CN102230563A - Light-weight three-axis inertia stable platform direction supporting structure - Google Patents
Light-weight three-axis inertia stable platform direction supporting structure Download PDFInfo
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- CN102230563A CN102230563A CN2011100877537A CN201110087753A CN102230563A CN 102230563 A CN102230563 A CN 102230563A CN 2011100877537 A CN2011100877537 A CN 2011100877537A CN 201110087753 A CN201110087753 A CN 201110087753A CN 102230563 A CN102230563 A CN 102230563A
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Abstract
The invention relates to a light-weight three-axis inertia stable platform direction supporting structure which comprises a direction frame, an outer packing ring, a pitching frame, fastening screws, an end play adjusting washer, an inner steel wire rollway, an outer steel wire rollway, a retainer and a rolling body. The supporting structure is connected with the pitching frame and the direction frame of the inertia stable platform, bears load weight and rotates around the Z axis; the direction frame is a rotor base of the supporting structure; the outer packing ring and the pitching frame jointly form a stator base of the supporting structure, the outer packing ring is an upper frame of the stator base, the pitching frame is a lower frame of the stator base, and the fastening screws distributed in a circumferential direction are used for connecting the upper frame and the lower frame together through the end play adjusting washer. The light-weight three-axis inertia stable platform direction supporting structure has the characteristics of flexible rotation, high accuracy, small size, light weight and compact structure, realizes the compatible integration of the direction supporting and platform system, and is suitable for inertia stable and photoelectric servo platform systems such as aviation remote sensing, target tracking, and the like.
Description
Technical field
The invention belongs to the aerial remote sens ing technique field, relate to three inertially stabilized platform orientation of a kind of light-type supporting structure, be applicable to that carrying is big and require three inertially stabilized platform system attitude supportings of the less airborne remote sensing of deadweight, also can be used for servo tracking stabilized platform systems such as vehicle-mounted, carrier-borne, radar and targeted surveillance.
Background technique
Three inertially stabilized platforms of airborne remote sensing are one of key equipments of airborne earth observation, its function is to be supported to picture load and to isolate three direction attitude angle motions of flight carrier and external disturbance, the imaging load optical axis is followed the tracks of in inertial space all the time and, improved imaging resolution perpendicular to local level.Yet because the aerospace applications environmental limit, need to have simultaneously characteristics such as little, the in light weight and CBR of volume is big on the inertially stabilized platform structure, therefore need carry out the compactedness optimal design under the prerequisite of dynamic and static state performance satisfying in the design.The orientation supporting is a critical component of inertially stabilized platform, is determining the overall performance of stabilized platform, comprises precision, bearing capacity, volume, weight, power consumption etc.
The effect that the orientation is bearing in the inertially stabilized platform mainly comprises following three aspects: (1) bears the imaging load weight; (2) the orientation frame is connected with the transition of pitching frame; (3) carrying imaging load turns round around the Z axle.In the design of aviation inertially stabilized platform, the common radial antifriction bearing form of the general employing of existing orientation supporting means is as the various storehouse formula inertially stabilized platforms of hanging.The supporting of integrated type orientation has radial antifriction bearing precision height, turns round advantage flexibly, and quality is big, volume big, difficult shortcoming is installed but exist; In addition, 3 contact-type roller wheel bearing modes have been adopted in the supporting of the orientation of German AeroStab-2 light-type inertially stabilized platform, have significantly reduced weight and volume, and it is also easy to install, but exists bearing capacity low, poor rigidity, the shortcoming that rotating accuracy is low.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, propose a kind ofly to turn round flexibly, precision is high, volume is little, light weight, bearing capacity three inertially stabilized platform orientation of light-type supporting structure strong, easy for installation.
