CN207005603U - A kind of submissive mini positioning platform in parallel of Novel long-stroke - Google Patents
A kind of submissive mini positioning platform in parallel of Novel long-stroke Download PDFInfo
- Publication number
- CN207005603U CN207005603U CN201620752448.3U CN201620752448U CN207005603U CN 207005603 U CN207005603 U CN 207005603U CN 201620752448 U CN201620752448 U CN 201620752448U CN 207005603 U CN207005603 U CN 207005603U
- Authority
- CN
- China
- Prior art keywords
- submissive
- platform
- rigid member
- joint
- movement branched
- 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- Withdrawn - After Issue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
- Transmission Devices (AREA)
Abstract
The utility model provides a kind of submissive mini positioning platform in parallel of Novel long-stroke, including moving platform, fixed platform, the drive device being arranged on fixed platform and some are used for the movement branched chain that connects fixed platform and moving platform；The moving platform is located above fixed platform；Some movement branched chains are evenly distributed on moving platform sidepiece, and one end of every movement branched chain is connected with drive device, and the other end is connected with moving platform；Every movement branched chain is connected by rigid member with submissive joint to be formed.The submissive mini positioning platform in parallel of the utility model Novel long-stroke is simple in construction and can realize that operating space rotates and moved up and down；The submissive mini positioning platform in parallel solves the problems, such as that existing mini positioning platform in parallel causes limited working space because self-deformation amount is small, so as to effectively improve the deflection of mini positioning platform to obtain as far as possible big stroke so that the stroke of the moving platform can reach mm (cubic millimeter) rank.
Description
Technical field
Mini positioning platform device is the utility model is related to, more specifically to a kind of big submissive micro- positioning of parallel connection of stroke
Platform.
Background technology
At present, in many Mechanical Design Systems, rigid structure is necessary, but in order to obtain seen in biology
Such as member for prolonging life-span for arriving and the advantages that reduce assembling, many equipment are designed to not only soft but also firm, therefore, are using submissive joint
A kind of flexible approach for obtaining some superiority is utilized in Machine Design.On the other hand, parallel institution is because it possesses branched machine
Structure and fixed drive and high rigidity, high accuracy or big load and need not very big working space field in obtain extensively should
With.
As compliant parallel mechanism has more and more important answer in microelectronics, micromachine and Ultra-precision Turning field
With compliant parallel mechanism is one of key technology for realizing precision positioning and micro-displacement, and high performance compliant parallel mechanism can
Accurate positioning is provided and fine motion, precision positioning technology have caused many national attention in the world.
But compliant parallel mechanism technology also faces lot of challenges, on the one hand submissive joint causes because self-deformation limits
Working space limits to, and is limited in the spatial dimension of cu μ m level, while further relates to the rational design in submissive joint and soft
The problems such as rational deployment of suitable parallel institution.Therefore, currently in MEMS and precision optical machinery field, there is an urgent need to new
Compliant structure improves its kinematic accuracy and stroke, instead of the limitation of traditional compliant mechanism, improves operating accuracy and stroke.
Utility model content
The purpose of this utility model is to overcome shortcoming and deficiency of the prior art, there is provided one kind is simple in construction and can
Realize the submissive mini positioning platform in parallel of Novel long-stroke that operating space rotates and moved up and down；The submissive mini positioning platform in parallel
Solve the problems, such as that existing mini positioning platform in parallel causes limited working space because self-deformation amount is small, it is micro- so as to effectively improve
The deflection of locating platform is to obtain as far as possible big stroke.
In order to achieve the above object, the utility model is achieved by following technical proposals：A kind of Novel long-stroke is soft
Along mini positioning platform in parallel, it is characterised in that：Including moving platform, fixed platform, the drive device being arranged on fixed platform and some
Bar is used for the movement branched chain for connecting fixed platform and moving platform；The moving platform is located above fixed platform；Some motion branch
Chain is evenly distributed on moving platform sidepiece, and one end of every movement branched chain is connected with drive device, and the other end is connected with moving platform；Often
Movement branched chain described in bar is connected with submissive joint by rigid member and formed.
In such scheme, the utility model realizes fixed platform by the drive device powered motion side chain on fixed platform
Transmission between moving platform, so that the moving platform above fixed platform is realized and rotates and move up and down.Due to every fortune
Dynamic side chain is connected by rigid member with submissive joint to be formed, and can greatly increase deflection to solve the problems, such as limited working space,
So as to effectively improve the deflection of mini positioning platform to obtain as far as possible big stroke so that the stroke of the moving platform can reach mm
(cubic millimeter) rank.
