CN104014967A - Tool positioner - Google Patents

Tool positioner Download PDF

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Publication number
CN104014967A
CN104014967A CN201410252882.0A CN201410252882A CN104014967A CN 104014967 A CN104014967 A CN 104014967A CN 201410252882 A CN201410252882 A CN 201410252882A CN 104014967 A CN104014967 A CN 104014967A
Authority
CN
China
Prior art keywords
pedestal
screw
support
bolts
double
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.)
Granted
Application number
CN201410252882.0A
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Chinese (zh)
Other versions
CN104014967B (en
Inventor
陈恳
高雨浩
吴丹
王国磊
宋立滨
李金泉
杨向东
付成龙
徐静
刘莉
杨东超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Chengdu Aircraft Industrial Group Co Ltd
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Tsinghua University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN201410252882.0A priority Critical patent/CN104014967B/en
Publication of CN104014967A publication Critical patent/CN104014967A/en
Application granted granted Critical
Publication of CN104014967B publication Critical patent/CN104014967B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • B23K37/0435Clamps

Abstract

The invention provides a tool positioner which comprises a tool frame and at least one positioning mechanism. Each positioning mechanism comprises a base body, a frame body, a pin base, a positioning pin, a driving assembly, a pair of sliding rails, a front support, a rear support, a front bearing, a rear bearing, a lead screw and a hand wheel. The base bodies are arranged on the tool frame, the frame bodies are arranged on the base bodies, the pin bases are fixed to the ends in the X-axis direction, of the frame bodies, the positioning pins are fixed to the pin bases and used for being connected with pin holes of an equipment piece and positioning and clamping the equipment piece, each driving assembly comprises a sliding base which is arranged between the corresponding base body and the corresponding frame body and comprises a sliding block and a nut, the sliding rails extend in the X-axis direction and are fixedly connected to the frame bodies, and moving pairs are formed by the sliding rails and the sliding blocks. According to the front supports, the ends, in the X-axis direction, of the sliding rails are connected and are fixedly connected below the frame bodies, according to the rear supports, the other ends, in the X-axis direction, of the sliding rails are connected and are fixedly connected below the frame bodies, the front bearings are arranged on the front supports, the rear bearings are arranged on the rear supports, the lead screws penetrate through the nuts and the sliding blocks, one ends of the lead screws are connected with the front bearings, and the other ends of the lead screws are connected with the rear bearings. The hand wheels are connected with the rear bearings.