Technical solution of the present invention is: three inertially stabilized platform orientation of a kind of light-type supporting structure comprises the orientation frame, compresses the outer ring, pitching frame, fastening screw trip bolt, play are adjusted packing ring, two interior wire rollers, two outer wire rollers, retainer, rolling element; The orientation frame is the rotor matrix of supporting structure, and two interior wire rollers are placed in the structure of orientation frame; Compress outer ring and pitching frame and form the stator matrix of supporting structure jointly, wherein compress the upper frame that the outer ring is the stator matrix, the pitching frame is the underframe of stator matrix, the uniform fastening screw trip bolt of circumferencial direction is adjusted packing ring by play upper frame and underframe is connected as one, and two outer wire rollers are placed on respectively in the structure that compresses outer ring and pitching frame; The horizontal center line of retainer overlaps with the horizontal center line and the gyration center axis of rolling element respectively to central axis with Z, and retainer Z evenly separates the rolling element circumference to the pocket hole that the end face circumference uniform distribution equates with rolling element quantity; Rolling element is born the imaging load weight by contacting with the direct of two outer wire rollers with two interior wire rollers, and carries imaging load and rotate around the Z axle; Play adjusts that packing ring will compress the outer ring and the pitching frame separates, during assembling as required the grinding play adjust the height of packing ring, make supporting structure have certain play or pretension amount.
Orientation supporting structure raceway part longitudinal profile is a square, in the square cross-section, two diagonal of two interior wire rollers and two outer wire roller formations with, become 90 ° of quadratures, intersection point is the center of rolling element; In square cross-section, rolling element and two interior wire rollers have two point of contact and, rolling element and two outer wire rollers have two point of contact with; Two interior wire rollers, two outer wire rollers, retainer and rolling elements are formed four point contact ball bearing forms, can bear simultaneously radially, thrust load and tilting moment.
Frame outer middle side part in orientation is offered the horizontal slot that sectional shape is a rectangle, and the horizontal slot bottom center is offered the mounting groove of retainer, two interior wire rollers embed horizontal slots bottom two corners and, and compressed by rolling element; Two outer wire rollers are embedded into the step trough corner that compresses the outer ring and the step trough corner of pitching frame respectively, and are compressed by rolling element.
Two interior wire roller external diameters and rolling element contacting point surfacing add carefully and neatly done circle arc groove, and arc groove cross section radius of curvature is the interior revolution raceway of rolling element greater than the radius of rolling element; Simultaneously, two outer wire roller internal diameters and surface, rolling element contacting point be the whole circle of grinding arc groove also, and arc groove cross section radius of curvature is the outer revolution raceway of rolling element greater than the radius of rolling element.Rolling element adopts high-precision ceramic balls or carbon steel balls.
The orientation frame, compress the outer ring and pitching frame outer rim Z has age of a draught animal structure to design, the boss of age of a draught animal structure and groove and compress the boss and the interlaced insertion of groove of outer ring age of a draught animal structure above the orientation frame during installation are formed the non-contact labyrinth sealing; In like manner, the non-contact labyrinth sealing is formed in the boss of age of a draught animal structure and the boss and the interlaced insertion of groove of groove and pitching frame age of a draught animal structure below the orientation frame.
Retainer adopts nylon material, horizontal positioned, end face along Z to pocket hole that circumference uniform distribution equates with rolling element quantity; The pocket hole is divided into two kinds, and the cross section is 40 degree cone angles, but angle direction is opposite; Two kinds of pocket holes respectively account for half of pocket hole sum, and circumference is interspersed; Half quantity steel ball is by contacting with a kind of inclined-plane in two kinds of pocket holes, with the retainer location and drive its rotation; Retainer is provided with opening and is used for installing.
Play is adjusted four of the packing ring same form, is 90 ° of circle structures, middle uniform fastening screw trip bolt via hole; Four play are adjusted packing ring and are compressed the outer ring and contact with pitching frame circumference integral body.
Principle of the present invention is: three inertially stabilized platform orientation of a kind of light-type of the present invention supporting structure comprises the orientation frame, compresses the outer ring, pitching frame, fastening screw trip bolt, play are adjusted packing ring, two interior wire rollers, two outer wire rollers, retainer, rolling element; The orientation frame is the rotor matrix of supporting structure, and two interior wire rollers are placed in the structure of orientation frame; Compress outer ring and pitching frame and form the stator matrix of supporting structure jointly, wherein compress the upper frame that the outer ring is the stator matrix, the pitching frame is the underframe of stator matrix, the uniform fastening screw trip bolt of circumferencial direction is adjusted packing ring by play upper frame and underframe is connected as one, and two outer wire rollers are placed on respectively in the structure that compresses outer ring and pitching frame; The horizontal center line of retainer overlaps with the horizontal center line and the gyration center axis of rolling element respectively to central axis with Z, and retainer Z evenly separates the rolling element circumference to the pocket hole that the end face circumference uniform distribution equates with rolling element quantity; Rolling element is born the imaging load weight by contacting with the direct of two outer wire rollers with two interior wire rollers, and carries imaging load and rotate around the Z axle; Play adjusts that packing ring will compress the outer ring and the pitching frame separates, during assembling as required the grinding play adjust the height of packing ring, make supporting structure have certain play or pretension amount.