Every movement branched chain is connected to form by rigid member with submissive joint to be referred to：Every the movement branched chain includes
Several rigid members, connected by submissive joint between each rigid member；
The rigid member at the movement branched chain both ends is connected to submissive joint, the rigid member point at movement branched chain both ends
It is not connected by submissive joint with moving platform and drive device.The prismatic pair of every movement branched chain of the utility model is moving platform
It is actively entered.
The opening in adjacent submissive joint is towards conversely in every movement branched chain.If adjacent submissive joint opening direction one
Causing, the situation for the coupling that easily deforms, therefore, the design can effectively avoid deforming with adjacent submissive joint and couple,
To obtain larger deflection.
The rake of rigid member is in 60 ° with the plane of fixed platform in every movement branched chain.The utility model is firm
Property the rake of component and the plane of fixed platform not only make it that mini positioning platform arrangement is more reasonable in 60 °, and can be further
Obtain larger deflection so that the micromotion platform has more preferably transmission performance.
The utility model includes three movement branched chains for being used to connect fixed platform and moving platform, and every movement branched chain includes firm
Property component one, rigid member two and rigid member three；Connected between rigid member one and rigid member two by flexible joint two,
Connected between rigid member two and rigid member three by flexible joint three；
The rigid member one and rigid member three at the movement branched chain both ends are connected to submissive joint one and submissive pass
Section four, the rigid member one and rigid member three at movement branched chain both ends are put down by submissive joint one and submissive joint four with dynamic respectively
Platform connects with drive device.
Mini positioning platform of the present utility model can realize moving platform X, the rotation of Y-axis and Z axis using three movement branched chains
Move up and down, to realize the three-degree-of-freedom motion of moving platform.And three rigid members of every movement branched chain are as three shiftings
Dynamic pair, three prismatic pair being actively entered as moving platform.Filled when to a movement branched chain or two movement branched chains by driving
When putting application micro-displacement, moving platform X, Y-axis rotation can be realized；, can when applying micro-displacement simultaneously to three movement branched chains
Moving up and down for moving platform Z axis is realized, i.e., can generally realize the motion of the Three Degree Of Freedom of moving platform.
When drive device applies micro-displacement, caused power will be delivered to submissive joint everywhere, utilize its large deformation
Characteristic, so that by rigid body component three, rigid body component two and rigid body component one, moving platform is finally delivered to by submissive joint one,
Cause the motion of moving platform.Moving platform X, the rotation of Y-axis and Z axis move up and down be due to each movement branched chain submissive pass
Save with the composite configuration of rigid body component with the transmission by power or displacement and caused.
The opening direction in the submissive joint one is opposite with the opening direction in submissive joint two；Open in the submissive joint two
Mouth direction is opposite with the opening direction in submissive joint three；The opening direction in the submissive joint three and the opening court in submissive joint four
To opposite.
The opening in the submissive joint one and submissive joint three is towards inside region；The submissive joint two and submissive joint
Four opening is towards region exterior；The region refers to that fixed platform, moving platform and movement branched chain impale the region to be formed.
The submissive joint one and submissive joint two are provided at both ends with installation portion for the laminated structure and arch of arch；It is described
Submissive joint three and submissive joint four are the laminated structure with arc.The submissive joint one of the utility model and submissive joint two are set
It is equipped with installation portion and is easy to the relative rigid member connection of two same horizontal lines, and is easy to the moving platform phase relative with rigid member
Connection.
The submissive joint is detachably connected with rigid member；The rigid member at every movement branched chain both ends passes through soft
It is detachably connected respectively with drive device and moving platform along joint.The utility model can be conveniently single using dismountable connected mode
The replacing or maintenance of individual movement branched chain, submissive joint or rigid member, and can connect more firm.
The drive device includes guide rail, sliding seat and the driver being arranged on fixed platform；The driver is with sliding
Seat connection, sliding seat and guide rail slidable connection.Driver of the present utility model is slidably connected by sliding seat and guide rail, can be carried
Stationarity, reliability and the uniformity of high displacement transmission or power transmission.It is provided with sliding seat for fixing the recessed of submissive joint
Groove and fixing hole.The design causes drive device to be detachably connected with movement branched chain.
Compared with prior art, the utility model has the following advantages that and beneficial effect：The utility model Novel long-stroke
Submissive mini positioning platform in parallel is simple in construction and can realize that operating space rotates and moved up and down；The submissive micro- positioning of parallel connection is flat
Platform solves the problems, such as that existing mini positioning platform in parallel causes limited working space because self-deformation amount is small, so as to effectively improve
The deflection of mini positioning platform is to obtain as far as possible big stroke so that the stroke of the moving platform can reach mm (cubic millimeter) level
Not.
