CN206848300U - A kind of sensor branch structure based on Steward platforms - Google Patents
A kind of sensor branch structure based on Steward platforms Download PDFInfo
- Publication number
- CN206848300U CN206848300U CN201720353866.XU CN201720353866U CN206848300U CN 206848300 U CN206848300 U CN 206848300U CN 201720353866 U CN201720353866 U CN 201720353866U CN 206848300 U CN206848300 U CN 206848300U
- Authority
- CN
- China
- Prior art keywords
- housing
- steward
- bulb
- club
- platforms
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
It the utility model is related to sensor technical field, a kind of more particularly to sensor branch structure based on Steward platforms, it includes ball pivot and Flexible element, the ball pivot include bulb, club and and free bearing, the both ends of the club are connected to the bulb, the bulb hole coordinated with the bulb is provided with the free bearing, the free bearing includes the second housing that the first housing connects with by snap-in structure；The Flexible element is additionally provided with the club, the Flexible element includes the semi-round ball housing on the club, the bottom surface of the semi-round ball housing is provided with the rood beam elastic component being spliced into by four spring beams, and the strain paster being distributed in cruciform symmetry is equipped with four spring beams.The problem of the utility model can effectively solve the problem that existing sensor branch structure large-scale, complication and strain output are low, improve sensitivity and the measurement accuracy of sensor.
Description
Technical field
It the utility model is related to sensor technical field, more particularly to a kind of sensor branch based on Steward platforms
Structure.
Background technology
Six-dimension acceleration sensor humanoid robot wrist joint, smart mobile phone posture sensing, digital camera stabilization
The application field such as dynamic has a good application prospect.
In the research of six-dimension acceleration sensor, serial parallel mechanism is widely used, and relative to cascaded structure, it is in parallel
Structure has higher rigidity, higher load capacity, higher accuracy.Because its unique texture and inverse solution are simple special
Point, successfully solve basic theory and key technical problem in larger range or sensors of large measurement range field.Therefore, exist
It is widely used in six-dimension acceleration sensor research.
However, parallel-connection structure has the defects of itself is intrinsic, such as, the relative complex forward kinematics solution of parallel-connection structure,
The presence of limited upper mounting plate working space and unusual pose, everything all have impact on parallel-connection type six-dimension and adds to a certain extent
The application of velocity sensor.Because many applications of the parallel-connection structure on sensor research have the status that can not be substituted,
Eliminate by structure optimization or alleviate parallel-connection structure self-defect adverse effect for six-dimension acceleration sensor
Research and development important in inhibiting.
In order to solve the limitation that six-dimension acceleration sensor is applied in small-range field, and ball pivot in Miniature Sensor
On application problem, need badly and small-sized small-range six-dimension acceleration sensor optimized in structure.
The problem of being designed for ball pivot, traditional approach are using the ball pivot for loading method assembling of expanding with heat and contract with cold, its principal character
It is to be enclosed in outside liner spheroid using the spherical housing of Semi surrounding type, so as to limit rotation of the spheroid inside spherical shell, though
Can so realize the space connection function of ball pivot, but for ball pivot assembly problem consider it is not good enough, this Semi surrounding type it is spherical
Hinge is different using different materials temperature expansion coefficient at present generally using loading method assembling of expanding with heat and contract with cold, or same material exists
Under different temperatures the characteristics of swell increment difference, spheroid is pressed into inside spherical shell using high pressure, be cooled to after operating temperature formed compared with
Good cooperation.It is readily apparent that the class formation requires high for assembled condition, and assembly precision also has much room for improvement.
In order to avoid some problems that loading method of expanding with heat and contract with cold is brought, Yu Yongsi, remaining wide China etc. propose a kind of by ball pivot
Outside fastening part is split into two-part thinking, the similar spherical hinge of slidingtype for also having the propositions such as Tang Xiaoqiang, Wang Jingsong
Chain structure, it is main that outside fastener is divided into upper and lower two ring flanges living using along plane where spherical diameter, then lived two
Fastened after loading seal washer between ring flange with screw rod and nut.Although this class formation solves generally cold using heat expansion at present
The problem of assembling that contracting loading method is brought is complicated, assembly precision is low, but the sensor based on Steward platforms its elastic connection
The both ends of bar connect upper and lower platform respectively, and both ends are both needed to ball pivot connection, and the structure using upper and lower two ring flanges living undoubtedly increases
The difficulty of assembling process is added.And the fastening of single ball pivot needs multiple screw rods and nut, the sensor based on Steward platforms
There are six flexible connecting rods totally ten two ball pivots, this undoubtedly to assemble required screw rod and nut substantial amounts so that sensing
Body product is larger, weight is larger, assembling is lengthy and tedious, is unfavorable for the miniaturization of sensor.
