CN103196483A - Double-bracket five-degree-of-freedom millimeter wave detection device test platform - Google Patents
Double-bracket five-degree-of-freedom millimeter wave detection device test platform Download PDFInfo
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- CN103196483A CN103196483A CN2013100863726A CN201310086372A CN103196483A CN 103196483 A CN103196483 A CN 103196483A CN 2013100863726 A CN2013100863726 A CN 2013100863726A CN 201310086372 A CN201310086372 A CN 201310086372A CN 103196483 A CN103196483 A CN 103196483A
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Abstract
Disclosed is a double-bracket five-degree-of-freedom millimeter wave detection device test platform. The double-bracket five-degree-of-freedom millimeter wave detection device test platform comprises a first moving guide rail mechanism, a second moving guide rail mechanism, a third moving guide rail mechanism, a first assistant moving guide rail rotating mechanism and a pitching mechanism, wherein the first moving guide rail mechanism and the first assistant moving guide rail rotating mechanism are capable of simulating a detection device to move on the Y-axis direction of a rectangular coordinate system, and the second moving guide rail mechanism and the third moving guide rail mechanism are capable of respectively simulating the detection device to move on the X-axis direction and the Z-axis direction of the rectangular coordinate system. The rotating mechanism is capable of achieving rotating at any angle in the vertical direction of the detection device, and the pitching mechanism is capable of achieving pitching at any angle in the vertical direction of the detection device. The double-bracket five-degree-of-freedom millimeter wave detection device test platform has the advantages that through implementation of the technical scheme, whether a millimeter wave detection device can correctly carry out detection, identification, tracking and the like can be tested on the conditions of different heights, different whether and different backgrounds, so that debugging and detection of the millimeter wave detection device are greatly facilitated.
Description
Technical field
The invention belongs to the Measurement Techniques of Mechanic Engineering field, particularly a kind of double bracket five degree of freedom millimeter wave detection device to test platform is applicable to the test of millimeter wave detection device and Related product performance in motion process.
Background technology
Along with developing rapidly of electronic technology, the application of millimeter-wave technology is more and more wide.At industrial circle, adopt millimeter-wave technology that the equipment operation condition under the maximum conditions is monitored progressively and implement; At civil area, begun to use the unmanned development track that steps into gradually at the high-end equipment of America and Europe based on power systems such as the automobile of millimeter-wave technology, boats and ships, aircraft are crashproof.Millimeter wave detection device to test platform can be simulated the real work condition of millimeter wave detection device.Owing to be subjected to the restriction of millimeter wave detection device to test platform, millimeter-wave technology relatively lags behind in the application of China always.How testing millimeter wave detection device and the Related product reliability in motion process, is that we seek the subject matter that solves for a long time.
Summary of the invention
Purpose of the present invention provides a kind of double bracket five degree of freedom millimeter wave detection device to test platform, solves the test problem of millimeter wave detection device and Related product performance in motion process.
The technical scheme that adopts is:
A kind of double bracket five degree of freedom millimeter wave detection device to test platform comprises 4 supports, three-dimensional motion track-type facilities, rotating mechanism, luffing mechanism and fixed mechanism.
The three-dimensional motion track-type facilities comprises first motion guide rail mechanism, second motion guide rail mechanism, the 3rd motion guide rail mechanism and the first secondary motion guide rail mechanism.
First motion guide rail mechanism comprises first motor, first guide rail, first slide block and the first motor power transmission component.First slide block be located on the upper surface of first guide rail, and first slide block has tapped leading screw through hole, and an end of first guide rail is fixedly connected with first gear chamber.The first motor power transmission component, comprise first leading screw, the first motor bevel gear and the first leading screw bevel gear, first leading screw is installed in first guide rail, and connect with the leading screw through hole whorl of first slide block, the no thread segment of first leading screw extend in first gear chamber, and be equiped with the first leading screw bevel gear, first motor is fixed on the sidewall of first gear chamber, the motor axis hole that the output shaft of first motor passes on the first gear chamber sidewall extend in the gear chamber, be equiped with the first motor bevel gear on the output shaft of first motor, and first motor, first bevel gear and the engagement of the first leading screw bevel gear.
