CN214924215U - Heavy-load multi-degree-of-freedom driving redundancy series-parallel platform - Google Patents
Heavy-load multi-degree-of-freedom driving redundancy series-parallel platform Download PDFInfo
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- CN214924215U CN214924215U CN202120833972.4U CN202120833972U CN214924215U CN 214924215 U CN214924215 U CN 214924215U CN 202120833972 U CN202120833972 U CN 202120833972U CN 214924215 U CN214924215 U CN 214924215U
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Abstract
The utility model discloses a heavy-load multi-degree-of-freedom driving series-parallel platform, which comprises an upper platform, a middle platform, a lower platform, a fixed platform and a driving branch arranged between the lower platform and the fixed platform, and is characterized in that a sliding guide rail is uniformly arranged at the upper edge of the middle platform, a supporting body is arranged on the upper surface of the middle platform, the upper platform is fixedly connected with the supporting body, and a driving device and a slewing bearing are arranged on the upper surface of the lower platform; the driving branches are distributed between the lower platform and the fixed platform in a rectangular mode and comprise two driving branches A, one driving branch B and one driving branch C, wherein the two driving branches A are arranged adjacently, and the axes of the four driving branches are parallel to each other. The utility model discloses a series-parallel connection motion of three platform has strengthened the space flexibility ratio, has reduced the control degree of difficulty to the multi freedom position appearance adjustment of object on the platform has been realized to great limit.
Description
Technical Field
The utility model relates to a many free platforms, concretely relates to redundant series-parallel connection platform of heavy load multi freedom drive.
Background
The butt-joint parts of large-scale heavy modules such as an offshore wind generating set, a hanger, a ship washing tower, a transformer substation jacket and the like have large mass and volume, and are often realized by means of an installation platform when posture adjustment and butt joint are needed. The traditional butt joint method mainly comprises the step of welding two modules needing butt joint together in a segmented mode through slowly controlling the movement of a crane, so that butt joint is realized, but the butt joint method is poor in butt joint precision and low in efficiency and has potential safety hazards.
Patent application No. 201822235548.0 discloses an invention patent of an orthogonal branch redundant drive heavy-load planar three-degree-of-freedom motion platform, in which four drive branches are uniformly distributed on a lower platform, the axes of two adjacent drive branches are perpendicular to each other, and the axes of two opposite drive branches are parallel to each other and face opposite directions. The structure is compact, the platform height is low, and the bearing capacity is large. However, the mechanism is poor in flexibility due to the fact that a parallel driving mode is adopted and coupling motion rotating around a Z axis exists, kinematics solving is slightly complex, in addition, a combined mode of an electric cylinder and a ball screw is adopted to achieve motion, the mechanism is applied to motion simulation and posture adjustment and vibration isolation working requirements under the heavy load condition, the limitation of the application range is large, and the mechanism is not suitable for posture adjustment of a large heavy module.
Patent application number CN201610142639.2 discloses an invention patent of a three-degree-of-freedom series-parallel rotating platform mechanism containing a rotary driving branched chain, wherein the mechanism contains three linear driving branched chains with the same structure and a parallel mechanism part of a constraint branched chain, and the parallel mechanism part contains three symmetrically arranged driving branched chains, so as to realize rolling and pitching motions and improve the unbalance loading condition; meanwhile, the center of the S pair axis of the rotation mechanism RRS branched chain does not need to pass through a certain rotating shaft axis of the U pair of the constraint branched chain, so that the mechanism is convenient to process, and the cost is reduced. However, due to the addition of the constraint branched chain, the constraint branched chain has great influence on the motion of the whole mechanism, and a singular position type of the mechanism may be generated due to uncertain motion of the constraint branched chain, so that the motion form of the whole platform is damaged, and the reliability of the platform mechanism is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that the control degree of difficulty of platform is higher and the space flexibility ratio is low among the prior art, aim at provides a redundant series-parallel connection platform of heavy load multi freedom drive, has solved the problem that the control degree of difficulty of platform is higher and the space flexibility ratio is low among the technique.