Description

Tool positioner
Technical field
The present invention relates to the fixture system in automated arm and manufacture, relate in particular to a kind of tool positioner.
Background technology
At modern automated arm and in manufacturing, the frock link of Equipment Part has determined precision and the reliability of follow-up manufacture, assembling link, especially for large-scale, complicated Equipment Part, needs a plurality of locators that the key point of Equipment Part is positioned and clamped.In the frock process of Large-Scale Equipment part, due to the foozle of Equipment Part, the exact shape of Large-Scale Equipment part may with theoretical profile gap slightly, therefore numerous locators that are completely fixed make frock operation be difficult to carry out, and bring huge internal stress; Meanwhile, the locator being completely fixed when frock may form and interfere with installation, the posture adjustment track of parts.
Summary of the invention
In view of the problem existing in background technology, the object of the present invention is to provide a kind of tool positioner, it can reduce the internal stress of Equipment Part when frock.
To achieve these goals, the invention provides a kind of tool positioner, it comprises machine frame and at least one detent mechanism.Each detent mechanism comprises: pedestal, is arranged on machine frame; Support body, is arranged on pedestal; Key seat, is fixed on one end in X-direction of support body; Alignment pin, is fixed on key seat, for the pin-and-hole to Equipment Part, engages and Equipment Part is positioned and clamped; And driven unit.Driven unit comprises: slide, be arranged between pedestal and support body, and comprise slide block and nut; A pair of slide rail, extends and is fixedly connected on support body and forms moving sets with the slide block of slide along X-direction; Fore-stock, connects one end of the X-direction of a pair of slide rail and is fixedly connected on below support body; After-poppet, connects the other end of the X-direction of a pair of slide rail and is fixedly connected on below support body; Fore bearing, is arranged on fore-stock; Rear bearing, is arranged on after-poppet; Leading screw, is arranged in the nut of slide and slide block, one end are connected in fore bearing and the other end is connected in rear bearing; And handwheel, be connected in rear bearing.
Beneficial effect of the present invention is as follows:
Tool positioner of the present invention is when carrying out frock, can facilitate workman to move with respect to pedestal by the alignment pin on handwheel direct control, movable support body and support body, and rely on alignment pin that Equipment Part is positioned and clamped, can conveniently carry out frock operation thus and can adapt to the exact shape of Equipment Part, reduce the internal stress of Equipment Part when frock, difficulty and the amount consuming time of frock, avoid producing larger internal stress because mismachining tolerance and rigidization frock cause Equipment Part.
Accompanying drawing explanation
Fig. 1 is the stereogram according to tool positioner of the present invention;
Fig. 2 is according to the stereogram of the detent mechanism of tool positioner of the present invention;
Fig. 3 be according to the detent mechanism of tool positioner of the present invention from beneath to stereogram;
Fig. 4 is the part stereogram according to the detent mechanism of tool positioner of the present invention;
Fig. 5 is according to the top view of the detent mechanism of tool positioner of the present invention.
Wherein, description of reference numerals is as follows:
1 machine frame 253 fore-stocks
2 detent mechanism 254 after-poppets
21 pedestals | 255 fore bearings
C donut 256 rear bearings
22 support body 257 leading screws
221 screw 258 handwheels
23 key seat 26 first adjusting parts
24 alignment pin 261 set bolts
25 driven unit 262 double-screw bolts
251 slide 27 second adjusting parts
2511 slide block 271 first bolts
2512 nut 2711 bolts hole
2513 screw 272 second bolts
252 slide rail 28 screws
The specific embodiment
Describe in detail with reference to the accompanying drawings according to tool positioner of the present invention.
