CN214828700U - Lightweight and large load parallel lifting mechanism - Google Patents
Lightweight and large load parallel lifting mechanism Download PDFInfo
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- CN214828700U CN214828700U CN202120572875.4U CN202120572875U CN214828700U CN 214828700 U CN214828700 U CN 214828700U CN 202120572875 U CN202120572875 U CN 202120572875U CN 214828700 U CN214828700 U CN 214828700U
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Abstract
The utility model relates to a elevating system, in particular to parallelly connected elevating system of light heavy load. The device comprises a restraint branched chain, a platform, a base and a plurality of groups of lifting branched chains, wherein the platform is arranged above the base and is hinged with the base through the plurality of groups of lifting branched chains; the constraint branched chain is arranged between the platform and the base and is provided with a sliding pair; the plurality of groups of lifting branched chains are distributed on two sides of the moving pair of the constraint branched chains and are hinged with the constraint branched chains, and the constraint branched chains are parallel to the base and the platform. The utility model discloses load capacity is big, and the quality is light, and the gravity moment bearing capacity is big.
Description
Technical Field
The utility model relates to a elevating system, in particular to parallelly connected elevating system of light heavy load.
Background
The existing lifting mechanism can be divided into a single-degree-of-freedom lifting mechanism, a single-degree-of-freedom jack mechanism and an under-constrained scissor jack, wherein the single-degree-of-freedom lifting mechanism, such as a scissor-type lifting mechanism, a guide rail type lifting mechanism, an aluminum alloy column type lifting mechanism, a telescopic cylinder type lifting mechanism and the like, is driven by a hydraulic cylinder, is stable, reliable and simple to operate, is widely used in places such as workshops, docks, airports and the like, and has a smaller load dead weight compared with the jack mechanism. The single-degree-of-freedom jack mechanism uses a rigid jacking piece as a working device, light and small hoisting equipment for jacking a heavy object in a small stroke through a top bracket or a bottom supporting claw uses oil pressure drive or lead screw drive, and departments such as factories, mines, transportation and the like are used for vehicle repair, other hoisting, supporting and the like, but the stroke is small, the jacking piece can only bear pressure, the bearing capacity of the heavy moment is small, and other mechanisms are not convenient to integrate. The scissor jack has the advantages of strong load capacity, light weight and strong portability, is widely applied to mechanical maintenance places, has the property of under-constraint, and can be used for following the inclination angle of an object to be lifted, but has small heavy moment bearing capacity.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide a parallelly connected elevating system of light heavy load, this parallelly connected elevating system of light heavy load bearing capacity is big, and the quality is light, and the moment of gravity bearing capacity is big.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a light heavy-load parallel lifting mechanism comprises a restraint branched chain, a platform, a base and a plurality of groups of lifting branched chains, wherein the platform is arranged above the base and is hinged with the base through the plurality of groups of lifting branched chains; the constraint branched chain is arranged between the platform and the base and is provided with a sliding pair; the multiple groups of lifting branched chains are distributed on two sides of the moving pair of the constraint branched chains and hinged with the constraint branched chains.
The constrained branched chain is parallel to the base and the platform.
The restraint branched chain comprises a restraint branched chain connecting rod I and a restraint branched chain connecting rod II which are connected through the moving pair, and the restraint branched chain connecting rod I and the restraint branched chain connecting rod II can move relatively in the horizontal direction.
The multiple groups of lifting branched chains comprise a first lifting branched chain, a second lifting branched chain and a third lifting branched chain, wherein the first lifting branched chain and the second lifting branched chain are arranged in parallel and are hinged with the constraint branched chain connecting rod I; and the third lifting branched chain is hinged with the restraint branched chain connecting rod II.