Brief description of the drawings
Fig. 1 is the structural representation of the submissive mini positioning platform in parallel of the utility model Novel long-stroke；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is enlarged drawing at B in Fig. 1；
Fig. 4 is enlarged drawing at C in Fig. 1；
Wherein, 1 it is moving platform, 2 be fixed platform, 3 is that rigid member one, 4 is that rigid member two, 5 is rigid member three, 6
It is that installation portion one, 7 is that submissive joint two, 7.1 is that installation portion two, 8 is that submissive joint three, 9 is submissive for submissive joint one, 6.1
Joint four, 10 is groove, 11 is guide rail, 12 is sliding seat, 13 is driver.
Embodiment
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment one
As shown in Figures 1 to 4, the submissive mini positioning platform in parallel of a kind of Novel long-stroke, including moving platform 1, fixed platform 2,
The drive device being arranged on fixed platform 2 and three movement branched chains for being used to connect fixed platform 2 and moving platform 1, wherein, moving platform
1 positioned at the top of fixed platform 2, and three movement branched chains are evenly distributed on the sidepiece of moving platform 1, and one end and the driving of every movement branched chain fill
Connection is put, the other end is connected with moving platform 1, and every movement branched chain is connected with submissive joint by rigid member and formed.
Every movement branched chain of the utility model is connected to form by rigid member with submissive joint to be referred to：Every movement branched chain bag
Include rigid member 1, rigid member 24 and rigid member 35；Closed between rigid member 1 and rigid member 24 by flexibility
27 connections are saved, are connected between rigid member 24 and rigid member 35 by flexible joint 38.And movement branched chain both ends is firm
Property component 1 and rigid member 35 are connected to submissive joint 1 and submissive joint 49, the rigid structure at movement branched chain both ends
Part 1 and rigid member 35 are connected by submissive joint 1 and submissive joint 49 with moving platform 1 and drive device respectively.
Mini positioning platform of the present utility model can realize moving platform X, the rotation of Y-axis and Z axis using three movement branched chains
Move up and down, to realize the three-degree-of-freedom motion of moving platform.And three rigid members of every movement branched chain are as three shiftings
Dynamic pair, three prismatic pair being actively entered as moving platform 1.Filled when to a movement branched chain or two movement branched chains by driving
When putting application micro-displacement, moving platform 1X, Y-axis rotation can be realized；, can when applying micro-displacement simultaneously to three movement branched chains
Moving up and down for moving platform 1Z axles is realized, i.e., can generally realize the motion of the Three Degree Of Freedom of moving platform.Work as drive device
When applying micro-displacement, caused power will be delivered at submissive joint 49, using the characteristic of its large deformation, so as to pass through rigid body
Component 35, rigid body component 24 and rigid body component 1, moving platform 1 is finally delivered to by submissive joint 1, causes moving platform 1
Motion.Moving platform 1X, the rotation of Y-axis and Z axis move up and down be due to each movement branched chain submissive joint and rigid body structure
The composite configuration of part is with the transmission by power or displacement and caused.
The opening in submissive joint 1 described in the utility model is towards the opening with submissive joint 27 towards on the contrary, submissive pass
27 opening direction is saved with the opening in submissive joint 38 towards on the contrary, the opening direction in submissive joint 38 and submissive joint 49
Opening towards opposite.Specifically, the opening in submissive joint 1 and submissive joint 38 is towards inside region, submissive joint two
7 and submissive joint 49 opening towards region exterior, wherein, region refers to that fixed platform 2, moving platform 1 and movement branched chain impale shape
Into region.
In order to further improve the deflection of mini positioning platform, rigid member 1 in movement branched chain of the present utility model, just
Property component 24 and the rake of rigid member 35 with the plane of fixed platform 2 be in 60 °.The design not only make it that micro- positioning is flat
The tablecloth is put more rationally, and can further obtain larger deflection so that the micromotion platform has more preferably transmission performance.
It is Detachable connection structure between submissive joint of the present utility model and rigid member, every movement branched chain both ends
Rigid member is detachably connected with drive device and moving platform 1 respectively by submissive joint.The submissive joint 1 of the utility model is
The laminated structure and arch of arch are provided at both ends with installation portion 1, and submissive joint 27 is the laminated structure and arch two of arch
End is provided with installation portion 2 7.1.Correspondingly, the both ends of rigid member 1, rigid member 24 be connected with rigid member 1 one
End and the junction of moving platform 1 and rigid member 1 are provided with groove 10, and the installation portion 6.1 in submissive joint 1 is plugged in
The connection of moving platform 1 and rigid member 1, the installation portion in submissive joint 27 are realized after groove 10 by fixtures such as screws
7.1 are plugged in the connection for realizing rigid member 1 and rigid member 24 after groove 10 by fixtures such as screws.It is and submissive
Joint 38 and submissive joint 49 are the laminated structure with arc, between rigid member 35 and rigid member 24 and are passed through
Submissive joint 38 is fixed and realizes connection by screw.
