CN110125977A - Detachable magnetic positioning joint, rotational structure and mechanical equipment - Google Patents
Detachable magnetic positioning joint, rotational structure and mechanical equipment Download PDFInfo
- Publication number
- CN110125977A CN110125977A CN201910579990.1A CN201910579990A CN110125977A CN 110125977 A CN110125977 A CN 110125977A CN 201910579990 A CN201910579990 A CN 201910579990A CN 110125977 A CN110125977 A CN 110125977A
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- China
- Prior art keywords
- socket joint
- joint
- ball
- positioning
- detachable magnetic
- 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.)
- Pending
Links
- 238000013016 damping Methods 0.000 claims abstract description 54
- 230000005389 magnetism Effects 0.000 claims abstract description 8
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 2
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 241000309551 Arthraxon hispidus Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The embodiment of the invention discloses a kind of detachable magnetic positioning joint, rotational structure and mechanical equipments, detachable magnetic positioning joint includes socket joint and ball and socket joint, ball and socket joint connect with socket joint magnetism, socket joint includes socket joint ontology, socket joint further includes one or more magnetically damped bodies and/or one or more positioning damping bodies, when socket joint includes at least magnetically damped body, socket joint ontology is contacted by magnetically damped body with ball and socket joint；When socket joint includes at least positioning damping body, socket joint ontology is contacted by positioning damping body with ball and socket joint.Rotational structure includes detachable magnetic positioning joint, and mechanical equipment includes rotational structure.Hardly possible positions after positioning joint abrasion can be improved through the embodiment of the present invention, generates rotation or offset vulnerable to the influence of gravity or vibration, leads to the problem that the positioning accuracy in joint is low, stability is poor.
Description
Technical field
The present embodiments relate to joint arrangement technical fields, and in particular to a kind of detachable magnetic positioning joint, rotation
Structurally and mechanically equipment.
Background technique
Currently, diarthrosis connection scheme is mostly physical friction positioning, precise positioning is difficult to after abrasion, rotation amplitude has
Limit splits complexity, is easy to be influenced by gravity or vibration and generate rotation or offset, causes the positioning accuracy in joint low, steady
Qualitative difference.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of detachable magnetic positioning joint, rotational structure and mechanical equipment, to solve
Positioning joint rotation amplitude is limited in the prior art, is difficult to precise positioning after abrasion, splits complicated, and pose accuracy is low, stability
The problem of difference.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
A kind of detachable magnetic positioning joint, including socket joint and pass are provided according to a first aspect of the embodiments of the present invention
Section header, the ball and socket joint connect with the socket joint magnetism and convert rotational positioning damping force, the pass for vertical magnetic attraction
Saving seat includes socket joint ontology, further includes one or more magnetically damped bodies and/or one or more positioning damping bodies；
When the socket joint includes at least the magnetically damped body, the socket joint ontology passes through the magnetically damped body
It is contacted with the ball and socket joint；
When the socket joint includes at least the positioning damping body, the socket joint ontology passes through the positioning damping body
It is contacted with the ball and socket joint.
Further, the magnetically damped body is set to the inside of the socket joint with column or cyclic structure.
Further, the socket joint is sheathed on the outside of the positioning damping body, the positioning damping body and the pass
The face of the first end in contact of first end in contact of section header, the positioning damping body and the ball and socket joint is indent spherical, described
The first end of ball and socket joint is spherical.
Further, the socket joint and the ball and socket joint contact surface radian≤π。
Further, the magnetically damped body is multiple, and multiple magnetically damped volume array distributions are arranged in the pass
Save the first end of seat.
Further, the surface of the ball and socket joint is in frosted shape.
Further, dotted or annular projection is arranged in the surface of the positioning damping body and the ball and socket joint contact portion.
A kind of rotational structure is provided according to a second aspect of the embodiments of the present invention, is positioned including above-mentioned detachable magnetic
Joint.
Further, the socket joint, the ball and socket joint are separately connected the first connector, the second connector.Described first
Connector, second connector, the socket joint and the ball and socket joint form rotational structure.
A kind of mechanical equipment is provided according to a third aspect of the embodiments of the present invention, including above-mentioned rotational structure.