Another kind is applied to the ball pivot in precision machinery technology field, wherein for representative being that one kind that Li Yi is proposed is accurate high
Rigidity spherical linkage.This structure mainly uses the ball pivot outer shroud of upper and lower dissection type, ball pivot locking outer shroud to be rotated come limiting ball axle
Space, and be placed in using retainer and rolling steel balls etc. between ball axle and ball pivot outer shroud, ball pivot locking outer shroud to ensure ball axle
Rotate flexible, attenuating friction.Although this class formation solves the problems, such as the installation bearing stress come due to flexible difference band, and rigidity low strap
The precision unstability error problem come, but as a result of retainer and rolling steel balls structure so that assembling process is extremely multiple
It is miscellaneous, while processing and assembly cost have been increased considerably, also it is unfavorable for the miniaturization of ball pivot, generalization uses.
Steward platforms branch is subjected only to pressure in theory, actually because flexible hinge or ball pivot assembling are asked
Topic can bring inevitable moment of flexure and moment of torsion to the sensor branch based on Steward platforms, and caused error influences sensing
Device measurement accuracy, the small output of big rigidity of parallel institution can also influence sensor accuracy class.Therefore branched structure is current grinds
Study carefully or ball pivot is replaced by the platform-type sensor miniaturizations of Steward using flexible hinge, but Flexible element can be because moment of flexure
Acted on moment of torsion and produce deformation error and influence measurement result, or in Flexible element design to solve the big rigidity of parallel institution small
Output problem, the influence of moment of flexure and moment of torsion is not accounted for, or moment of flexure and moment of torsion are reduced by Steward platforms using traditional ball pivot
For larger volume and sensors of large measurement range, but miniaturization, the platform-type sensor branch structure designs of small-range Steward still need to
It is further perfect.
Utility model content
(1) technical problems to be solved
The utility model provides a kind of sensor branch structure based on Steward platforms, for solving existing sensor
Branched structure maximization, complicate and strain the problem of exporting low and poor anti-interference etc., it is possible to increase the sensitivity of sensor
And measurement accuracy.
(2) technical scheme
In order to solve the above-mentioned technical problem, the utility model provides a kind of sensor branch knot based on Steward platforms
Structure, including ball pivot and Flexible element, the ball pivot include bulb, club and free bearing, and the both ends of the club are connected to institute
Bulb is stated, is provided with the bulb hole coordinated with the bulb in the free bearing, the free bearing includes the first housing and the second housing, institute
State the first housing and the second housing is connected by snap-in structure；The Flexible element is additionally provided with the club, the elasticity is single
Member includes the semi-round ball housing on the club, and the bottom surface of the semi-round ball housing is provided with four spring beams, described in four
Spring beam is spliced into rood beam elastic component, the center of the rood beam elastic component, the semi-round ball housing axis with it is described
The axis of club overlaps, and strain paster is equipped with four spring beams, four strain pasters are relative to the club
Axisymmetrical arrangement.
Wherein, the snap-in structure is specifically configured to, and the mating surface of first housing is provided with projection, second housing
Mating surface be provided with groove with the male cooperation.
Wherein, the mating surface of first housing is symmetrical arranged the projection, and the mating surface of second housing is symmetrically set
Put the groove with the male cooperation.
Wherein, the bulb hole is combined by the spherical pore of inner side and the conical bore in outside, and the ball of the spherical pore
The heart, the axis of the conical bore are respectively positioned on the axis of the bulb.
Wherein, the bottom surface of the semi-round ball housing is located at 1/2 extension position of the club.
Wherein, the bulb is provided with the endoporus coordinated with the club, and the axis of the endoporus passes through the bulb
The centre of sphere.