The first secondary motion guide rail mechanism comprises the first secondary guide rail, the first secondary slide block, synchrodrive axle and synchrodrive axle power driving module.The first secondary guide rail and first guide rail be arranged in parallel.The first secondary slide block be located on the first secondary guide rail, and the first secondary slide block has tapped leading screw through hole, and an end of the first secondary guide rail is fixedly connected with the 4th gear chamber.One end of synchrodrive axle is connected with the output shaft of first motor, the other end of synchrodrive axle extend in the 4th gear chamber, synchrodrive axle power driving module, comprise second leading screw, first bevel gear and second bevel gear, first bevel gear is positioned at the 4th gear chamber, and is installed on the synchrodrive axle.Second leading screw is installed in the first secondary guide rail, and connect with the leading screw through hole whorl of the first secondary slide block, the no thread segment of second leading screw extend in the 4th gear chamber, and second bevel gear is positioned at the 4th gear chamber, and be installed on second leading screw, and first bevel gear and the engagement of second bevel gear.
Second motion guide rail mechanism comprises second motor, second slide block, second guide rail and the second motor power transmission component; Second guide rail is fixedly connected with second gear chamber, second motor is fixed on the sidewall of second gear chamber, second slide block be located on second guide rail, the second motor power transmission component is structurally identical with the first motor power transmission component, and second slide block connects with the threads of lead screw that is installed in second guide rail.
The 3rd motion guide rail mechanism, comprise the 3rd motor, the 3rd slide block, the 3rd guide rail and the 3rd motor power transmission component, the 3rd guide rail is fixedly connected with the 3rd gear chamber, the 3rd motor is fixed on the sidewall of the 3rd gear chamber, the 3rd slide block be located on the 3rd guide rail, the 3rd motor power transmission component is structurally identical with the first motor power transmission component, and the 3rd slide block connects with the threads of lead screw that is installed in the 3rd guide rail.
Fixedly connected with the lower surface of second guide rail respectively in the upper surface of first slide block and the first secondary slide block, and second guide rail is vertical with first guide rail, the 3rd guide rail vertically arranges, and the end face of the 3rd slide block is fixedlyed connected with the sidewall of second slide block, and the 3rd guide rail is vertical with second guide rail.First guide rail and the first secondary guide rail by four stent support on millimeter wave detection device to test platform.
First motor rotates and drives the rotation of the first motor bevel gear, rotate thereby drive with the first leading screw bevel gear of first motor bevel gear engagement, the first leading screw bevel gear is rotated and drives the rotation of first leading screw again, first leading screw rotates and then drives the lengthwise movement on first guide rail of first slide block, it is moving that the synchrodrive axle is passed in the first secondary guide rail leading screw rotating band to power, the first secondary slide block on the first secondary guide rail with the synchronous lengthwise movement of first slide block, namely simulate the millimeter wave detection device and move in the rectangular coordinate system Y direction.In like manner, second motor rotates, and the inner leading screw of second driven by motor, second guide rail rotates, and the inner leading screw of second guide rail rotates and makes the transverse movement on second guide rail of second slide block, namely simulates the millimeter wave detection device and moves in the rectangular coordinate system X-direction.The 3rd motor rotates, and the inner leading screw of the 3rd driven by motor the 3rd guide rail rotates, and the inner leading screw of the 3rd guide rail rotates and forces the 3rd slide block to move up and down at the 3rd guide rail, namely simulates the millimeter wave detection device and moves in the rectangular coordinate system Z-direction.
Rotating mechanism comprises housing, the 4th motor, transmission shaft bevel gear, the 4th motor bevel gear and transmission shaft; Housing is fixed on the lower end of the 3rd guide rail, the 4th motor is fixed on the housing, the axis hole that the 4th motor output shaft passes on the housing stretches in the housing, the 4th motor bevel gear is installed on the 4th motor output shaft, the transmission shaft through hole that the transmission shaft upper end is passed on the housing inserts in the housing, the transmission shaft bevel gear is installed on the transmission shaft, and meshes with the 4th motor bevel gear.The 4th motor rotates, and the 4th motor drives the transmission shaft bevel gear that is engaged with by the 4th motor bevel gear on the 4th motor output shaft, and transmission shaft is rotated around vertical direction, namely simulates the millimeter wave detection device and rotates around the Z axle in rectangular coordinate system.