The utility model discloses a following technical scheme realizes:
a heavy-load multi-degree-of-freedom driving redundancy series-parallel platform comprises an upper platform, a middle platform, a lower platform and a fixed platform from top to bottom, wherein a driving branch is arranged between the lower platform and the fixed platform, a sliding guide rail is uniformly arranged at the edge above the middle platform, a supporting body is arranged above the middle platform, the upper platform is fixedly connected with the supporting body, a driving device and a rotary bearing are arranged on the upper surface of the lower platform, and the middle platform is fixedly connected with the driving device and the rotary bearing;
the driving branches are distributed between the lower platform and the fixed platform in a rectangular mode and comprise two driving branches A, one driving branch B and one driving branch C, the two driving branches A are arranged adjacently, and in the initial state, the axes of the four driving branches are parallel to each other.
The lower platform realizes two-degree-of-freedom motions of rotation and up-down translation through the common control of the four driving branches, a driving device and a slewing bearing are fixedly installed between the lower platform and the middle platform, power generated by the driving device is transmitted to the slewing bearing through the middle platform, the motion of an inner ring of the slewing bearing realizes one rotation motion of the middle platform, a supporting body is fixedly installed between the upper platform and the middle platform, and the supporting body is pushed by a hydraulic device on a transverse and longitudinal staggered guide rail on the middle platform so that the upper platform does translation motion in the transverse direction and the longitudinal direction;
through the series-parallel motion of the three platforms, the working space of the motion platform is enhanced, the spatial flexibility is enhanced, the motion in two translation directions is realized through the transverse and longitudinal staggered guide rails on the middle platform, the spatial three-degree-of-freedom motion is decoupled, and the control precision of the platform is improved.
Furthermore, one of the driving branches a is a driving branch a1, the other is a driving branch a2, the driving branch a1 comprises a hook joint a, a hydraulic device a and a spherical joint a, two ends of the hydraulic device a are respectively connected with the hook joint a and the spherical joint a, the hook joint a is fixedly connected with the fixed platform, and the spherical joint a is fixedly connected with the lower platform;
the driving branch A comprises a hook joint D, a hydraulic device C and a spherical joint B, wherein two ends of the hydraulic device C are respectively connected with the hook joint D and the spherical joint B, the hook joint D is fixedly connected with the fixed platform, and the spherical joint B is fixedly connected with the lower platform.
Furthermore, the driving branch B comprises a Hooke joint B, a hydraulic device B and a Hooke joint C, two ends of the hydraulic device B are respectively connected with the Hooke joint B and the Hooke joint C, the Hooke joint B is fixedly connected with the fixed platform, and the Hooke joint C is fixedly connected with the lower platform.
Furthermore, the driving branch C comprises a hook joint E, a hydraulic device D and a rotating hinge, two ends of the hydraulic device D are respectively connected with the hook joint E and the rotating hinge, the hook joint E is fixedly connected with the fixed platform, and the rotating hinge is fixedly connected with the lower platform.
Further, slewing bearing's outer lane with lower platform fixed connection, slewing bearing's inner circle with well platform's lower fixed surface is connected, rotary device includes fixed mounting seat, hydraulic means E and movable mounting seat, hydraulic means E's one end with fixed mounting seat is articulated, the other end with movable mounting seat is articulated, fixed mounting seat with lower platform fixed connection, movable mounting seat with well platform fixed connection.
Further, a transverse sliding seat, a longitudinal sliding seat, a transverse mounting seat and a longitudinal mounting seat are arranged on the sliding guide rail; the lower sides of the transverse sliding seat, the transverse mounting seat and the supporting body are respectively provided with a transverse sliding groove, a transverse sliding strip is arranged on each transverse sliding groove, and the transverse sliding strips are embedded into the transverse sliding seat, the transverse mounting seat and the supporting body.
Furthermore, a transverse hydraulic device is arranged between the supporting body and the transverse mounting seat, one end of the transverse hydraulic device is connected with the supporting body, and the other end of the transverse hydraulic device is connected with the transverse mounting seat.
Further, the lower sides of the longitudinal sliding seat, the longitudinal mounting seat and the supporting body are provided with longitudinal sliding grooves, longitudinal sliding strips are arranged on the longitudinal sliding grooves, and the longitudinal sliding strips are embedded into the longitudinal sliding seat, the longitudinal mounting seat and the supporting body.