The first lifting branch chain comprises a first lifting branch chain connecting rod I and a first lifting branch chain connecting rod II; the second lifting branched chain comprises a second lifting branched chain connecting rod I and a second lifting branched chain connecting rod II;
the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are arranged between the restraint branched chain connecting rod I and the base in parallel, the lower ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged with the base, and the upper ends of the first lifting branched chain connecting rod I and the restraint branched chain connecting rod I are hinged with each other;
the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are arranged between the restraint branched chain connecting rod I and the platform in parallel, the lower ends of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are hinged to the restraint branched chain connecting rod I, and the upper ends of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are hinged to the platform.
The first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are equal in length; and the lengths of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are equal.
The third lifting branched chain comprises a third lifting branched chain connecting rod I and a third lifting branched chain connecting rod II, wherein the lower end of the third lifting branched chain connecting rod I is hinged with the base, and the upper end of the third lifting branched chain connecting rod I is hinged with the restraint branched chain connecting rod II; the lower end of the third lifting branched chain connecting rod II is hinged to the restraint branched chain connecting rod II, and the upper end of the third lifting branched chain connecting rod II is hinged to the platform.
The length of the third lifting branched chain connecting rod I is equal to that of the first lifting branched chain connecting rod I and that of the second lifting branched chain connecting rod I, and the third lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are arranged in opposite directions;
and the length of the third lifting branched chain connecting rod II is equal to that of the first lifting branched chain connecting rod II and that of the second lifting branched chain connecting rod II, and the third lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are arranged in opposite directions.
The third lifting branched chains are arranged in two groups and are arranged in parallel.
The first lifting branch chain and the second lifting branch chain are located between the two groups of third lifting branch chains.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses the moment of gravity bearing capacity that arouses gravity and gravity is stronger, can be in order to enlarge the working face at the unchangeable condition extension platform size of branch chain configuration.
2. The utility model discloses the motion can use lead screw drive, and bearing capacity is big, and response speed is fast, convenient to use motor drive control.
3. The utility model discloses can integrate nature is good, easily integrates other motion. The platform is provided with a rotary joint or a movable joint and the like, so that the integration of the mechanism can be realized, and the multi-degree-of-freedom mechanism with high load capacity can be obtained.
4. The utility model discloses reliability and precision are high. Because the drive of this robot can select lead screw drive for use, reliability, precision are higher.
Drawings
Fig. 1 is a schematic structural view of a light heavy-load parallel lifting mechanism according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a light heavy-load parallel lifting mechanism according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a light heavy-load parallel lifting mechanism according to a second embodiment of the present invention;
fig. 4 is a schematic structural principle diagram of a light heavy-load parallel lifting mechanism in the third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a light heavy-load parallel lifting mechanism in the fourth embodiment of the present invention;
fig. 6 is a schematic structural principle diagram of a light heavy-load parallel lifting mechanism in the fifth embodiment of the present invention;
fig. 7 is a schematic structural view of a light heavy-load parallel lifting mechanism according to a sixth embodiment of the present invention;
fig. 8 is a schematic structural principle diagram of a light heavy-load parallel lifting mechanism in the sixth embodiment of the present invention.
In the figure: 1 is a first lifting branched chain, 101 is a first lifting branched chain revolute pair I, 102 is a first lifting branched chain revolute pair II, 103 is a first lifting branched chain revolute pair III, 104 is a first lifting branched chain connecting rod I, and 105 is a first lifting branched chain connecting rod II; 2 is a second lifting branched chain, 201 is a second lifting branched chain revolute pair I, 202 is a second lifting branched chain revolute pair II, 203 is a second lifting branched chain revolute pair III, 204 is a second lifting branched chain connecting rod I, and 205 is a second lifting branched chain connecting rod II; 3 is a third lifting branched chain, 31 is a third lifting branched chain I, 32 is a third lifting branched chain II, 301 is a third lifting branched chain revolute pair I, 302 is a third lifting branched chain revolute pair II, 303 is a third lifting branched chain revolute pair III, 304 is a third lifting branched chain connecting rod I, and 305 is a third lifting branched chain connecting rod II; 4 is a restraint branched chain, 401 is a restraint branched chain connecting rod I, 402 is a moving pair, and 403 is a restraint branched chain connecting rod II; 5 is a platform; and 6 is a base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1, a light heavy-load parallel lifting mechanism provided in a first embodiment of the present invention includes a constraint branched chain 4, a platform 5, a base 6, and a plurality of sets of lifting branched chains, wherein the platform 5 is disposed above the base 6 and is hinged to the base 6 through the plurality of sets of lifting branched chains; the constraint branched chain 4 is arranged between the platform 5 and the base 6 and is provided with a sliding pair 402; the multiple groups of lifting branched chains are distributed on two sides of the moving pair 402 of the constraint branched chain 4 and hinged with the constraint branched chain 4.