The utility model drive device includes guide rail 11, sliding seat 12 and the driver 13 being arranged on fixed platform 2；Its
In, driver 13 is connected with sliding seat 12, sliding seat 12 and the slidable connection of guide rail 11.Driver 13 of the present utility model passes through
Sliding seat 12 is slidably connected with guide rail 11, can improve the stationarity, reliability and uniformity of displacement transmission or power transmission.And slide
The groove 10 for fixing submissive joint 49 is provided with seat 12, one end that rigid member 35 is connected with sliding seat 12 is also provided with
Fluted 10, the both ends in submissive joint 49 are plugged in after groove 10 realizes sliding seat 12 and rigidity by fixtures such as screws
Component 35 connects.
Embodiment two
The present embodiment the difference is that only with embodiment one：The submissive mini positioning platform in parallel may include two or four
It is used for the movement branched chain for connecting fixed platform and moving platform above, wherein, every movement branched chain is connected by rigid member and submissive joint
Connect composition.Every movement branched chain includes several rigid members, is connected between each rigid member by submissive joint.Every fortune
The rigid member at dynamic side chain both ends is connected to submissive joint, and the rigid member at movement branched chain both ends passes through submissive joint respectively
It is connected with moving platform and drive device.And the opening in adjacent submissive joint is towards conversely in every movement branched chain.
The mini positioning platform of the present embodiment can realize that moving platform two-freedom is transported using two or more than four movement branched chains
Dynamic or multifreedom motion.
The other structures of the present embodiment are consistent with embodiment one.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (8)
- A kind of 1. submissive mini positioning platform in parallel of Novel long-stroke, it is characterised in that：Including moving platform, fixed platform, it is arranged on and determines Drive device and some movement branched chains for being used to connect fixed platform and moving platform on platform；The moving platform is located at fixed platform Top；Some movement branched chains are evenly distributed on moving platform sidepiece, and one end of every movement branched chain is connected with drive device, The other end is connected with moving platform；Every movement branched chain is connected by rigid member with submissive joint to be formed；Every movement branched chain is connected to form by rigid member with submissive joint to be referred to：Every movement branched chain includes some Individual rigid member, connected by submissive joint between each rigid member；The rigid member at the movement branched chain both ends is connected to submissive joint, and the rigid member at movement branched chain both ends leads to respectively Submissive joint is crossed to be connected with moving platform and drive device；The opening in adjacent submissive joint is towards conversely in every movement branched chain.
- 2. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 1, it is characterised in that：Every motion The rake of rigid member is in 60 ° with the plane of fixed platform in side chain.
- 3. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 2, it is characterised in that：It is used for including three The movement branched chain of fixed platform and moving platform is connected, every movement branched chain includes rigid member one, rigid member two and rigid member Three；Connected by flexible joint two between rigid member one and rigid member two, led between rigid member two and rigid member three Flexible joint three is crossed to connect；The rigid member one and rigid member three at the movement branched chain both ends are connected to submissive joint one and submissive joint four, The rigid member one and rigid member three at movement branched chain both ends respectively by submissive joint one and submissive joint four and moving platform and Drive device connects.
- 4. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 3, it is characterised in that：The submissive joint One opening direction is opposite with the opening direction in submissive joint two；Opening direction and the submissive joint three in the submissive joint two Opening is towards conversely；The opening direction in the submissive joint three is opposite with the opening direction in submissive joint four.
- 5. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 4, it is characterised in that：The submissive joint One and submissive joint three opening towards inside region；The opening in the submissive joint two and submissive joint four is towards outside region Portion；The region refers to that fixed platform, moving platform and movement branched chain impale the region to be formed.
- 6. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 3, it is characterised in that：The submissive joint One and submissive joint two for arch laminated structure and arch be provided at both ends with installation portion；The submissive joint three and submissive joint Four be the laminated structure with arc.
- 7. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 1, it is characterised in that：The submissive joint It is detachably connected with rigid member；The rigid member at every movement branched chain both ends by submissive joint respectively with drive device It is detachably connected with moving platform.