Luffing mechanism comprises Π shape housing, the 5th motor, first gear, second gear and fixed bar.The 5th motor is fixed on the outer wall of Π shape housing left side wall, after the output shaft of the 5th motor passes axis hole on the Π shape housing left side wall, inserts in the axis hole on the Π shape housing right side wall, and first gear is installed on the output shaft of the 5th motor.Second gear is installed on the driven axle, and the two ends of driven axle are respectively charged in the left side wall of Π shape housing and the driven axle axis hole on the right side wall, and the diameter of second gear is greater than the diameter of first gear.The fixed bar upper end is fixed on the driven axle, and fixed bar is provided with a plurality of tested device fixed orifices.The transmission shaft lower end is vertical with Π shape housing, and fixedlys connected with Π shape housing.
Described support is made up of 4 identical strut assemblies of structure, and strut assemblies is made of base, arm and upper supporting plate.The upper supporting plate of 4 strut assemblies is fixedlyed connected with the lower surface of the first secondary guide rail with first guide rail respectively.
Because the three-dimensional motion track-type facilities is made of three groups of motion guide rails, can realize the arbitrary motion of millimeter wave detection device in three dimensions.
Rotating mechanism can be realized the arbitrarily angled rotation of millimeter wave detection device in the vertical direction.
Luffing mechanism can realize that the millimeter wave detection device is in vertical direction with arbitrarily angled pitching.
Test platform can be realized the motion of various millimeter wave detection device simulation five degree of freedom, the line correlation performance test of going forward side by side by three-dimensional motion track-type facilities, rotating mechanism.
Advantage and effect: by the enforcement of technical solution of the present invention, can test under differing heights, different weather, different background condition whether the millimeter wave detection device can correctly be surveyed, identifies, tracking etc., greatly facilitate debugging and the detection of millimeter wave detection device.
Description of drawings
Fig. 1 is general structure synoptic diagram of the present invention.
Fig. 2 is strut assemblies structural representation of the present invention.
Fig. 3 is three-dimensional motion guiderail device structure synoptic diagram of the present invention.
Fig. 4 is first motion guide rail mechanism of the present invention and the first secondary motion guide rail mechanism structural representation.
Fig. 5 is rotating mechanism structural representation of the present invention.
Fig. 6 is luffing mechanism structural representation of the present invention.
Embodiment
A kind of double bracket five degree of freedom millimeter wave detection device to test platform comprises 4 supports 5, three-dimensional motion track-type facilities 6, rotating mechanism 7 and luffing mechanism 8.
Three-dimensional motion track-type facilities 6 comprises first motion guide rail mechanism, second motion guide rail mechanism, the 3rd motion guide rail mechanism and the first secondary motion guide rail mechanism.
First motion guide rail mechanism comprises first motor 12, first guide rail 14, first slide block 13 and the first motor power transmission component.First slide block 13 be located on the upper surface of first guide rail 14, and first slide block 13 has tapped leading screw through hole, and an end of first guide rail 14 is fixedly connected with first gear chamber 1.The first motor power transmission component, comprise first leading screw 21, the first motor bevel gear 22 and the first leading screw bevel gear 23, first leading screw 21 is installed in first guide rail 14, and connect with the leading screw through hole whorl of first slide block 13, the no thread segment of first leading screw 21 extend in first gear chamber 1, and be equiped with the first leading screw bevel gear 23, first motor 12 is fixed on the sidewall of first gear chamber 1, the motor axis hole that the output shaft 24 of first motor 12 passes on first gear chamber, 1 sidewall extend in first gear chamber 1, be equiped with the first motor bevel gear 22 on the output shaft 24 of first motor 12, and the first motor bevel gear 22 and 23 engagements of the first leading screw bevel gear.
The first secondary motion guide rail mechanism comprises the first secondary guide rail 34, the first secondary slide block 33, synchrodrive axle 31 and synchrodrive axle power driving module.The first secondary guide rail 34 and first guide rail 14 be arranged in parallel.The first secondary slide block 33 be located on the first secondary guide rail 34, and the first secondary slide block 33 has tapped leading screw through hole, and an end of the first secondary guide rail 34 is fixedly connected with the 4th gear chamber 32.One end of synchrodrive axle 31 is connected with the output shaft 24 of first motor 12, and the other end of synchrodrive axle 31 extend in the 4th gear chamber 32.Synchrodrive axle power driving module comprises that second leading screw 43, first bevel gear 41 and second bevel gear, 42, the first bevel gears 41 are positioned at the 4th gear chamber 32, and is installed on the synchrodrive axle 31.Second leading screw 43 is installed in the first secondary guide rail 34, and connect with the leading screw through hole whorl of the first secondary slide block 33, the no thread segment of second leading screw 43 extend in the 4th gear chamber 32, second bevel gear 42 is positioned at the 4th gear chamber 32, and be installed on second leading screw 43 first bevel gear 41 and 42 engagements of second bevel gear.