The present invention's advantage compared with prior art is:
(1) adopt and to slot in frame structure, steel wire is embedded in the framework groove as raceway, compare integrated type radial antifriction bearing scheme, volume minimum, quality are the lightest;
(2) grinding of wire roller part forms, and the circumference steel ball is uniform, and therefore revolution is flexible, precision is high, and internal ratio integrated type radial antifriction bearing scheme bearing capacity is bigger in the same design space;
(3) play is adjusted packing ring and is designed to whole contact split blade type structure, compare local contact pins or 3 contact-type roller wheel bearing modes with quantity such as fastening screw trip bolts, the present invention has the bigger non-deformability that flies, and bearing load carrying capacity and rotating accuracy are significantly strengthened;
(4) utilize the fastening screw trip bolt circumferencial direction will compress the outer ring equably and the pitching frame is connected to the stator matrix, and orientation frame itself is directly as rotor matrix, with respect to other scheme, dismounting close install be very easy to convenient.
Description of drawings
Fig. 1 divides the regulation of local enlarged view and system of coordinates direction for groove portion of the present invention;
The erection drawing that Fig. 2 uses in three inertially stabilized platforms of a kind of light-type for the present invention;
Fig. 3 is groove-section four point contact ball bearing schematic diagrams of the present invention, two interior wire rollers and two outer wire roller grinding arc groove schematic representation;
Fig. 4 is orientation of the present invention mount structure characteristics;
Fig. 5 compresses the structural feature of outer ring and pitching frame composition integral type stator matrix for the present invention;
Fig. 6 is orientation of the present invention frame and the non-contact labyrinth sealing partial enlarged drawing that compresses the outer ring composition;
Fig. 7 is the non-contact labyrinth sealing partial enlarged drawing of orientation of the present invention frame and pitching frame composition;
Fig. 8 is the structural representation of retainer of the present invention, and Fig. 8 a distributes and the aperture position schematic representation in pocket hole circle week, and Fig. 8 b is a pocket hole structure feature partial enlarged drawing;
Fig. 9 adjusts the structural representation of packing ring for play of the present invention.
Embodiment
As shown in Figure 1, three inertially stabilized platform orientation of a kind of light-type of the present invention supporting structure comprises orientation frame 1, compresses outer ring 2, pitching frame 3, fastening screw trip bolt 4, play are adjusted packing ring 5, two interior wire rollers 6, two outer wire rollers 7, retainer 8, rolling element 9; Two interior wire rollers 6 are placed in the structure of orientation frame 1, and two outer wire rollers 7 are placed on respectively in the structure that compresses outer ring 2 and pitching frame 3; The horizontal center line of retainer 8 overlaps with the horizontal center line and the gyration center axis of rolling element 9 respectively to central axis with Z, and the Z of retainer 8 evenly separates rolling element 9 circumference to the pocket hole that the end face circumference uniform distribution equates with rolling element 9 quantity; Rolling element 9 is born the imaging load weight by contacting with the direct of two outer wire rollers 7 with two interior wire rollers 6, and carries imaging load and rotate around the Z axle; Play adjusts that packing ring 5 will compress outer ring 2 and pitching frame 3 separates, during assembling as required the grinding play adjust the height of packing ring 5, make supporting structure have certain play or pretension amount.
As shown in Figure 2, orientation frame 1 is the rotor matrix of supporting structure, compress outer ring 2 and the pitching frame 3 common stator matrixes of forming supporting structure, wherein compress outer ring 2 and be the upper frame of stator matrix, pitching frame 3 is the underframe of stator matrix, and the uniform fastening screw trip bolt 4 of circumferencial direction is adjusted packing ring 5 by play upper frame and underframe are connected as one.