Furthermore, a longitudinal hydraulic device is arranged between the supporting body and the longitudinal mounting seat, one end of the longitudinal hydraulic device is connected with the supporting body, and the other end of the longitudinal hydraulic device is connected with the longitudinal mounting seat.
Further, the lower platform, the driving branch and the fixed platform are arranged in the box body, and a rectangular hole and a movable lifting lug are arranged on the side face of the box body.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
1. the utility model relates to a redundant series-parallel connection platform of heavy load multi freedom drive, four drive branches of installation under the lower platform, through the motion of four hydraulic actuator, four motion branch chain common control its three degrees of freedom that has realized the lower platform, adopt this kind of drive redundant structure, reducible parallel mechanism's singular position type enlarges the motion space of platform, makes it have better mechanism motion performance.
2. The utility model relates to a redundant series-parallel connection platform of heavy load multi freedom drive, well platform have realized the motion of a rotatory single degree of freedom through installation rotary device, and the motion of two translation directions of realization of the crisscross guide rail is indulged to the upper mounting plate violently that arranges on through well platform has improved motion controllability and control accuracy.
3. The utility model relates to a redundant series-parallel connection platform of heavy load multi freedom drive, through the series-parallel connection structure of three platform about last, the working space and the system space flexibility of reinforcing platform have realized the multi freedom position appearance adjustment of object on the platform.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a front view of the hybrid platform of the present invention;
FIG. 3 is a side view of the hybrid platform of the present invention;
fig. 4 is a top view of the middle platform of the present invention;
reference numbers and corresponding designations in the drawings: 1. an upper platform; 2. a middle platform; 3. a box body; 4. lifting lugs; 5. fixing a platform; 6. a hook joint A; 7. a hook joint B; 8. a hydraulic device A; 9. a hydraulic device B; 10. a spherical hinge A; 11. a hook joint C; 12. a slew bearing; 13. a lower platform; 14. b, spherical hinge B; 15. rotating the hinge; 16. a hydraulic device C; 17. a hydraulic device D; 18. a hook joint D; 19. a hook joint E; 20. fixing the mounting seat; 21. a hydraulic device E; 22. a movable mounting base; 23. a transverse sliding seat; 24. a transverse slider; 25. a sliding guide rail; 26. a longitudinal mounting seat; 27. a longitudinal hydraulic device; 28. a support; 29. a transverse mounting seat; 30. a transverse hydraulic device; 31. a longitudinal slide bar; 32. a longitudinal sliding seat.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the scope of the present invention.
Examples
The overall schematic diagram of the heavy-load multi-degree-of-freedom drive redundancy parallel-serial platform of the embodiment is as shown in fig. 1, and includes an upper platform 1, a middle platform 2, a lower platform 13 and a fixed platform 5 from top to bottom, a drive branch is arranged between the lower platform 13 and the fixed platform 5, a sliding guide 25 is uniformly arranged on the edge above the middle platform 2, a support 28 is arranged on the upper surface of the middle platform 2, the upper platform 1 is fixedly connected with the support 28, a drive device and a slewing bearing 12 are arranged on the upper surface of the lower platform 13, the drive branches are distributed between the lower platform 13 and the fixed platform 5 in a rectangular shape, and each drive branch includes two drive branches a, one drive branch B and one drive branch C, wherein the two drive branches a are adjacently arranged, and the axes of the four drive branches are parallel to each other.
The lower platform realizes two-degree-of-freedom motions of rotation and translation through the common control of four driving branches, the four driving branches also enhance the system rigidity and the bearing capacity, a rotating device is fixedly installed between the lower platform and the middle platform, one of the driving device and a slewing bearing is matched for use to realize the rotation motion of the middle platform, a supporting body is fixedly installed between the upper platform and the middle platform, and the translation motions in two directions are realized through a transverse and longitudinal staggered guide rail on the middle platform;
a heavy-load multi-degree-of-freedom driving redundancy series-parallel platform is shown in figure 2, one of two driving branches A is a driving branch A1, the other driving branch A is a driving branch A2, the driving branch A1 comprises a hook joint A6, a hydraulic device A8 and a spherical joint A10, two ends of the hydraulic device A8 are respectively connected with the hook joint A6 and the spherical joint A10, the hook joint A6 is fixedly connected with a fixed platform 5, the spherical joint A10 is fixedly connected with a lower platform 13, the driving branch A2 comprises a hook joint D18, a hydraulic device C16 and a spherical joint B14, two ends of the hydraulic device C16 are respectively connected with the hook joint D18 and the spherical joint B14, the hook joint D18 is fixedly connected with the fixed platform 5, and the spherical joint B14 is fixedly connected with the lower platform 13.