Second motion guide rail mechanism comprises second motor 15, second slide block 16, second guide rail 17 and the second motor power transmission component; Second guide rail 17 is fixedly connected with second gear chamber 2, second motor 15 is fixed on the sidewall of second gear chamber 2, second slide block 16 be located on second guide rail 17, the second motor power transmission component is structurally identical with the first motor power transmission component, and second slide block 16 connects with the threads of lead screw that is installed in second guide rail 17.
The 3rd motion guide rail mechanism, comprise the 3rd motor 18, the 3rd slide block 19, the 3rd guide rail 20 and the 3rd motor power transmission component, the 3rd guide rail 20 is fixedly connected with the 3rd gear chamber 3, the 3rd motor 18 is fixed on the sidewall of the 3rd gear chamber 3, the 3rd slide block 19 be located on the 3rd guide rail 20, the 3rd motor power transmission component is structurally identical with the first motor power transmission component, and the 3rd slide block 19 connects with the threads of lead screw that is installed in the 3rd guide rail 20.
Fixedly connected with the lower surface of second guide rail 17 respectively in the upper surface of first slide block 13 and the first secondary slide block 33, and second guide rail 17 is vertical with first guide rail 14, the 3rd guide rail 20 vertically arranges, the end face of the 3rd slide block 19 is fixedlyed connected with the sidewall of second slide block 16, and the 3rd guide rail 20 is vertical with second guide rail 17.First guide rail 14 and the first secondary guide rail 34 are supported on the millimeter wave detection device to test platform by four supports 5 respectively.
Luffing mechanism 8 comprises Π shape housing 40, the 5th motor 44, first gear 45, second gear 35 and fixed bar 38.The 5th motor 44 is fixed on the outer wall of Π shape housing 40 left side walls 36, the output shaft 46 of the 5th motor 44 passes in the axis hole that inserts behind the axis hole on Π shape housing 40 left side walls 36 on Π shape housing 40 right side walls 37, and first gear 45 is installed on the output shaft 46 of the 5th motor 44.Second gear 35 is installed on the driven axle 47, and the two ends of driven axle 47 are respectively charged in the left side wall 36 and the driven axle axis hole on the right side wall 37 of Π shape housing 40, and the diameter of second gear 35 is greater than the diameter of first gear 45.Fixed bar 38 upper ends are fixed on the driven axle 47, and fixed bar 38 is provided with a plurality of tested device fixed orifices 39.Transmission shaft 29 lower ends are vertical with Π shape housing 40, and with Π shape housing 40 and fixedly connected.
Described support 5 is height-adjustable support, is made of base 9, first arm 48, second arm 49, the 3rd arm 50 and upper supporting plate 11.The lower end of first arm 48 is fixed on the base 9, on first arm 48, second arm 49, the 3rd arm 50 a plurality of spacing holes 52 are arranged respectively, insert in first arm 48 second arm, 49 bottoms, and insert in second arm 49 the 3rd arm 50 bottoms, and upper supporting plate 11 is fixed on the upper end of the 3rd arm 50.Second arm 49 and the 3rd arm 50 are stretched or are reduced to after the setting height by register pin 51 location.4 upper supporting plates 11 of 4 supports 5 are fixedlyed connected with the lower surface of the first secondary guide rail 34 respectively at first guide rail 14.