As shown in Figure 3, orientation of the present invention supporting structure raceway part longitudinal profile is a square, and in the square cross-section, two interior wire rollers 6 and two outer wire rollers 7 constitute two diagonal 10 and 11, become 90 ° of quadratures, and intersection point is the center of rolling element 9; In square cross-section, rolling element 9 and two interior wire rollers 6 have two point of contact 12 and 13, and rolling element 9 and two outer wire rollers 7 have two point of contact 14 and 15; Two interior wire rollers 6, two outer wire rollers 7, retainers 8 are formed four point contact ball bearing forms with rolling element 9, can bear simultaneously radially, thrust load and tilting moment.
Wherein two interior wire roller 6 external diameters and rolling element 9 contacting point surfacings add carefully and neatly done circle arc groove 601, and arc groove 601 cross section radius of curvature are interior revolution raceways of rolling element 9 greater than the radius of rolling element 9; Simultaneously, two outer wire roller 7 internal diameters and surface, rolling element 9 contacting point be the whole circle of grinding arc groove 701 also, and arc groove 701 cross section radius of curvature are outer revolution raceways of rolling element 9 greater than the radius of rolling element 9.Rolling element 9 adopts high-precision ceramic balls or carbon steel balls.
As shown in Figure 4, frame 1 outer middle side part in orientation of the present invention is offered the horizontal slot 103 that sectional shape is a rectangle, and horizontal slot 103 bottom center are offered the mounting groove 104 of retainer 8, and the internal diameter of retainer 8 is not interfered with orientation frame 1; Two interior wire rollers 6 embed horizontal slot 103 bottoms, two corners 105 and 106, and are compressed by rolling element 9;
As shown in Figure 5, the uniform fastening screw trip bolt 4 of circumferencial direction will compress outer ring 2 by play adjustment packing ring 5 and pitching frame 3 is connected as one, and forms the stator matrix of supporting structure jointly, compresses upper frame and underframe that outer ring 2 and pitching frame 3 are respectively the stator matrix; Two outer wire rollers 7 are embedded into step trough 203 corners 204 that compress outer ring 2 and step trough 303 corners 304 of pitching frame 3 respectively, and are compressed bearing load by rolling element 9.
As shown in Figure 6 and Figure 7, orientation of the present invention frame 1, compress outer ring 2 and pitching frame 3 outer rim Z have age of a draught animal structure to design, the boss 101 of orientation frame 1 top age of a draught animal structure and groove 102 and the boss 201 and the groove 202 interlaced insertions that compress 2 age of a draught animal of outer ring structure during installation are formed the non-contact labyrinth sealing; In like manner, the non-contact labyrinth sealing is formed in the boss 101 of orientation frame 1 following age of a draught animal structure and the boss 301 and the groove 302 interlaced insertions of groove 102 and 3 age of a draught animal of pitching frame structure; When supporting structure turns round; above-mentioned two place's non-contact labyrinth sealings can not produce friction torque; and on 360 ° of circumferencial directions with the inner seal protection fully of raceway, play the effect that dustproof, anti-lubricating grease comes off, guarantee that the running environment of supporting structure superperformance also prolongs its life-span.
Shown in Fig. 8 a, retainer of the present invention 8 adopts nylon materials, horizontal positioned, end face along Z to pocket hole 801 and 802 that circumference uniform distribution equates with rolling element quantity; Pocket hole 801 and pocket hole 802 respectively account for half of pocket hole sum, and circumference is interspersed; Pocket hole 801 and 802 cross sections, pocket hole are 40 degree cone angles, and angle direction is opposite.
Shown in Fig. 8 b, the rolling element 9 of half quantity by with 801 inner circular cone inclined-planes, pocket hole circumferential contact from bottom to top, with retainer 8 jack-up; And the rolling element 9 of second half quantity by with the oblique circumferential contact from top to bottom of pocket hole 802 inner circular cones, retainer 8 is pushed down; Rolling element 9 carries out retainer 8 location of X, Y and three directions of Z and drives its rotation by pocket hole 801 and pocket hole 802; Retainer 8 is provided with opening 803 and is used for installing, and utilizes the elasticity of nylon material from opening 803 retainer 8 diameters to be widened during installation, and the horizontal slot 103 that makes retainer 8 can level put into orientation frame 1 outer middle side part assembles.