The driving branch B comprises a Hooke joint B7, a hydraulic device B9 and a Hooke joint C11, two ends of the hydraulic device B9 are respectively connected with a Hooke joint B7 and a Hooke joint C11, the Hooke joint B7 is fixedly connected with the fixed platform 5, and the Hooke joint C11 is fixedly connected with the lower platform 13.
The driving branch C comprises a Hooke joint E19, a hydraulic device D17 and a rotating hinge 15, two ends of the hydraulic device D17 are respectively connected with the Hooke joint E19 and the rotating hinge 15, the Hooke joint E19 is fixedly connected with the fixed platform 5, and the rotating hinge 15 is fixedly connected with the lower platform 13.
A three-degree-of-freedom structure of a space is formed by four driving branches between the lower platform 13 and the fixed platform 5, and the four driving branches are driven to move coordinately by the driving of hydraulic devices on the driving branches; the four driving branches are uniformly arranged on the fixed platform 5 in a rectangular shape, when the driving branch A1 and the driving branch C are used as a first group of branches, the driving branch A2 and the driving branch B are used as a second group of branches, the two groups of branches are driven by a hydraulic device, when the hydraulic device of the first group of branches extends, the second group of branches shortens, because each driving branch is provided with a component for rotating, when the hydraulic device of the first group of branches extends and the second group of branches shortens, the rotating direction of the rotating component of the first group of branches is not consistent with that of the rotating component of the second group of branches, so that the rotating motion of the lower platform 13 is driven, and the rotation in the other direction is realized, when the two groups of branches simultaneously extend or shorten synchronously, one synchronous rising or falling of the driving branches is realized, and then the vertical translation motion is realized in space.
A heavy-load multi-degree-of-freedom driving redundancy series-parallel platform is shown in figure 3, an outer ring of a rotary bearing 12 is fixedly connected with a lower platform 13, an inner ring of the rotary bearing 12 is fixedly connected with the lower surface of a middle platform 2, a driving device comprises a fixed mounting seat 20, a hydraulic device E21 and a movable mounting seat 22, one end of the hydraulic device E21 is hinged to the fixed mounting seat 20, the other end of the hydraulic device E21 is hinged to the movable mounting seat 22, the fixed mounting seat 20 is fixedly connected with the lower platform 13, and the movable mounting seat 22 is fixedly connected with the middle platform 2.
A movable mounting seat 22 is mounted on the lower surface of the middle platform 2, a fixed mounting seat 20 is mounted on the upper surface of the lower platform 13, one end of a hydraulic device E21 is hinged to the movable mounting seat 22, the other end of the hydraulic device E21 is hinged to the fixed mounting seat 20, when the hydraulic device E21 generates a driving force, the middle platform 2 rotates, and as the inner ring of the slewing bearing 12 is fixedly connected with the middle platform 2 and the outer ring of the slewing bearing is fixedly connected with the lower platform 13, the middle platform 2 realizes a rotary single-degree-of-freedom motion through the action of the slewing bearing 12.