The embodiment of the present invention has the advantages that
It is parallel that ball and socket joint is pushed to separate socket joint and ball and socket joint when socket joint is connect with ball and socket joint magnetism, it is easy to more
Change components.Using keeping ball and socket joint pose more stable, accurate while magnetically damped body and positioning damping body, avoid by weight
The influence of the external factor such as power or vibration.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents can cover.
Fig. 1 is a kind of detachable magnetic positioning joint that the embodiment of the present invention 1 provides；
Fig. 2 is the sectional view in the face A-A of Fig. 1；
Fig. 3 is a kind of explosive view for detachable magnetic positioning joint that the embodiment of the present invention 1 provides；
Fig. 4 is a kind of detachable magnetic positioning joint that the embodiment of the present invention 2 provides；
Fig. 5 is the sectional view in the face B-B of Fig. 4；
Fig. 6 is a kind of explosive view for detachable magnetic positioning joint that the embodiment of the present invention 2 provides；
Fig. 7 is a kind of detachable magnetic positioning joint that the embodiment of the present invention 3 provides；
Fig. 8 is the sectional view in the face C-C of Fig. 7；
Fig. 9 is a kind of detachable magnetic positioning joint that the embodiment of the present invention 4 provides；
Figure 10 is the sectional view in the face D-D of Fig. 9；
Figure 11 is a kind of positioning damping body that the embodiment of the present invention 1 provides；
Figure 12 is enlarged drawing at the E of Figure 11；
Figure 13 is a kind of positioning damping body that the embodiment of the present invention 1 provides；
Figure 14 is enlarged drawing at the F of Figure 13；
Figure 15 is a kind of positioning damping body that the embodiment of the present invention 1 provides；
Figure 16 is enlarged drawing at the G of Figure 15；
Figure 17 is a kind of rotational structure that the embodiment of the present invention 5 provides；
Figure 18 is a kind of rotational structure that the embodiment of the present invention 6 provides.
In figure: 1, socket joint；2, ball and socket joint；10, socket joint ontology；11, magnetically damped body；12, damping body is positioned；13,
Socket joint magnetic lid；100, detachable magnetic positioning joint；L01, the first connector；L02, the second connector.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Embodiment 1
A kind of detachable magnetic positioning joint 100 is provided according to a first aspect of the embodiments of the present invention, such as Fig. 1-3 institute
Show, including socket joint 1 and ball and socket joint 2, ball and socket joint 2 connect with 1 magnetism of socket joint；Socket joint 1 includes socket joint ontology 10, joint
Seat 1 further includes one or more positioning damping bodies 12 and/or one or more magnetically damped bodies 11；When socket joint 1 includes at least
When magnetically damped body 11, socket joint ontology 10 is contacted by magnetically damped body 11 with ball and socket joint 2；Determine when socket joint 1 includes at least
When the damping body 12 of position, socket joint ontology 10 is contacted by positioning damping body 12 with ball and socket joint 2.
Situation is included the following three types in this embodiment:
When socket joint 1 only includes magnetically damped body 11, socket joint ontology 10 is connect by magnetically damped body 11 with ball and socket joint 2
Touching；
When socket joint 1 only includes positioning damping body 12, socket joint ontology 10 is connect by positioning damping body 12 with ball and socket joint 2
Touching；
When socket joint 1 includes magnetically damped body 11 and positioning damping body 12, socket joint ontology 10 passes through magnetic resistance simultaneously
Buddhist nun's body 11 and positioning damping body 12 are contacted with ball and socket joint 2.Magnetically damped body 11 at this time and positioning damping body 12 are and ball and socket joint
Contact.
Socket joint 1 includes magnetically damped body 11, and 11 nesting of magnetically damped body is set in socket joint 1；Socket joint 1 includes fixed
Position damping body 12, socket joint ontology 10 are contacted by magnetically damped body 11 and positioning damping body 12 with ball and socket joint 2.
In the particular embodiment, socket joint 1 include magnetic damper 11 and positioning damping body 12, magnetically damped body 11 with
It is magnetic connection between ball and socket joint 2 and has damping force, simultaneously because there is friction between positioning damping body 12 and ball and socket joint 2,
Rotational positioning damping force is converted by vertical magnetic attraction, and lifts fixing joint head 2, can guarantee that the static pose of ball and socket joint 2 is steady
It is fixed.