- 8. the submissive mini positioning platform in parallel of Novel long-stroke according to claim 1, it is characterised in that：The drive device Including the guide rail, sliding seat and driver being arranged on fixed platform；The driver is connected with sliding seat, and sliding seat can with guide rail It is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620752448.3U CN207005603U (en) | 2016-07-14 | 2016-07-14 | A kind of submissive mini positioning platform in parallel of Novel long-stroke |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620752448.3U CN207005603U (en) | 2016-07-14 | 2016-07-14 | A kind of submissive mini positioning platform in parallel of Novel long-stroke |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207005603U true CN207005603U (en) | 2018-02-13 |
Family
ID=61427600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620752448.3U Withdrawn - After Issue CN207005603U (en) | 2016-07-14 | 2016-07-14 | A kind of submissive mini positioning platform in parallel of Novel long-stroke |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207005603U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105953039A (en) * | 2016-07-14 | 2016-09-21 | 佛山科学技术学院 | Novel large-stroke compliant parallel micro positioning platform |
| CN110660447A (en) * | 2019-09-12 | 2020-01-07 | 广州大学 | Assembly type space three-translation flexible precision positioning platform |
| CN111203857A (en) * | 2020-01-16 | 2020-05-29 | 上海交通大学 | Flexible parallel mechanism with multi-degree-of-freedom translational motion |
| CN114603541A (en) * | 2022-01-19 | 2022-06-10 | 南京理工大学 | Modularization mobile robot |
| CN114992453A (en) * | 2022-06-07 | 2022-09-02 | 重庆大学 | Controllable plane high-precision flexible displacement platform with high load and large stroke |
-
2016
- 2016-07-14 CN CN201620752448.3U patent/CN207005603U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105953039A (en) * | 2016-07-14 | 2016-09-21 | 佛山科学技术学院 | Novel large-stroke compliant parallel micro positioning platform |
| CN110660447A (en) * | 2019-09-12 | 2020-01-07 | 广州大学 | Assembly type space three-translation flexible precision positioning platform |
| CN111203857A (en) * | 2020-01-16 | 2020-05-29 | 上海交通大学 | Flexible parallel mechanism with multi-degree-of-freedom translational motion |
| CN111203857B (en) * | 2020-01-16 | 2022-11-29 | 上海交通大学 | Flexible parallel mechanism with multi-degree-of-freedom translational motion |
| CN114603541A (en) * | 2022-01-19 | 2022-06-10 | 南京理工大学 | Modularization mobile robot |
| CN114603541B (en) * | 2022-01-19 | 2024-05-17 | 南京理工大学 | Modularized movable robot |
| CN114992453A (en) * | 2022-06-07 | 2022-09-02 | 重庆大学 | Controllable plane high-precision flexible displacement platform with high load and large stroke |
| CN114992453B (en) * | 2022-06-07 | 2024-02-27 | 重庆大学 | Controllable plane high-precision flexible displacement platform with high load and large stroke |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207005603U (en) | A kind of submissive mini positioning platform in parallel of Novel long-stroke | |
| CN105953039B (en) | A kind of submissive mini positioning platform in parallel of Novel long-stroke | |
| CN100395086C (en) | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type | |
| CN106346444B (en) | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation | |
| CN2936617Y (en) | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism | |
| CN101722511B (en) | Fully decoupled three-degree-of-freedom parallel robot mechanism | |
| CN105082112A (en) | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function | |
| CN102085657B (en) | Parallel controllable drilling robot mechanism | |
| CN105904443B (en) | A kind of two-freedom compliant parallel mechanism of mobile decoupling | |
| CN106737597B (en) | A kind of XYZ three-freedom degree precisions positioner | |
| CN108747426B (en) | Co-stator large-stroke trans-scale three-degree-of-freedom parallel motion platform | |
| CN103486413B (en) | Three freedom decoupling Long Distances mini positioning platform | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN101704242A (en) | 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN112276910B (en) | Parallel mechanism containing double-sliding-rail composite branched chain | |
| CN104476567A (en) | Six-degree-of-freedom parallel mechanism with rope-driven linear joint | |
| CN107825417B (en) | Five-axis series-parallel robot composed of four-degree-of-freedom series-parallel mechanism | |
| CN105856197B (en) | Pure translational 3-UPU parallel institution without undesirable rotation | |
| CN106976070B (en) | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation | |
| CN103273481A (en) | Parallel mechanism with two-degree-of-free translation function | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN110524518A (en) | One kind two moves one turn of few full symmetric parallel institution of branch redundant drive | |
| CN102501249A (en) | Six-degree-of-freedom high-speed parallel mechanism and three-degree-of-freedom rotation mechanism thereof | |
| US9168623B2 (en) | Biaxial linear-motion micro drive apparatus | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180213 Effective date of abandoning: 20180824 |
|
| AV01 | Patent right actively abandoned |