Further, the constraining branch 4 is parallel to the base 6 and the platform 5, and can drive the moving pair 402 to move the platform 5 upward, or drive any rotating pair of any lifting branch to move the platform 5 upward.
As shown in fig. 2, in the embodiment of the present invention, the restraint branch 4 includes a restraint branch link i 401 and a restraint branch link ii 403 connected by a sliding pair 402, and the restraint branch link i 401 and the restraint branch link ii 403 are relatively movable in the horizontal direction.
In the embodiment of the present invention, the plurality of groups of lifting branched chains include a first lifting branched chain 1, a second lifting branched chain 2 and a third lifting branched chain 3, wherein the first lifting branched chain 1 and the second lifting branched chain 2 are arranged in parallel and are hinged to a constraint branched chain connecting rod i 401; and the third lifting branched chain 3 is hinged with a constraint branched chain connecting rod II 403.
In the embodiment of the utility model, the first lifting branch chain 1 comprises a first lifting branch chain connecting rod I104 and a first lifting branch chain connecting rod II 105; the second lifting branched chain 2 comprises a second lifting branched chain connecting rod I204 and a second lifting branched chain connecting rod II 205; the first lifting branched chain connecting rod I104 and the second lifting branched chain connecting rod I204 are arranged between the restraint branched chain connecting rod I401 and the base 6 in parallel, the lower ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged with the base 6, and the upper ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged with the restraint branched chain connecting rod I401; the first lifting branched chain connecting rod II 105 and the second lifting branched chain connecting rod II 205 are arranged between the restraint branched chain connecting rod I401 and the platform 5 in parallel, the lower ends of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are hinged with the restraint branched chain connecting rod I401, and the upper ends of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are hinged with the platform 5.
Further, the first lifting branched chain connecting rod I104 and the second lifting branched chain connecting rod I204 are equal in length; the first lifting branched chain connecting rod II 105 and the second lifting branched chain connecting rod II 205 are equal in length.
In the embodiment of the present invention, the third lifting branched chain 3 comprises a third lifting branched chain connecting rod i 304 and a third lifting branched chain connecting rod ii 305, wherein the lower end of the third lifting branched chain connecting rod i 304 is hinged to the base 6, and the upper end is hinged to the restraint branched chain connecting rod ii 403; the lower end of the third lifting branched chain connecting rod II 305 is hinged with the restraint branched chain connecting rod II 403, and the upper end of the third lifting branched chain connecting rod II is hinged with the platform 5.
Further, the length of the third lifting branched chain connecting rod I304 is equal to the length of the first lifting branched chain connecting rod I104 and the length of the second lifting branched chain connecting rod I204, and the third lifting branched chain connecting rod I304 and the second lifting branched chain connecting rod I204 are arranged in opposite directions; the length of the third lifting branched chain connecting rod II 305 is equal to the length of the first lifting branched chain connecting rod II 105 and the length of the second lifting branched chain connecting rod II 205, and the third lifting branched chain connecting rod II is arranged in the opposite direction.