Wherein, the endoporus is screwed hole, and the both ends of the club are equipped with the outer spiral shell with the screw-internal thread fit of screwed hole
Line.
Wherein, the outer surface of the free bearing is provided with external screw thread.
Wherein, the free bearing is cylindrical structure.
Wherein, the spring beam is metallic membrane.
(3) beneficial effect
Sensor branch structure provided by the utility model based on Steward platforms, compared to prior art have with
Lower feature：
1st, the sensor branch structure of the present utility model based on Steward platforms, can not only ensure the simple of structure
Change, miniaturization, additionally it is possible to ensure the Large strain output of Flexible element, improve sensitivity and measurement accuracy；
2nd, sensor branch structure of the utility model based on Steward platforms, the first housing and the second housing pass through card
Structure connection is closed, while ensureing miniaturized structure, can solve the problem that ball pivot two housings in upper and lower platform process is fitted into are radially fixed
The problem of position and in the axial direction upper mutual changing of the relative positions；
3rd, sensor branch structure of the utility model based on Steward platforms, Flexible element have cruciform symmetry distribution
The characteristics of, output signal is larger and can effectively offset mushing error influence, improves measurement accuracy.
Brief description of the drawings
Fig. 1 is the overall structure figure of the sensor branch structure provided by the utility model based on Steward platforms；
Fig. 2 is the explosive view of the sensor branch structure provided by the utility model based on Steward platforms；
Fig. 3 is the structure chart of the first housing provided by the utility model；
Fig. 4 is the structure chart of the second housing provided by the utility model；
Fig. 5 is the structure chart in bulb hole provided by the utility model；
In figure, 1：Bulb；2：Club；3：Free bearing；31：First housing；32：Second housing；4：Bulb hole；41：Spherical pore；
42：Conical bore；5：It is raised；6：Groove；7：Semi-round ball housing；8：Spring beam；9：Strain paster.
Embodiment
For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings
State.Better embodiment of the present utility model is given in accompanying drawing.It these are only preferred embodiment of the present utility model, and unprovoked
This limits the scope of the claims of the present utility model, every equivalent structure made using the utility model specification and accompanying drawing content or
Equivalent flow conversion, or other related technical areas are directly or indirectly used in, similarly it is included in of the present utility model special
In sharp protection domain.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.It is simply in term used in the description of the present utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " bag
Include the arbitrary and all combination of the Listed Items of one or more correlations.
The utility model provides a kind of sensor branch structure based on Steward platforms, for solving existing sensor
Branched structure maximization, complicate and strain the problem of output is low, it is possible to increase the sensitivity of sensor and measurement accuracy.
As Figure 1-4, a kind of sensor branch knot based on Steward platforms is provided in the utility model embodiment
Structure, including ball pivot and Flexible element, ball pivot include bulb 1, club 2 and free bearing 3, and the both ends of club 2 are connected to bulb 1,
Bulb 1 coordinates with the bulb hole 4 in free bearing 3, it is to be understood that in order to realize the effect of ball pivot, bulb 1 can be in free bearing 3
Freely rotated in interior bulb hole 4, wherein, free bearing 3 includes the first housing 31 and the second housing 32, and the first housing 31 and second
Connected between housing 32 by snap-in structure, specifically, the mating surface of the first housing 31 is provided with projection 5, the second housing 32
Mating surface is provided with the groove 6 coordinated with projection 5, and the first housing 31 and second shell are realized in projection 5 and the mating connection of groove 6
The assembling of body 32, so as to be assembled into free bearing 3；It is understood that hole is equipped with the first housing 31 and the second housing 32, and the
The hole of one housing 31 and the hole of the second housing 32 can piece together bulb hole 4 after the first housing and the second housing split；Club 2
On be additionally provided with Flexible element, Flexible element includes the semi-round ball housing 7 on club 2, and the bottom surface of semi-round ball housing 7 is provided with
Four spring beams 8, four spring beams 8 are spliced into rood beam elastic component, the center of rood beam elastic component, the axle of semi-round ball housing 7
Axis of the line with club 2 overlaps, and strain paster 9 is equipped with four spring beams 8, and four strain pasters 9 are relative to club 2
Axisymmetrical arrangement.It is understood that the first housing 31 and the second housing 32 are two half shells in left and right, the one end of club 2
A bulb 1 is connected with, the other end reconnects a bulb 1 through rood beam elastic component and semi-round ball housing 7.