Referring to figs. 1 through Fig. 5, tool positioner according to the present invention comprises: machine frame 1; And at least one detent mechanism 2.Each detent mechanism 2 comprises: pedestal 21, is arranged on machine frame 1; Support body 22, is arranged on pedestal 21; Key seat 23, is fixed on one end in X-direction of support body 22; Alignment pin 24, is fixed on key seat 23, for the pin-and-hole to Equipment Part (not shown), engages and Equipment Part is positioned and clamped; And driven unit 25.Driven unit 25 comprises: slide 251, be arranged between pedestal 21 and support body 22, and comprise slide block 2511 and nut 2512; A pair of slide rail 252, extends and is fixedly connected on support body 22 and forms moving sets with the slide block 2511 of slide 251 along X-direction; Fore-stock 253, connects one end of the X-direction of a pair of slide rail 252 and is fixedly connected on support body 22 belows; After-poppet 254, connects the other end of the X-direction of a pair of slide rail 252 and is fixedly connected on support body 22 belows; Fore bearing 255, is arranged on fore-stock 253; Rear bearing 256, is arranged on after-poppet 254; Leading screw 257, is arranged in the nut 2512 of slide 251 and slide block 2511, one end are connected in fore bearing 255 and the other end is connected in rear bearing 256; And handwheel 258, be connected in rear bearing 256.
Tool positioner of the present invention is when carrying out frock, can facilitate workman to move with respect to pedestal 21 by the alignment pin 24 on handwheel direct control, movable support body 22 and support body 22, and rely on 24 pairs of Equipment Parts of alignment pin to position and clamp, can conveniently carry out frock operation thus and can adapt to the exact shape of Equipment Part, reduce the internal stress of Equipment Part when frock, difficulty and the amount consuming time of frock, avoid producing larger internal stress because mismachining tolerance and rigidization frock cause Equipment Part.
In an embodiment of detent mechanism 2, referring to figs. 1 through Fig. 5, each detent mechanism 2 also can comprise: the first adjusting part 26.The first adjusting part 26 comprises: four pairs of set bolts 261, and every a pair of set bolt 261 is connected pedestal 21 at the place, a bight of pedestal 21 with machine frame 1; And four double-screw bolts 262, the axis of each double-screw bolt 262 is parallel to Z axis, each double-screw bolt 262 between corresponding a pair of set bolt 261, screw thread is arranged in pedestal 21 and contacts the upper surface of machine frame 1, the degree that each double-screw bolt 262 wears out pedestal 21 by screw thread regulates the height of pedestal 21 relative machine frames 1.
In one embodiment, the degree that four double-screw bolt 262 screw threads wear out pedestal 21 is all identical, so that the relative machine frame 1 of pedestal 21 is along Z axis translation.Realize thus the height fine adjusting function of pedestal 21, thereby realize support body 22 on pedestal 21 and the height fine adjusting function of alignment pin 24, to adapt to the exact shape of Equipment Part, reduce frock difficulty and avoid Equipment Part when frock, to produce larger internal stress.
In one embodiment, the degree that wears out pedestal 21 at two double-screw bolt 262 screw threads of the side along Y direction of pedestal 21 is all identical, the degree that wears out pedestal 21 at two double-screw bolt 262 screw threads of the opposite side along Y direction of pedestal 21 is all identical, but it is different from the degree that two double-screw bolt 262 screw threads of the described opposite side along Y direction at pedestal 21 wear out pedestal 21 at two double-screw bolt 262 screw threads of the described side along Y direction of pedestal 21, to wear out the degree of pedestal 21, so that pedestal 21 rotates around X-direction relative to machine frame 1 in YOZ face.Realize thus the fine setting of the angle around X-direction of pedestal 21, thereby realize the fine setting of the angle around X-direction of support body 22 on pedestal 21 and alignment pin 24, to adapt to the exact shape of Equipment Part, reduce frock difficulty and avoid Equipment Part when frock, to produce larger internal stress.