Claims (2)
1. a double bracket five degree of freedom millimeter wave detection device to test platform is characterized in that: comprise 4 supports (5), three-dimensional motion track-type facilities (6), rotating mechanism (7) and luffing mechanism (8);
Three-dimensional motion track-type facilities (6) comprises first motion guide rail mechanism, second motion guide rail mechanism, the 3rd motion guide rail mechanism and the first secondary motion guide rail mechanism;
First motion guide rail mechanism comprises first motor (12), first guide rail (14), first slide block (13) and the first motor power transmission component; First slide block (13) be located on the upper surface of first guide rail (14), and first slide block (13) has tapped leading screw through hole, and an end of first guide rail (14) is fixedly connected with first gear chamber (1); The first motor power transmission component, comprise first leading screw (21), the first motor bevel gear (22) and the first leading screw bevel gear (23), first leading screw (21) is installed in first guide rail (14), and connect with the leading screw through hole whorl of first slide block (13), the no thread segment of first leading screw (21) extend in first gear chamber (1), and be equiped with the first leading screw bevel gear (23), first motor (12) is fixed on the sidewall of first gear chamber (1), the motor axis hole that the output shaft (24) of first motor (12) passes on first gear chamber (1) sidewall extend in first gear chamber (1), be equiped with the first motor bevel gear (22) on the output shaft (24) of first motor (12), and the first motor bevel gear (22) and the engagement of the first leading screw bevel gear (23);
The first secondary motion guide rail mechanism comprises the first secondary guide rail (34), the first secondary slide block (33), synchrodrive axle (31) and synchrodrive axle power driving module; The first secondary guide rail (34) be arranged in parallel with first guide rail (14); The first secondary slide block (33) be located on the first secondary guide rail (34), and the first secondary slide block (33) has tapped leading screw through hole, and an end of the first secondary guide rail (34) is fixedly connected with the 4th gear chamber (32); One end of synchrodrive axle (31) is connected with the output shaft (24) of first motor (12), and the other end of synchrodrive axle (31) extend in the 4th gear chamber (32); Synchrodrive axle power driving module comprises second leading screw (43), first bevel gear (41) and second bevel gear (42), and first bevel gear (41) is positioned at the 4th gear chamber (32), and is installed on the synchrodrive axle (31); Second leading screw (43) is installed in the first secondary guide rail (34), and connect with the leading screw through hole whorl of the first secondary slide block (33), the no thread segment of second leading screw (43) extend in the 4th gear chamber (32), second bevel gear (42) is positioned at the 4th gear chamber (32), and be installed on second leading screw (43) first bevel gear (41) and second bevel gear (42) engagement;
Second motion guide rail mechanism comprises second motor (15), second slide block (16), second guide rail (17) and the second motor power transmission component; Second guide rail (17) is fixedly connected with second gear chamber (2), second motor (15) is fixed on the sidewall of second gear chamber (2), second slide block (16) be located on second guide rail (17), the second motor power transmission component is structurally identical with the first motor power transmission component, and second slide block (16) connects with the threads of lead screw that is installed in second guide rail (17);
The 3rd motion guide rail mechanism, comprise the 3rd motor (18), the 3rd slide block (19), the 3rd guide rail (20) and the 3rd motor power transmission component, the 3rd guide rail (20) is fixedly connected with the 3rd gear chamber (3), the 3rd motor (18) is fixed on the sidewall of the 3rd gear chamber (3), the 3rd slide block (19) be located on the 3rd guide rail (20), the 3rd motor power transmission component is structurally identical with the first motor power transmission component, and the 3rd slide block (19) connects with the threads of lead screw that is installed in the 3rd guide rail (20);
Fixedly connected with the lower surface of second guide rail (17) respectively in the upper surface of first slide block (13) and the first secondary slide block (33), and second guide rail (17) is vertical with first guide rail (14), the 3rd guide rail (20) vertically arranges, the end face of the 3rd slide block (19) is fixedlyed connected with the sidewall of second slide block (16), and the 3rd guide rail (20) is vertical with second guide rail (17); First guide rail (14) and the first secondary guide rail (34) are supported on the millimeter wave detection device to test platform by four supports (5) respectively;