It positions set-up mode of the damping body 12 on socket joint ontology 10 and can be and be spirally connected, paste or nested, preferably
Nested mode, it is nested dismantled compared to the modes such as be spirally connected, paste it is more convenient.
The shape of magnetically damped body 11 can be cylindrical body, cuboid, centrum etc., herein and be not specifically limited.For
The type of magnetically damped body 11 is not especially limited, preferably NbFeB sintered sizing, can more bodies it is nested, contact jaw frosted processing；
Type for positioning damping body 12 is not especially limited, as long as being capable of providing frictional force, can be with certain coarse
Rubber material, metal material or the other materials of degree.
Optionally, positioning damping body 12 is the silica gel that hardness is greater than 30.Hardness greater than 30 silica gel can slight deformation, surface
It is provided with corrugated, is capable of providing bigger frictional force compared to other kinds of positioning damping body 12, it is ensured that socket joint 1 and pass
It is more stable on the basis of magnetism connection between section header 2, it is able to bear bigger external force.
Further, magnetically damped body 11 is set to the inside of socket joint 1 with column or cyclic structure.Magnetically damped body 11
Such set-up mode, can be improved the magnetic force uniformity in magnetic field, to improve the stability of magnetic connection.
Further, socket joint 1 is sheathed on the outside of positioning damping body 12, positioning damping body 12 and the first of ball and socket joint 2
The face of the first end in contact of end in contact, positioning damping body 12 and ball and socket joint 2 is indent spherical, and the first end of ball and socket joint 2 is ball
Shape face.Be conducive to ball and socket joint 2 to be freely rotated in socket joint 1, if rectangular, taper, ellipse or other shapes are arranged, when
It is flexible not as spherical when ball and socket joint 2 is rotated in socket joint 1.
Further, contact surface radian≤π of socket joint 1 and ball and socket joint 2。Slewing area without hindrance in this way is big, precisely
Degree is improved.Contact ratio when the contact surface radian of socket joint 1 and ball and socket joint 2 is greater than π, between socket joint 1 and ball and socket joint 2
It is more stable, but can be not readily separated between socket joint 1 and ball and socket joint 2.
Further, magnetically damped body 11 is multiple, and the of socket joint 1 is arranged in multiple 11 array distributions of magnetically damped body
One end.Set-up mode as magnetically damped body 11 is more adaptable, and the size of ball and socket joint 2 is just not specifically limited.
Further, the surface of ball and socket joint 2 is in frosted shape.Increase the frictional resistance between ball and socket joint 2 and socket joint 1, prevents
Only ball and socket joint 2 relatively rotates, and improves the precision of positioning joint during rotation.
Further, the surface of positioning damping body 12 and 2 contact portion of ball and socket joint setting dot bulge or annular projection.Such as
Shown in Figure 11-16, the protrusion of the positioning damping body 12 of 3 kinds of forms is given, is arranged on the surface of positioning damping body 12 dotted
Protrusion or annular projection, which improve, to be damped and fastens ball and socket joint 2, and vertical magnetic attraction is effectively converted rotational positioning damping force.
Embodiment 2
Another detachable magnetic positioning joint 100 is provided according to a first aspect of the embodiments of the present invention, such as Fig. 4-6 institute
Show, including socket joint 1 and ball and socket joint 2, ball and socket joint 2 connect with 1 magnetism of socket joint；Socket joint 1 includes socket joint ontology 10, joint
Seat magnetic lid 13, a positioning damping body 12 and multiple magnetically damped bodies 11 are set in socket joint 1, and it is fixed that socket joint ontology 10 passes through
Position damping body 12 and multiple magnetically damped bodies 11 are contacted with ball and socket joint 2.
The embodiment is on the basis of embodiment 1 for 11 set-up mode of magnetically damped body in socket joint 1 into one
Step is improved, by the setting of magnetically damped body 11 circlewise nested structure, more magnetic fields formed close magnetic fields allow socket joint 1 and ball and socket joint 2 it
Between magnetic stable connection strength.The magnetically damped body 11 of outer layer is fixed, other magnetically damped bodies 11 are movably arranged on outer layer
Magnetically damped body 11 in, the magnetically damped body 11 of internal layer can increase perpendicular magnetic in the rotation process of socket joint 1 and ball and socket joint 2
Suction, socket joint magnetic lid 13 is separable, is conveniently replaceable internal magnetization damping body 11, socket joint magnetic lid 13 and 10 shape of socket joint ontology
At rotational structure.