Specifically, the lower end of a first lifting branch chain connecting rod I104 is connected with the base 6 through a first lifting branch chain revolute pair I101, the upper end of the first lifting branch chain connecting rod I104 and the lower end of a first lifting branch chain connecting rod II 105 are connected with a restraint branch chain connecting rod I401 through a first lifting branch chain revolute pair II 102, and the upper end of the first lifting branch chain connecting rod II 105 is connected with the platform 5 through a first lifting branch chain revolute pair III 103. The lower end of a second lifting branched chain connecting rod I204 is connected with the base 6 through a second lifting branched chain revolute pair I201, the upper end of the second lifting branched chain connecting rod I204 and the lower end of a second lifting branched chain connecting rod II 205 are connected with a restraint branched chain connecting rod I401 through a second lifting branched chain revolute pair II 202, and the upper end of the second lifting branched chain connecting rod II 205 is connected with the platform 5 through a second lifting branched chain revolute pair III 203. The lower end of a third lifting branched chain connecting rod I304 is connected with the base 6 through a third lifting branched chain revolute pair I301, the upper end of the third lifting branched chain connecting rod I304 and the lower end of a third lifting branched chain connecting rod II 305 are connected with a restraint branched chain connecting rod II 403 through a third lifting branched chain revolute pair II 302, and the upper end of the third lifting branched chain connecting rod II 305 is connected with the platform 5 through a third lifting branched chain revolute pair III 303. The axes of the first lifting branched chain revolute pair I101, the second lifting branched chain revolute pair I201 and the third lifting branched chain revolute pair I301 are parallel and are all located in the same plane; the axes of the first lifting branched chain revolute pair II 102, the second lifting branched chain revolute pair II 202 and the third lifting branched chain revolute pair II 302 are parallel and are all positioned in the same plane; the axes of the first lifting branched chain revolute pair III 103, the second lifting branched chain revolute pair III 203 and the third lifting branched chain revolute pair III 303 are parallel and all located in the same plane.
In this embodiment, the first lifting branched chain revolute pair i 101, the second lifting branched chain revolute pair i 201 and the third lifting branched chain revolute pair i 301 are sequentially arranged from left to right, that is, the third lifting branched chain revolute pair i 301 is located at the outer side of the second lifting branched chain revolute pair i 201; the first lifting branch chain revolute pair III 103, the second lifting branch chain revolute pair III 203 and the third lifting branch chain revolute pair III 303 are sequentially arranged from left to right, namely the third lifting branch chain revolute pair III 303 is positioned on the outer side of the second lifting branch chain revolute pair III 203. Wherein the following three distances are equal: the distance between the first lifting branch chain revolute pair I101 and the second lifting branch chain revolute pair I201, the distance between the first lifting branch chain revolute pair II 102 and the second lifting branch chain revolute pair II 202, and the distance between the first lifting branch chain revolute pair III 103 and the second lifting branch chain revolute pair III 203. Specifically, the moving pair 402 may be driven by a screw and nut mechanism, so that the platform 5 moves upward, or any one of the rotating pairs of the first lifting branched chain 1, the second lifting branched chain 2 and the third lifting branched chain 3 may be driven, so that the platform 5 may move upward.
Example two
As shown in fig. 3, the present embodiment is substantially the same as the first embodiment, except that the third lifting branched chain revolute pair i 301 is located between the first lifting branched chain revolute pair i 101 and the second lifting branched chain revolute pair i 201, and the third lifting branched chain revolute pair iii 303 is located between the first lifting branched chain revolute pair iii 103 and the second lifting branched chain revolute pair iii 203. Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE III
As shown in fig. 4, the present embodiment is substantially the same as the first embodiment, except that the third lifting branched chain revolute pair i 301 and the second lifting branched chain revolute pair i 201 are overlapped and have collinear axes; the third lifting branched chain revolute pair III 303 and the second lifting branched chain revolute pair III 203 are overlapped, and the axes are collinear. Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
Example four
As shown in fig. 5, the present embodiment is substantially the same as the first embodiment, except that the third lifting branched chain revolute pair i 301 and the first lifting branched chain revolute pair i 101 are overlapped and have collinear axes; the third lifting branched chain revolute pair III 303 is superposed with the first lifting branched chain revolute pair III 103, and the axes are collinear. Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE five
As shown in fig. 6, the present embodiment is substantially the same as the first embodiment, except that the third lifting branched chain revolute pair i 301 is located outside the first lifting branched chain revolute pair i 101, that is, the first lifting branched chain revolute pair i 101 is located between the third lifting branched chain revolute pair i 301 and the second lifting branched chain revolute pair i 201; third lifting branched chain revolute pair III 303 is located outside first lifting branched chain revolute pair III 103, i.e. first lifting branched chain revolute pair III 103 is located between third lifting branched chain revolute pair III 303 and second lifting branched chain revolute pair III 203. Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE six
As shown in fig. 7-8, the present embodiment is substantially the same as the second embodiment, except that the third lifting branches 3 are two groups, i.e. the third lifting branches i 31 and the third lifting branches ii 32, the third lifting branches i 31 and the third lifting branches ii 32 are disposed in parallel, and the first lifting branches 1 and the second lifting branches 2 are located between the third lifting branches i 31 and the third lifting branches ii 32.