In one embodiment, the degree that wears out pedestal 21 at two double-screw bolt 262 screw threads of the side along X-direction of pedestal 21 is all identical, the degree that wears out pedestal 21 at two double-screw bolt 262 screw threads of the opposite side along X-direction of pedestal 21 is all identical, but it is different from the degree that two double-screw bolt 262 screw threads of the described opposite side along X-direction at pedestal 21 wear out pedestal 21 at two double-screw bolt 262 screw threads of the described side along X-direction of pedestal 21, to wear out the degree of pedestal 21, so that pedestal 21 rotates around Y direction relative to machine frame 1 in XOZ face.Realize thus the fine setting of the angle around Y direction of pedestal 21, thereby realize the fine setting of the angle around Y direction of support body 22 on pedestal 21 and alignment pin 24, to adapt to the exact shape of Equipment Part, reduce frock difficulty and avoid Equipment Part when frock, to produce larger internal stress.
In an embodiment of detent mechanism 2, with reference to Fig. 4 and Fig. 5, the pedestal 21 center of each detent mechanism 2 is provided with donut C.Each detent mechanism 2 also can comprise: the second adjusting part 27.The second adjusting part 27 comprises: four the first bolts 271, the axis of each first bolt 271 is parallel to Z axis, each first bolt 271 is connected slide block 2511 at the place, a bight of correspondence of the slide block 2511 of slide 251 with pedestal 21, the bolt hole 2711 of four the first bolts 271 is arc groove hole, with when four the first bolts 271 are not tightened, make the slide block 2511 of slide 251 take donut C as pivot around Z axis with respect to pedestal 21 rotation.Realize thus the fine setting of the pivot angle angle around Z axis of alignment pin 24, make workman can regulate by demand the pivot angle angle of alignment pin 24, make tool positioner there is the small free degree, to adapt to the exact shape of Equipment Part, reduce frock difficulty and avoid Equipment Part when frock, to produce larger internal stress.
In an embodiment of the second adjusting part 27, referring to figs. 1 through Fig. 3, the second adjusting part 27 also can comprise: two the second bolts 272, both sides, screw thread that axis is parallel to Y-axis, relatively lay respectively at support body 22 along Y-axis are arranged in pedestal 21, to be screwed into and to contact support body 22 by second bolt 272 when four the first bolts 271 are not tightened, another second bolt 272 is back-outed, and make to take together with the slide block 2511 of support body 22 and slide 251 donut C as pivot around Z axis with respect to pedestal 21 rotations.
According in an embodiment of tool positioner of the present invention, the rear bearing 256 of driven unit 25 can be unilateral bearing.By unilateral bearing, make Equipment Part be applied to the rotation that reaction force on alignment pin 24 and support body 22 cannot cause leading screw 257, mechanism's self-locking, guarantees the enough clamping performances of alignment pin 24.
According in an embodiment of tool positioner of the present invention, with reference to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, support body 22 is provided with a plurality of screws 221 in line; The slide block 2511 of slide 251 is provided with screw 2513.Each detent mechanism 2 also can comprise; Screw 28, when the moving sets forming via the slide block 2511 of leading screw 257, slide rail 252 and slide 251 when the handwheel 258 of driven unit 25 drives support body 22 and then drives alignment pin 24 to move to assigned address to the respective pin hole of Equipment Part, be screwed in the corresponding screw 221 of support body 22 and the screw 2513 of slide block 2511.Can make workman carry out easily frock operation, running fix pin 24 according to demand, and by screw 28, guarantee the effective location performance of alignment pin 24.
According in an embodiment of tool positioner of the present invention, the quantity of detent mechanism 2 is with identical to the quantity of the pin-and-hole of Equipment Part.The quantity of the detent mechanism 2 shown in Fig. 1 is two, but is not limited to this in reality.