Sensor branch structure of the present utility model based on Steward platforms, it is contemplated that the problem of bulb is not easy to assemble,
Its ball pivot to be collectively constituted by the half shell of left and right two and bulb, solve at present through frequently with loading method of expanding with heat and contract with cold bring
Assembly precision difference the problem of；Bulb therein can be allowed freely to be rotated in the range of bulb hole, as long as ballbar length is expired
Sufficient sensor construction requirement, the ball pivot can be assembled in multiple sensors structure, therefore application scenario is wide；First housing,
Two housings have the convex groove structure being engaged, and not only realize the miniaturization of spherical hinge structure, and solve ball pivot and filling
The problem of entering two half shell radial positionings in upper and lower platform process and going up the mutual changing of the relative positions in the axial direction；It is described in the utility model
Ball pivot it is relatively simple, ball pivot miniaturization can not only be realized, meet small-range sensor construction requirement, and processed and assembling
Difficulty is low, can reach higher processing and assembly precision.
Flexible element of the present utility model has four direction is symmetrical the characteristics of, and strain paster is pasted onto elastic single
Member four cruciform symmetries distribution spring beam upper surface, easily form the full bridge circuits of Wheatstone, output signal compared with
Mushing error influence can be offset greatly and effectively, improve measurement accuracy.
It is understood that the upper and lower surface of spring beam is plane, whole plane stickup side is used when pasting strain paster
Method, it is easy to operate, the follow-up precision for pasting the processes such as strain paster, wiring is ensure that, is had greatly to improving sensor overall precision
Benifit.
As known from the above, the sensor branch structure of the present utility model based on Steward platforms, both ensure that structure
Miniaturization, generalization ensure the height output strain ratio of Flexible element again, can adapt to the development with robot technology and number
Product function constantly upgrades, and to sensor miniaturized structure and sensitivity etc. it is many-sided reach simultaneously it is ultimate attainment increasingly
Harsh requirement.
Specifically, as shown in Figure 3,4, the first housing 31, the second housing 32 are symmetric, as left shell half body and right half
Housing, and external it is shaped as cylinder after left shell half body and the assembling of right half-shell body.It is understood that left shell half body and right half
Housing, the mating surface of one of half shell are provided with projection 5, and the mating surface of another half shell is provided with groove 6, and this is recessed
Groove 6 can engage with projection 5, realize the assembling of two half shells.Further, in the present embodiment, the mating surface of a half shell
On both sides be equipped with projection 5, and the axis direction of free bearing of two projections 5 along cylinder is symmetrical arranged, and in order to projection 5
Engaging is realized, the both sides of the mating surface of another half shell are provided with groove 6, and free bearing 3 of two grooves 6 along outer surface for cylinder
Axis direction be symmetrical arranged.
It is understood that 5 wide 3mm of projection, thick 3mm, long 6mm on the fit inside face of the first housing 31, the second housing
6 wide 3mm of groove, thick 3mm, long 6mm on 32 fit inside faces, projection 5, the distance of upper and lower end face of the groove 6 away from two half shells
It is 4mm, by the engaging of projection 5 and groove 6, the first housing 31, both the second housings 32 are assembled to form free bearing 3.
In the present embodiment, to ensure the elastic reaction of rood beam elastic component, each spring beam 8 uses metallic membrane.Tool
Body, rood beam elastic component is that four identical metallic membranes being generally aligned in the same plane are spliced, four metallic membranes
Cruciform symmetry distribution in 90 ° two-by-two, one end of four metallic membranes is arranged symmetrically along the circle center of club 2, and rood beam bullet
Property part geometric center pass through the axis of club 2, the other ends of four metallic membranes is along the Internal Spherical Surface center pair of semi-round ball housing 7
Claim arrangement, the upper surface of metallic membrane overlaps with the bottom surface of semi-round ball housing 7, each metallic membrane of four cruciform symmetry distributions
Upper surface be pasted with strain paster 9, and four strain pasters 9 it is equal apart from the axial line distance of club 2, i.e., four strain patch
Piece 9 is arranged relative to the axisymmetrical of club 2.
