-11-02 | 2013-02-13 | 西安飞机工业（集团）有限责任公司 | Plane fixed-axle rotation supporting platform |
| CN103612094A (en) * | 2013-11-22 | 2014-03-05 | 北京卫星环境工程研究所 | Six-degree-of-freedom adjustment turnover frame cart for spacecraft |
| CN103612094B (en) * | 2013-11-22 | 2016-01-20 | 北京卫星环境工程研究所 | The upset unwheeling that spacecraft regulates with six degree of freedom |
| CN104128918A (en) * | 2014-07-18 | 2014-11-05 | 四川万冠机电技术有限公司 | Tooling platform for pump installation |
| CN104128918B (en) * | 2014-07-18 | 2017-01-04 | 四川万冠液压技术股份有限公司 | Pump installation tool table |
| CN105929585A (en) * | 2016-06-28 | 2016-09-07 | 深圳耐诺科技股份有限公司 | Full-automatic front maintenance bracket for liquid crystal splicing screen |
| CN109373177A (en) * | 2018-09-30 | 2019-02-22 | 北京航天发射技术研究所 | A kind of link-type Three Degree Of Freedom position adjusts device |
| CN109675899A (en) * | 2019-03-05 | 2019-04-26 | 浙江国自机器人技术有限公司 | A kind of handling device and photovoltaic cleaning equipment |
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Granted publication date: 20101117 Effective date of abandoning: 20090907 |