First motor (12) rotates and drives the rotation of the first motor bevel gear (22), rotate thereby drive with the first leading screw bevel gear (23) of the first motor bevel gear (22) engagement, the first leading screw bevel gear (23) drives first leading screw (21) again and rotates, first leading screw (21) rotates and then drives first slide block (13) in upward lengthwise movement of first guide rail (14), synchrodrive axle (31) is passed to the interior leading screw of the first secondary guide rail (34) to power, the first secondary slide block (33) is gone up and first slide block (13) lengthwise movement synchronously at the first secondary guide rail (34), namely simulated the millimeter wave detection device and move in the rectangular coordinate system Y direction; In like manner, second motor (15) rotates, second motor (15) drives the inner leading screw of second guide rail (17) and rotates, and the inner leading screw of second guide rail (17) rotates and makes second slide block (16) go up transverse movement at second guide rail (17), namely simulates the millimeter wave detection device and moves in the rectangular coordinate system X-direction; The 3rd motor (18) rotates, the 3rd motor (18) drives the inner leading screw of the 3rd guide rail (20) and rotates, the inner leading screw of the 3rd guide rail (20) rotates and forces the 3rd slide block (19) to move up and down at the 3rd guide rail (20), namely simulates the millimeter wave detection device and moves in the rectangular coordinate system Z-direction;
Rotating mechanism (7) comprises housing (4), the 4th motor (25), transmission shaft bevel gear (28), the 4th motor bevel gear (27) and transmission shaft (29); Housing (4) is fixed on the lower end of the 3rd guide rail (20), the 4th motor (25) is fixed on the housing (4), the axis hole that the 4th motor output shaft (26) passes on the housing (4) stretches in the housing (4), the 4th motor bevel gear (27) is installed on the 4th motor output shaft (26), the transmission shaft through hole that transmission shaft (29) upper end is passed on the housing (4) inserts in the housing (4), transmission shaft bevel gear (28) is installed on the transmission shaft (29), and meshes with the 4th motor bevel gear (27); The 4th motor (25) rotates, and the 4th motor (25) is engaged with by the drive of the 4th motor bevel gear (27) on the 4th motor output shaft (26); Transmission shaft bevel gear (28) makes transmission shaft (26) rotate around vertical direction, namely simulates the millimeter wave detection device and rotates around the Z axle in rectangular coordinate system;
Luffing mechanism (8) comprises Π shape housing (40), the 5th motor (44), first gear (45), second gear (35) and fixed bar (38); The 5th motor (44) is fixed on the outer wall of Π shape housing (40) left side wall (36), the output shaft (46) of the 5th motor (44) passes in the axis hole that inserts behind the axis hole on Π shape housing (40) left side wall (36) on Π shape housing (40) right side wall (37), and first gear (45) is installed on the output shaft (46) of the 5th motor (44); Second gear (35) is installed on the driven axle (47), the two ends of driven axle (47) are respectively charged in the left side wall (36) and the driven axle axis hole on the right side wall (37) of Π shape housing (40), and the diameter of second gear (35) is greater than the diameter of first gear (45); Fixed bar (38) upper end is fixed on the driven axle (47), and fixed bar (38) is provided with a plurality of tested device fixed orifices (39); Transmission shaft (29) lower end is vertical with Π shape housing (40), and with Π shape housing (40) and fixedly connected;
First guide rail (14) and the first secondary guide rail (34) are supported on the test platform by four supports (5) respectively.
2. a kind of double bracket five degree of freedom millimeter wave detection device to test platform according to claim 1, it is characterized in that: described support (5) is height-adjustable support, is made of base (9), first arm (48), second arm (49), the 3rd arm (50) and upper supporting plate (11); The lower end of first arm (48) is fixed on the base (9), on first arm (48), second arm (49), the 3rd arm (50) a plurality of spacing holes (52) are arranged respectively, insert in first arm (48) second arm (49) bottom, insert in second arm (49) the 3rd arm (50) bottom, and upper supporting plate (11) is fixed on the upper end of the 3rd arm (50); Second arm (49) and the 3rd arm (50) are stretched or are reduced to after the setting height by register pin (51) location; 4 upper supporting plates (11) of 4 supports (5) are fixedlyed connected with the lower surface of the first secondary guide rail (34) respectively at first guide rail (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310086372.6A CN103196483B (en) | 2013-03-19 | 2013-03-19 | Double-bracket five-degree-of-freedom millimeter wave detection device test platform |
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| CN201310086372.6A CN103196483B (en) | 2013-03-19 | 2013-03-19 | Double-bracket five-degree-of-freedom millimeter wave detection device test platform |
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| CN103196483A true CN103196483A (en) | 2013-07-10 |
| CN103196483B CN103196483B (en) | 2015-04-08 |
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| CN107584476A (en) * | 2017-09-07 | 2018-01-16 | 嘉兴学院 | A kind of Multi-freedom-degreemanipulator manipulator system with identical tension and zero-g |
| CN111873334A (en) * | 2020-08-06 | 2020-11-03 | 安徽省力天新材料股份有限公司 | Ejection and reset integrated device of plastic product production equipment |
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| CN103196483B (en) | 2015-04-08 |
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