In the present embodiment, semi-round ball housing 7 is middle part hollow, thickness H, an a diameter of D semicircle spherical shell, should be partly
The plane perpendicular of ball housing 7 is in the axis of club 2, and the bottom surface of semi-round ball housing 7 is located at 1/2 extension position of club 2.
In the present embodiment, as shown in figure 5, bulb hole 4 is combined by the spherical pore 41 of inner side and the conical bore 42 in outside,
41 inner setting of spherical pore, 42 outer setting of conical bore, i.e., for the bulb 1 above in Fig. 1, upper, conical bore exists spherical pore
Under, and the axis of the centre of sphere of spherical pore 41 and conical bore 42 is respectively positioned on axis of the outer surface for the free bearing 3 of cylinder, and circular cone
The bottom surface center of circle in hole 42 is located at the geometric center of the bottom surface of free bearing 3.Specifically, bulb hole 4 is the spherical pore 41 of a diameter 8mm
With the combined shaped of 34 ° of conical bore 42 of an angle.Sensor branch structure of the present utility model based on Steward platforms,
After the completion of ball pivot assembling, with the motion of club 2, bulb 1 interior in the range of the limitation of conical bore 42 can be rotated freely, because
This, as long as ballbar length meets the requirement of sensor construction, the ball pivot just can adapt to multiple sensors structure, application scenario
Extensively.
In the present embodiment, in order to realize the connection of ball and bulb 1, the endoporus coordinated with club 2 is provided with bulb 1,
And the axis of the endoporus passes through the centre of sphere of the bulb.Further, the endoporus in bulb is a screwed hole, the two of club 2
End is equipped with external screw thread, and the external screw thread is connected with the screwed hole on bulb 1.
It is understood that in order to ensure the connection of free bearing 3 and required workpiece, the outer surface of free bearing 3 is provided with external screw thread, i.e.,
First housing 31 of the present utility model, the second housing 32 are equipped with external screw thread, and the outer surface of the free bearing 3 after assembling is formed with complete
Whole external screw thread, easily ball pivot can be fitted into this in the corresponding screwed hole of upper and lower platform, or be conveniently loaded other bands
Have in the sensor construction for being engaged screw thread.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (10)
1. a kind of sensor branch structure based on Steward platforms, it is characterised in that described including ball pivot and Flexible element
Ball pivot includes bulb, club and free bearing, and the both ends of the club are connected to the bulb, be provided with the free bearing with it is described
The bulb hole that bulb coordinates, the free bearing include the first housing and the second housing being connected, first housing and second
Housing is connected by snap-in structure；The Flexible element is additionally provided with the club, the Flexible element includes being located at the ball
Semi-round ball housing on bar, the bottom surface of the semi-round ball housing are provided with four spring beams, and four spring beams are spliced into cross
Beam elastic component, the axis of the center of the rood beam elastic component, the axis of the semi-round ball housing with the club overlap, and four
Strain paster is equipped with the individual spring beam, four strain pasters are arranged relative to the axisymmetrical of the club.
2. the sensor branch structure according to claim 1 based on Steward platforms, it is characterised in that the engaging
Structure is specifically configured to, and the mating surface of first housing is provided with projection, the mating surface of second housing be provided with it is described convex
Act the groove coordinated.
3. the sensor branch structure according to claim 2 based on Steward platforms, it is characterised in that described first
The mating surface of housing is symmetrical arranged the projection, and the mating surface of second housing is symmetrical arranged recessed with the male cooperation
Groove.
4. the sensor branch structure according to claim 1 based on Steward platforms, it is characterised in that the bulb
Hole is combined by the spherical pore of inner side and the conical bore in outside, and the centre of sphere of the spherical pore, the axis of the conical bore are equal
On the axis of the bulb.
5. the sensor branch structure according to claim 1 based on Steward platforms, it is characterised in that the semicircle
The bottom surface of global shell is located at 1/2 extension position of the club.
6. the sensor branch structure according to claim 1 based on Steward platforms, it is characterised in that the bulb
The endoporus coordinated with the club is provided with, and the axis of the endoporus passes through the centre of sphere of the bulb.