In the embodiment, the third lifting branched chain I31 and the third lifting branched chain II 32 with the same configuration and size form a spatial lifting configuration, and the third lifting branched chain I31 and the third lifting branched chain II 32 jointly play a lifting role and simultaneously increase the anti-gravity moment capacity.
The embodiment of the utility model provides an in, first lift branch chain 1 and second lift branch chain 2 and platform 5, base 6 and restraint branch chain 4 enclose into the parallel four-bar linkage branch chain of two-stage, have two translational motion degrees of freedom. The three lifting branched chains 3 and the constraint branched chains 4 together constrain one translational degree of freedom of the two-stage parallel four-bar mechanism, under the non-singular configuration, the platform only has the translational degree of freedom in the lifting direction, and the platform 5 can be driven to lift by driving the revolute pairs of the first lifting branched chain 1, the second lifting branched chain 2 and the three lifting branched chains 3 or driving the revolute pair 402 of the constraint branched chain 4. The third lifting branched chain revolute pair I301 of the three lifting branched chains 3 can be arranged on the left side, the middle side and the right side of the first lifting branched chain revolute pair I101 and the second lifting branched chain revolute pair I201 or coincide with the axial lines of the first lifting branched chain revolute pair I101 and the second lifting branched chain revolute pair I201 under the condition that the requirements are met. The three lifting branched chains 3 can be obtained by adopting a parallel structure, so that the single-drive space lifting mechanism is obtained. The utility model discloses the motion can use lead screw drive, and bearing capacity is big, and response speed is fast, convenient to use motor drive control.
The utility model discloses the moment of gravity bearing capacity that arouses gravity and gravity is stronger, can be in order to enlarge the working face at the unchangeable condition extension platform size of branch chain configuration. The utility model discloses can the integrated nature be good, easily other motion of integration, install rotation joint or removal joint etc. on the platform, can realize the synthesis of mechanism, obtain high load capacity's multi freedom mechanism.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. A light heavy-load parallel lifting mechanism is characterized by comprising a restraint branched chain (4), a platform (5), a base (6) and a plurality of groups of lifting branched chains, wherein the platform (5) is arranged above the base (6) and is hinged with the base (6) through the plurality of groups of lifting branched chains; the constraint branched chain (4) is arranged between the platform (5) and the base (6) and is provided with a sliding pair (402); the multiple groups of lifting branched chains are distributed on two sides of the moving pair (402) of the constraint branched chain (4) and hinged with the constraint branched chain (4).
2. A light weight heavy load parallel lift mechanism according to claim 1, wherein the restraint branches (4) are parallel to the base (6) and the platform (5).
3. The light-weight heavy-load parallel lifting mechanism is characterized in that the restraint branched chain (4) comprises a restraint branched chain connecting rod I (401) and a restraint branched chain connecting rod II (403) which are connected through the moving pair (402), and the restraint branched chain connecting rod I (401) and the restraint branched chain connecting rod II (403) can move relatively in the horizontal direction.