Embodiment 3
Another detachable magnetic positioning joint 100 is provided according to a first aspect of the embodiments of the present invention, such as Fig. 7-8 institute
Show, including socket joint 1 and ball and socket joint 2, ball and socket joint 2 connect with 1 magnetism of socket joint；Socket joint 1 includes socket joint ontology 10, one
Damping body 12 and multiple magnetically damped bodies 11 are positioned, when magnetically damped body 11 is multiple, multiple 11 arrays of magnetically damped body point
The first end of socket joint 1 is arranged in cloth, and multiple magnetically damped bodies 11 are acted on ball and socket joint 2 simultaneously, improves vertical magnetic attraction.
Embodiment 4
Another detachable magnetic positioning joint 100, such as Fig. 9-10 are provided according to a first aspect of the embodiments of the present invention
It is shown, including socket joint 1 and ball and socket joint 2, ball and socket joint 2 with socket joint 1 is magnetic connect；Socket joint 1 includes socket joint ontology 10, more
A positioning damping body 12 and multiple magnetically damped bodies 11, nesting are set in socket joint 1, and magnetic attraction can be made uniformly to make with damping force
Used in ball and socket joint 2, stability is increased.
Embodiment 5
A kind of rotational structure is provided according to a second aspect of the embodiments of the present invention, is positioned including above-mentioned detachable magnetic
Joint 100.
Further, as shown in figure 17, socket joint 1, ball and socket joint 2 are separately connected the first connector L01, the second connector
L02.First connector L01, the second connector L02, socket joint 1 and ball and socket joint 2 form rotational structure.
Embodiment 6
A kind of rotational structure is provided according to a second aspect of the embodiments of the present invention, is positioned including above-mentioned detachable magnetic
Joint 100.
Further, as shown in figure 18, ball and socket joint 2, socket joint magnetic lid 13 are separately connected the first connector L01, the second company
Fitting L02.Second connector L02 and socket joint 1 form Plane Rotation structure, the first connector L01, the second connector L02, close
It saves seat 1 and ball and socket joint 2 forms rotational structure.
By the way that detachable magnetic positioning joint 100 to be connect with first connecting rod L01, the second connecting rod L02 respectively, form
Complete rotational structure simultaneously converts rotational positioning damping force for vertical magnetic attraction, realize polyaxial rotation and positions, and tears open simultaneously
Dress is convenient, and stability is high in rotation process, and connection type can be the various ways such as be spirally connected, be nested, welding.
A kind of mechanical equipment is provided according to a third aspect of the embodiments of the present invention, including above-mentioned rotational structure.Specifically
, which can be toy robot or mechanical arm etc., which is freely rotated by rotational structure,
Positioning joint is not influenced by gravity or vibration during rotation and generates rotation or offset, ensure that mechanical equipment in work
Positioning accuracy height in work, stability are strong.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (9)
1. a kind of detachable magnetic positioning joint, which is characterized in that including socket joint and ball and socket joint, the ball and socket joint and the pass
Save the connection of seat magnetism；The socket joint includes socket joint ontology, the socket joint further include one or more magnetically damped bodies and/
Or one or more positioning damping bodies；
When the socket joint includes at least the magnetically damped body, the socket joint ontology passes through the magnetically damped body and institute
State ball and socket joint contact；
When the socket joint includes at least the positioning damping body, the socket joint ontology passes through the positioning damping body and institute
State ball and socket joint contact.
2. detachable magnetic positioning joint according to claim 1, which is characterized in that the magnetically damped body is with column knot
Structure or cyclic structure are set to the inside of the socket joint.
3. detachable magnetic positioning joint according to claim 1, which is characterized in that the positioning damping body and the pass
The contact surface of the first end of first end in contact of section header, the positioning damping body and the ball and socket joint is indent spherical, described
The first end of ball and socket joint is spherical.