7. the sensor branch structure according to claim 6 based on Steward platforms, it is characterised in that the endoporus
For screwed hole, the both ends of the club are equipped with the external screw thread with the screw-internal thread fit of screwed hole.
8. the sensor branch structure based on Steward platforms according to any one of claim 1-5, its feature exist
In the outer surface of the free bearing is provided with external screw thread.
9. the sensor branch structure based on Steward platforms according to any one of claim 1-5, its feature exist
In the free bearing is cylindrical structure.
10. the sensor branch structure based on Steward platforms according to any one of claim 1-5, its feature exist
In the spring beam is metallic membrane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720353866.XU CN206848300U (en) | 2017-04-06 | 2017-04-06 | A kind of sensor branch structure based on Steward platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720353866.XU CN206848300U (en) | 2017-04-06 | 2017-04-06 | A kind of sensor branch structure based on Steward platforms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206848300U true CN206848300U (en) | 2018-01-05 |
Family
ID=60791544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720353866.XU Withdrawn - After Issue CN206848300U (en) | 2017-04-06 | 2017-04-06 | A kind of sensor branch structure based on Steward platforms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206848300U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106980033A (en) * | 2017-04-06 | 2017-07-25 | 北京林业大学 | A kind of sensor branch structure based on Steward platforms |
| CN110849469A (en) * | 2019-12-04 | 2020-02-28 | 西北工业大学 | Ring beam structure high-performance piezoelectric accelerometer |
-
2017
- 2017-04-06 CN CN201720353866.XU patent/CN206848300U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106980033A (en) * | 2017-04-06 | 2017-07-25 | 北京林业大学 | A kind of sensor branch structure based on Steward platforms |
| CN106980033B (en) * | 2017-04-06 | 2023-05-02 | 北京林业大学 | Sensor branch structure based on Stewart platform |
| CN110849469A (en) * | 2019-12-04 | 2020-02-28 | 西北工业大学 | Ring beam structure high-performance piezoelectric accelerometer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102840944B (en) | Nearly singular configuration wide-range parallel six-dimensional force sensor | |
| CN206848300U (en) | A kind of sensor branch structure based on Steward platforms | |
| Hirose et al. | Development of optical six-axial force sensor and its signal calibration considering nonlinear interference | |
| CN107044898A (en) | A kind of six-dimension force sensor of flexible body structure | |
| CN106313115B (en) | A kind of detachable industrial robot torque balance device and its installation method | |
| CN101791804A (en) | Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism | |
| CN110802585A (en) | Mechanical arm tail end sensor compensation method and contact force/moment measurement method | |
| CN101780670B (en) | Two-rotation one-movement-freedom-degree decoupling parallel mechanism | |
| CN101034022A (en) | Six dimensional RSS force sensor | |
| CN101329208B (en) | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure | |
| CN103487194A (en) | Orthogonal decoupling six-dimensional force sensor | |
| CN107539498B (en) | A kind of Modularized micro control-moment gyro overall structure | |
| CN206648770U (en) | A kind of six-dimension force sensor of flexible body structure | |
| CN106980033A (en) | A kind of sensor branch structure based on Steward platforms | |
| CN103511481A (en) | Rotation positioning device | |
| CN201824355U (en) | Parallel mechanism of rotating with three degrees of freedom | |
| CN114112158A (en) | Restraint three-dimensional force/moment sensor of parallel | |
| CN105643660A (en) | Novel two-freedom-degree parallel robot joint | |
| CN1220037C (en) | Miniature all-plane 6D force and moment sensor | |
| CN101329207B (en) | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry seven-rod parallel connection structure | |
| CN201096563Y (en) | Parallel decoupling structure three-dimensional moment sensor | |
| CN210061121U (en) | Man-machine connecting device for legs | |
| CN210061197U (en) | Passive safety impedance mechanism with feedback and damping | |
| CN111998025A (en) | Torsion quasi-zero rigidity vibration isolation structure with flexibility | |
| CN207710785U (en) | A kind of three movements, one rotation sorting machine people in parallel with complete cycle cornering rate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180105 Effective date of abandoning: 20230502 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180105 Effective date of abandoning: 20230502 |