As shown in Figure 9, play of the present invention is adjusted four of packing ring 5 same form, is 90 ° of circle structures, middle uniform fastening screw trip bolt via hole 501; Four play are adjusted packing ring 5 and are compressed outer ring 2 and contact with pitching frame 3 circumference integral body.
Claims (8)
1. three inertially stabilized platform orientation of light-type supporting structure is characterized in that: comprise orientation frame (1), compress outer ring (2), pitching frame (3), fastening screw trip bolt (4), play adjust packing ring (5), two interior wire rollers (6), two outer wire rollers (7), retainer (8), rolling element (9); Orientation frame (1) is the rotor matrix of supporting structure, and two interior wire rollers (6) are placed in the structure of orientation frame (1); Compress outer ring (2) and pitching frame (3) and form the stator matrix of supporting structure jointly, wherein compress outer ring (2) and be the upper frame of stator matrix, pitching frame (3) is the underframe of stator matrix, the uniform fastening screw trip bolt (4) of circumferencial direction is adjusted packing ring (5) by play upper frame and underframe is connected as one, and two outer wire rollers (7) are placed on respectively in the structure that compresses outer ring (2) and pitching frame (3); The horizontal center line of retainer (8) overlaps with the horizontal center line and the gyration center axis of rolling element (9) respectively to central axis with Z, retainer (8) Z evenly separates rolling element (9) circumference to the pocket hole that the end face circumference uniform distribution equates with rolling element (9) quantity; Rolling element (9) by with direct the contacting of two interior wire rollers (6) with two outer wire rollers (7), bear the imaging load weight, and carry imaging load and rotate around the Z axle; Play adjusts that packing ring (5) will compress outer ring (2) and pitching frame (3) separates, and the height of grinding play adjustment packing ring (5) as required during assembling makes supporting structure have certain play or pretension amount.
2. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure, it is characterized in that: described orientation supporting structure raceway part longitudinal profile is square, in the square cross-section, two interior wire rollers (6) constitute two diagonal (10,11) with two outer wire rollers (7), become 90 ° of quadratures, intersection point is the center of rolling element (9); In square cross-section, rolling element (9) has two point of contact (12,13) with two interior wire rollers (6), and rolling element (9) has two point of contact (14,15) with two outer wire rollers (7); Two interior wire rollers (6), two outer wire rollers (7), retainer (8) are formed four point contact ball bearing forms with rolling element (9), can bear simultaneously radially, thrust load and tilting moment.
3. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure, it is characterized in that: the outer middle side part of orientation frame (1) is offered the horizontal slot that sectional shape is a rectangle (103), horizontal slot (103) bottom center is offered the mounting groove (104) of retainer (8), two interior wire rollers (6) embed horizontal slot (103) bottom two corners (105,106), and are compressed by rolling element (9); Two outer wire rollers (7) are embedded into step trough (203) corner (204) that compresses outer ring (2) and step trough (303) corner (304) of pitching frame (3) respectively, and are compressed by rolling element (9).
4. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure, it is characterized in that: described two interior wire roller (6) external diameters and rolling element (9) contacting point surfacing add carefully and neatly done circle arc groove (601), arc groove (601) cross section radius of curvature is the interior revolution raceway of rolling element (9) greater than the radius of rolling element (9); Simultaneously, two outer wire roller (7) internal diameters and rolling element (9) surface, contacting point be the whole circle of grinding arc groove (701) also, and arc groove (701) cross section radius of curvature is the outer revolution raceway of rolling element (9) greater than the radius of rolling element (9).
5. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure, it is characterized in that: described orientation frame (1), compress outer ring (2) and pitching frame (3) outer rim Z has age of a draught animal structure to design, the boss (101) of the top age of a draught animal structure of orientation frame (1) and groove (102) and the boss (201) and the interlaced insertion of groove (202) that compress outer ring (2) age of a draught animal structure during installation are formed the non-contact labyrinth sealing; In like manner, the non-contact labyrinth sealing is formed in the boss (101) of the following age of a draught animal structure of orientation frame (1) and the boss (301) and the interlaced insertion of groove (302) of groove (102) and pitching frame (3) age of a draught animal structure.
6. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure is characterized in that: described rolling element (9) adopts high-precision ceramic balls or carbon steel balls.
7. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure, it is characterized in that: described retainer (8) adopts nylon material, horizontal positioned, end face along Z to pocket hole (801,802) that circumference uniform distribution equates with rolling element quantity; Pocket hole (801) and pocket hole (802) respectively account for half of pocket hole sum, and circumference is interspersed; Pocket hole (801) and cross section, pocket hole (802) are 40 degree cone angles, and angle direction is opposite; The rolling element of half quantity (9) by with inner circular cone inclined-plane, pocket hole (801) circumferential contact from bottom to top, with retainer (8) jack-up; And the rolling element of second half quantity (9) by with the oblique circumferential contact from top to bottom of pocket hole (802) inner circular cone, retainer (8) is pushed down; Rolling element (9) carries out retainer (8) location of X, Y and three directions of Z and drives its rotation by pocket hole (801) and pocket hole (802); Retainer (8) is provided with out (803) and is used for installing, and utilizes the elasticity of nylon material from opening (803) retainer (8) diameter to be widened during installation, and the horizontal slot (103) that makes retainer (8) can level put into the outer middle side part of orientation frame (1) assembles.
8. three inertially stabilized platform orientation of a kind of light-type according to claim 1 supporting structure is characterized in that: described play is adjusted four of packing ring (5) same form, is 90 ° of circle structures, middle uniform fastening screw trip bolt via hole (501); Four play are adjusted packing rings (5) and are compressed outer ring (2) and contact with pitching frame (3) circumference integral body.
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| CN 201110087753 CN102230563B (en) | 2011-04-08 | 2011-04-08 | Light-weight three-axis inertia stable platform direction supporting structure |
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| CN 201110087753 CN102230563B (en) | 2011-04-08 | 2011-04-08 | Light-weight three-axis inertia stable platform direction supporting structure |
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| CN102778234A (en) * | 2012-08-17 | 2012-11-14 | 北京航空航天大学 | High-accuracy heavy-load inertially stabilized platform |
| CN102849220A (en) * | 2012-09-04 | 2013-01-02 | 北京航空航天大学 | Orientation driving/locking device for inertially-stabilized platform |
| CN103294066A (en) * | 2013-05-31 | 2013-09-11 | 西安应用光学研究所 | Azimuth device applicable to vehicular photoelectric turntable |
| CN105697561A (en) * | 2016-03-31 | 2016-06-22 | 陕西宝成航空仪表有限责任公司 | Rotating device for fixing rotator where inertial element is located in axial floating manner and radial pre-tightening manner |
| CN108082512A (en) * | 2018-02-02 | 2018-05-29 | 四川测绘地理信息局测绘技术服务中心 | Carry the cabin of the unmanned plane of bloom spectrum sensor |
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| CN111361752A (en) * | 2017-12-29 | 2020-07-03 | 深圳市大疆创新科技有限公司 | Driving device, cloud platform, shooting device and unmanned vehicles |
| CN116780191A (en) * | 2023-08-25 | 2023-09-19 | 成都时代宇辰科技有限公司 | Large hollow antenna interlayer rolling track |
| CN117267263A (en) * | 2023-10-24 | 2023-12-22 | 浙江恩碧技创新科技有限公司 | Shock-absorbing noise-reducing steel wire raceway bearing |
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| WO2019019327A1 (en) * | 2017-07-28 | 2019-01-31 | 深圳市大疆创新科技有限公司 | Vision system for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN111361752A (en) * | 2017-12-29 | 2020-07-03 | 深圳市大疆创新科技有限公司 | Driving device, cloud platform, shooting device and unmanned vehicles |
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| CN116780191A (en) * | 2023-08-25 | 2023-09-19 | 成都时代宇辰科技有限公司 | Large hollow antenna interlayer rolling track |
| CN117267263A (en) * | 2023-10-24 | 2023-12-22 | 浙江恩碧技创新科技有限公司 | Shock-absorbing noise-reducing steel wire raceway bearing |
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| CN102230563B (en) | 2013-05-22 |
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