4. detachable magnetic positioning joint according to claim 3, the contact surface arc of the socket joint and the ball and socket joint
Degree≤π.
5. detachable magnetic positioning joint according to claim 3, which is characterized in that the magnetically damped body be it is multiple,
Multiple magnetically damped volume arrays are distributed in the first end of the socket joint.
6. detachable magnetic positioning joint according to claim 1, which is characterized in that the surface of the ball and socket joint is in frosted
Shape.
7. detachable magnetic positioning joint according to claim 1, which is characterized in that the positioning damping body and the pass
The surface setting dot bulge or annular projection of section header contact portion.
8. a kind of rotational structure, which is characterized in that including the detachable magnetic positioning as described in any one of claims 1 to 7
Joint.
9. a kind of mechanical equipment, which is characterized in that including rotational structure as claimed in claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910579990.1A CN110125977A (en) | 2019-06-28 | 2019-06-28 | Detachable magnetic positioning joint, rotational structure and mechanical equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910579990.1A CN110125977A (en) | 2019-06-28 | 2019-06-28 | Detachable magnetic positioning joint, rotational structure and mechanical equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110125977A true CN110125977A (en) | 2019-08-16 |
Family
ID=67566763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910579990.1A Pending CN110125977A (en) | 2019-06-28 | 2019-06-28 | Detachable magnetic positioning joint, rotational structure and mechanical equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125977A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4142954A1 (en) * | 1991-12-24 | 1993-07-01 | Suck Hans Juergen | Pivotable room light support - involves ball link arranged in base body and comprises magnet body with ball of soft magnetic material |
| US5402049A (en) * | 1992-12-18 | 1995-03-28 | Georgia Tech Research Corporation | System and method for controlling a variable reluctance spherical motor |
| WO1998052718A1 (en) * | 1997-05-21 | 1998-11-26 | Atikari Oy | Stand comprising a ball and a cup-like socket |
| CN101277077A (en) * | 2007-03-27 | 2008-10-01 | 株式会社东芝 | Piezoelectric motor and piezoelectric motor system |
| JP2008267396A (en) * | 2007-04-16 | 2008-11-06 | Oiles Ind Co Ltd | Base isolation device, and fixture and furniture provided with base isolation device |
| US20100024594A1 (en) * | 2008-08-01 | 2010-02-04 | Bi-Jang Rung | Concentric joint mechanism capable of rotating with multiple degrees of freedom |
| CN108890690A (en) * | 2018-08-29 | 2018-11-27 | 太原科技大学 | A kind of pneumatic muscles bionic joint based on magnetorheological fluid |
| CN210113032U (en) * | 2019-06-28 | 2020-02-25 | 王雪龙 | Separable magnetic positioning joint, rotating structure and mechanical equipment |
-
2019
- 2019-06-28 CN CN201910579990.1A patent/CN110125977A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4142954A1 (en) * | 1991-12-24 | 1993-07-01 | Suck Hans Juergen | Pivotable room light support - involves ball link arranged in base body and comprises magnet body with ball of soft magnetic material |
| US5402049A (en) * | 1992-12-18 | 1995-03-28 | Georgia Tech Research Corporation | System and method for controlling a variable reluctance spherical motor |
| WO1998052718A1 (en) * | 1997-05-21 | 1998-11-26 | Atikari Oy | Stand comprising a ball and a cup-like socket |
| CN101277077A (en) * | 2007-03-27 | 2008-10-01 | 株式会社东芝 | Piezoelectric motor and piezoelectric motor system |
| JP2008267396A (en) * | 2007-04-16 | 2008-11-06 | Oiles Ind Co Ltd | Base isolation device, and fixture and furniture provided with base isolation device |
| US20100024594A1 (en) * | 2008-08-01 | 2010-02-04 | Bi-Jang Rung | Concentric joint mechanism capable of rotating with multiple degrees of freedom |
| CN108890690A (en) * | 2018-08-29 | 2018-11-27 | 太原科技大学 | A kind of pneumatic muscles bionic joint based on magnetorheological fluid |
| CN210113032U (en) * | 2019-06-28 | 2020-02-25 | 王雪龙 | Separable magnetic positioning joint, rotating structure and mechanical equipment |
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