A redundant series-parallel platform of heavy load multi freedom drive, as shown in FIG. 4, is provided with a transverse sliding seat 23, a longitudinal sliding seat 32, a transverse mounting seat 29 and a longitudinal mounting seat 26 on a sliding guide rail 25; the lower sides of the transverse sliding seat 23, the transverse mounting seat 29 and the supporting body 28 are all provided with transverse sliding grooves, transverse sliding strips 24 are arranged on the transverse sliding grooves, the transverse sliding strips 24 are embedded into the transverse sliding seat 23, the transverse mounting seat 29 and the supporting body 28, and a transverse hydraulic device 27 is arranged between the supporting body 28 and the transverse mounting seat 29. The lower sides of the longitudinal sliding seat 32, the longitudinal mounting seat 26 and the supporting body 28 are all provided with longitudinal sliding grooves, longitudinal sliding strips 31 are arranged on the longitudinal sliding grooves, and the longitudinal sliding strips 31 are embedded in the longitudinal sliding seat 32, the longitudinal mounting seat 26 and the supporting body 28. A longitudinal hydraulic device 27 is arranged between the supporting body 28 and the longitudinal mounting seat 26, one end of the longitudinal hydraulic device 27 is connected with the supporting body 28, and the other end of the longitudinal hydraulic device 27 is connected with the longitudinal mounting seat 26.
The supporting body 28, the transverse mounting seat 29 and the transverse sliding seat 23 are all provided with rectangular sliding grooves at the lower sides, and the longitudinal sliding strip 31 is embedded into the three components, so that when the longitudinal hydraulic device 27 is driven, the transverse hydraulic mounting seat and the transverse sliding seat 23 can longitudinally move in the sliding guide rail 25; meanwhile, the lower sides of the longitudinal installation seat 26 and the longitudinal sliding seat 32 are provided with rectangular sliding grooves, and the transverse sliding strip 24 is embedded in the rectangular sliding grooves, so that when the transverse hydraulic device 27 is driven, the transverse movement of the longitudinal installation seat and the transverse sliding seat in the sliding guide rail 25 can be realized, and the movement of the upper platform 1 in the transverse translation direction and the longitudinal translation direction can be realized.
A heavy-load multi-degree-of-freedom driving redundancy series-parallel platform is shown in figure 1, a lower platform 13, a driving branch and a fixed platform 5 are arranged in a box body 3, and a rectangular hole and a movable lifting lug 4 are arranged on the side face of the box body 3. In order to facilitate transportation of the device, the platform is integrally arranged in the box body 3, rectangular holes are formed in each side of the box body 3 and used for leading in connecting wires of oil way pipelines, sensors and other equipment of the platform hydraulic control system, and movable lifting lugs 4 are arranged around the box body 3 and used for lifting and transporting the integral device.
The above embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A heavy-load multi-degree-of-freedom driving hybrid platform comprises an upper platform (1), a middle platform (2), a lower platform (13) and a fixed platform (5) from top to bottom, wherein a driving branch is arranged between the lower platform (13) and the fixed platform (5), and the heavy-load multi-degree-of-freedom driving hybrid platform is characterized in that sliding guide rails (25) are uniformly arranged on the edge above the middle platform (2), a supporting body (28) is arranged on the upper surface of the middle platform (2), the upper platform (1) is fixedly connected with the supporting body (28), and a driving device and a rotary bearing (12) are arranged on the upper surface of the lower platform (13);
the driving branches are distributed between the lower platform (13) and the fixed platform (5) in a rectangular mode and comprise two driving branches A, one driving branch B and one driving branch C, the two driving branches A are arranged adjacently, and in the initial state, the axes of the four driving branches are parallel to each other.
2. The heavy-load multi-degree-of-freedom driving hybrid platform is characterized in that one of the two driving branches A is a driving branch A1, the other driving branch A2 is a driving branch A1, the driving branch A1 comprises a hook joint A (6), a hydraulic device A (8) and a spherical joint A (10), two ends of the hydraulic device A (8) are respectively connected with the hook joint A (6) and the spherical joint A (10), the hook joint A (6) is fixedly connected with the fixed platform (5), and the spherical joint A (10) is fixedly connected with the lower platform (13);
the driving branch A2 comprises a hook joint D (18), a hydraulic device C (16) and a spherical joint B (14), two ends of the hydraulic device C (16) are respectively connected with the hook joint D (18) and the spherical joint B (14), the hook joint D (18) is fixedly connected with the fixed platform (5), and the spherical joint B (14) is fixedly connected with the lower platform (13).