4. A light weight and heavy load parallel lifting mechanism according to claim 3, wherein the plurality of groups of lifting branches comprise a first lifting branch (1), a second lifting branch (2) and a third lifting branch (3), wherein the first lifting branch (1) and the second lifting branch (2) are arranged in parallel and hinged to the constraint branch link i (401); and the third lifting branched chain (3) is hinged with the restraint branched chain connecting rod II (403).
5. A light weight heavy load parallel lifting mechanism according to claim 4, wherein said first lifting branch (1) comprises a first lifting branch link I (104) and a first lifting branch link II (105); the second lifting branched chain (2) comprises a second lifting branched chain connecting rod I (204) and a second lifting branched chain connecting rod II (205);
the first lifting branched chain connecting rod I (104) and the second lifting branched chain connecting rod I (204) are arranged between the restraint branched chain connecting rod I (401) and the base (6) in parallel, the lower ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged to the base (6), and the upper ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged to the restraint branched chain connecting rod I (401);
first lift branch chain connecting rod II (105) and second lift branch chain connecting rod II (205) parallel arrangement in restraint branch chain connecting rod I (401) with between platform (5), and the lower extreme all with restraint branch chain connecting rod I (401) are articulated, the upper end all with platform (5) are articulated.
6. A light weight heavy load parallel lifting mechanism according to claim 5, wherein the first lifting branched chain link I (104) and the second lifting branched chain link I (204) are equal in length; the lengths of the first lifting branched chain connecting rod II (105) and the second lifting branched chain connecting rod II (205) are equal.
7. A light weight heavy load parallel lifting mechanism according to claim 5, wherein the third lifting branch (3) comprises a third lifting branch link I (304) and a third lifting branch link II (305), wherein the lower end of the third lifting branch link I (304) is hinged with the base (6), and the upper end is hinged with the restraint branch link II (403); the lower end of the third lifting branched chain connecting rod II (305) is hinged with the restraint branched chain connecting rod II (403), and the upper end of the third lifting branched chain connecting rod II is hinged with the platform (5).
8. The light weight heavy load parallel lifting mechanism according to claim 7, wherein the length of the third lifting branched link I (304) is equal to the length of the first lifting branched link I (104) and the second lifting branched link I (204), and the third lifting branched link I (304) is arranged in the opposite direction;
the length of the third lifting branched chain connecting rod II (305) is equal to that of the first lifting branched chain connecting rod II (105) and the second lifting branched chain connecting rod II (205), and the third lifting branched chain connecting rod II (305) and the first lifting branched chain connecting rod II (105) and the second lifting branched chain connecting rod II (205) are arranged in opposite directions.
9. A light weight heavy load parallel lift mechanism according to claim 7, wherein the third lifting branches (3) are in two groups and arranged in parallel.
10. A light weight heavy load parallel lifting mechanism according to claim 9, wherein the first lifting branch (1) and the second lifting branch (2) are located between two sets of the third lifting branches (3).
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| CN202120572875.4U CN214828700U (en) | 2021-03-19 | 2021-03-19 | Lightweight and large load parallel lifting mechanism |
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| CN202120572875.4U CN214828700U (en) | 2021-03-19 | 2021-03-19 | Lightweight and large load parallel lifting mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108490A (en) * | 2021-03-19 | 2022-09-27 | 中国科学院沈阳自动化研究所 | Light heavy-load parallel lifting mechanism |
| CN116277258A (en) * | 2023-04-04 | 2023-06-23 | 阜新奥工机电有限公司 | A triple-arm lifting device |
-
2021
- 2021-03-19 CN CN202120572875.4U patent/CN214828700U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108490A (en) * | 2021-03-19 | 2022-09-27 | 中国科学院沈阳自动化研究所 | Light heavy-load parallel lifting mechanism |
| CN116277258A (en) * | 2023-04-04 | 2023-06-23 | 阜新奥工机电有限公司 | A triple-arm lifting device |
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