3. The heavy-load multi-degree-of-freedom driving hybrid platform as claimed in claim 1, wherein the driving branch B comprises a Hooke joint B (7), a hydraulic device B (9) and a Hooke joint C (11), two ends of the hydraulic device B (9) are respectively connected with the Hooke joint B (7) and the Hooke joint C (11), the Hooke joint B (7) is fixedly connected with the fixed platform (5), and the Hooke joint C (11) is fixedly connected with the lower platform (13).
4. The heavy-load multi-degree-of-freedom driving hybrid platform as claimed in claim 1, wherein the driving branch C comprises a hook joint E (19), a hydraulic device D (17) and a rotating hinge (15), two ends of the hydraulic device D (17) are respectively connected with the hook joint E (19) and the rotating hinge (15), the hook joint E (19) is fixedly connected with the fixed platform (5), and the rotating hinge (15) is fixedly connected with the lower platform (13).
5. The heavy-load multi-degree-of-freedom driving hybrid platform is characterized in that the outer ring of the slewing bearing (12) is fixedly connected with the lower platform (13), the inner ring of the slewing bearing (12) is fixedly connected with the lower surface of the middle platform (2), the driving device comprises a fixed mounting seat (20), a hydraulic device E (21) and a movable mounting seat (22), one end of the hydraulic device E (21) is hinged to the fixed mounting seat (20), the other end of the hydraulic device E (21) is hinged to the movable mounting seat (22), the fixed mounting seat (20) is fixedly connected with the lower platform (13), and the movable mounting seat (22) is fixedly connected with the middle platform (2).
6. The heavy-load multi-degree-of-freedom driving hybrid platform is characterized in that the sliding guide rail (25) is provided with a transverse sliding seat (23), a longitudinal sliding seat (32), a transverse mounting seat (29) and a longitudinal mounting seat (26); the lower sides of the transverse sliding seat (23), the transverse mounting seat (29) and the supporting body (28) are respectively provided with a transverse sliding groove, a transverse sliding strip (24) is arranged on each transverse sliding groove, and the transverse sliding strips (24) are embedded into the transverse sliding seat (23), the transverse mounting seat (29) and the supporting body (28).
7. The heavy-load multi-degree-of-freedom drive hybrid platform as claimed in claim 6, characterized in that a transverse hydraulic device (27) is arranged between the supporting body (28) and the transverse mounting seat (29).
8. The heavy-load multi-degree-of-freedom drive hybrid platform is characterized in that longitudinal sliding seats (32), the longitudinal installation seats (26) and the lower sides of the supporting bodies (28) are provided with longitudinal sliding grooves, longitudinal sliding strips (31) are arranged on the longitudinal sliding grooves, and the longitudinal sliding strips (31) are embedded in the longitudinal sliding seats (32), the longitudinal installation seats (26) and the supporting bodies (28).
9. The heavy-load multi-degree-of-freedom drive hybrid platform is characterized in that a longitudinal hydraulic device (27) is arranged between the supporting body (28) and the longitudinal mounting seat (26), and one end of the longitudinal hydraulic device (27) is connected with the supporting body (28) while the other end is connected with the longitudinal mounting seat (26).
10. The heavy-load multi-degree-of-freedom driving hybrid platform is characterized in that the lower platform (13), the driving branches and the fixed platform (5) are arranged in a box body (3), and the side surface of the box body (3) is provided with a rectangular hole and a movable lifting lug (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120833972.4U CN214924215U (en) | 2021-04-22 | 2021-04-22 | Heavy-load multi-degree-of-freedom driving redundancy series-parallel platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120833972.4U CN214924215U (en) | 2021-04-22 | 2021-04-22 | Heavy-load multi-degree-of-freedom driving redundancy series-parallel platform |
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| Publication Number | Publication Date |
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| CN214924215U true CN214924215U (en) | 2021-11-30 |
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|---|---|---|---|
| CN202120833972.4U Expired - Fee Related CN214924215U (en) | 2021-04-22 | 2021-04-22 | Heavy-load multi-degree-of-freedom driving redundancy series-parallel platform |
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| Country | Link |
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| CN (1) | CN214924215U (en) |
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2021
- 2021-04-22 CN CN202120833972.4U patent/CN214924215U/en not_active Expired - Fee Related
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Granted publication date: 20211130 |