Claims (10)

1. a tool positioner, is characterized in that, comprising:
Machine frame (1); And
At least one detent mechanism (2), each detent mechanism (2) comprising:
Pedestal (21), is arranged on machine frame (1);
Support body (22), is arranged on pedestal (21);
Key seat (23), is fixed on one end in X-direction of support body (22);
Alignment pin (24), is fixed on key seat (23), for the pin-and-hole to Equipment Part, engages and Equipment Part is positioned and clamped; And
Driven unit (25), comprising:
Slide (251), is arranged between pedestal (21) and support body (22), comprises slide block (2511) and nut (2512);
A pair of slide rail (252), extends and is fixedly connected on support body (22) and forms moving sets with the slide block (2511) of slide (251) along X-direction;
Fore-stock (253), connects one end of the X-direction of a pair of slide rail (252) and is fixedly connected on below support body (22);
After-poppet (254), connects the other end of the X-direction of a pair of slide rail (252) and is fixedly connected on below support body (22);
Fore bearing (255), is arranged on fore-stock (253);
Rear bearing (256), is arranged on after-poppet (254);
Leading screw (257), is arranged in the nut (2512) of slide (251) and slide block (2511), one end are connected in fore bearing (255) and the other end is connected in rear bearing (256); And
Handwheel (258), is connected in rear bearing (256).
2. tool positioner according to claim 1, is characterized in that, each detent mechanism (2) also comprises:
The first adjusting part (26), comprising:
Four pairs of set bolts (261), every a pair of set bolt (261) is connected pedestal (21) at the place, a bight of pedestal (21) with machine frame (1); And
Four double-screw bolts (262), the axis of each double-screw bolt (262) is parallel to Z axis, each double-screw bolt (262) is positioned between corresponding a pair of set bolt (261), screw thread is arranged in pedestal (21) and contact the upper surface of machine frame (1), and the degree that each double-screw bolt (262) wears out pedestal (21) by screw thread regulates pedestal (21) height of machine frame (1) relatively.
3. tool positioner according to claim 2, is characterized in that, the degree that four double-screw bolts (262) screw thread wears out pedestal (21) is all identical, so that the relative machine frame (1) of pedestal (21) is along Z axis translation.
4. tool positioner according to claim 2, it is characterized in that, the degree that wears out pedestal (21) at two double-screw bolts (262) screw thread of the side along Y direction of pedestal (21) is all identical, the degree that wears out pedestal (21) at two double-screw bolts (262) screw thread of the opposite side along Y direction of pedestal (21) is all identical, but it is different from the degree that two double-screw bolts (262) screw thread of the described opposite side along Y direction at pedestal (21) wears out pedestal (21) at two double-screw bolts (262) screw thread of the described side along Y direction of pedestal (21), to wear out the degree of pedestal (21), so that pedestal (21) rotates around X-direction relative to machine frame (1) in YOZ face.
5. tool positioner according to claim 2, it is characterized in that, the degree that wears out pedestal (21) at two double-screw bolts (262) screw thread of the side along X-direction of pedestal (21) is all identical, the degree that wears out pedestal (21) at two double-screw bolts (262) screw thread of the opposite side along X-direction of pedestal (21) is all identical, but it is different from the degree that two double-screw bolts (262) screw thread of the described opposite side along X-direction at pedestal (21) wears out pedestal (21) at two double-screw bolts (262) screw thread of the described side along X-direction of pedestal (21), to wear out the degree of pedestal (21), so that pedestal (21) rotates around Y direction relative to machine frame (1) in XOZ face.
6. tool positioner according to claim 1, is characterized in that, the center of the pedestal (21) of each detent mechanism (2) is provided with donut (C), and each detent mechanism (2) also comprises:
The second adjusting part (27), comprising:
Four the first bolts (271), the axis of each first bolt (271) is parallel to Z axis, each first bolt (271) is connected slide block (2511) at the place, a bight of correspondence of the slide block (2511) of slide (251) with pedestal (21), the bolt hole (2711) of four the first bolts (271) is arc groove hole, to make the slide block (2511) of slide (251) take donut (C) when four the first bolts (271) are not tightened, rotates as pivot around Z axis with respect to pedestal (21).
7. tool positioner according to claim 6, is characterized in that, the second adjusting part (27) also comprises:
Two the second bolts (272), both sides, screw thread that axis is parallel to Y-axis, relatively lay respectively at support body (22) along Y-axis are arranged in pedestal (21), to be screwed into and to contact support body (22) by second bolt (272) when four the first bolts (271) are not tightened, another second bolt (272) is back-outed, and make the slide block (2511) of support body (22) and slide (251) take together donut (C), rotates as pivot around Z axis with respect to pedestal (21).
8. tool positioner according to claim 1, is characterized in that, the rear bearing (256) of driven unit (25) is unilateral bearing.
9. tool positioner according to claim 1, is characterized in that, support body (22) is provided with a plurality of screws (221) in line;
The slide block (2511) of slide (251) is provided with screw (2513);
Each detent mechanism (2) also comprises;
Screw (28), when the moving sets forming via the slide block (2511) of leading screw (257), slide rail (252) and slide (251) when the handwheel (258) of driven unit (25) drives support body (22) and then drives alignment pin (24) to move to assigned address to the respective pin hole of Equipment Part, be screwed in the corresponding screw (221) of support body (22) and the screw (2513) of slide block (2511).
10. tool positioner according to claim 1, is characterized in that, the quantity of detent mechanism (2) is with identical to the quantity of the pin-and-hole of Equipment Part.
CN201410252882.0A 2014-06-09 2014-06-09 Tool positioner Active CN104014967B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410252882.0A CN104014967B (en) 2014-06-09 2014-06-09 Tool positioner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410252882.0A CN104014967B (en) 2014-06-09 2014-06-09 Tool positioner

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CN104014967B CN104014967B (en) 2015-08-19

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105501798A (en) * 2016-01-18 2016-04-20 南京龙贞自动化装备技术有限公司 Guide rail frame of feeding system in apex laminating machine
CN106640889A (en) * 2017-01-06 2017-05-10 芜湖瑞思机器人有限公司 Assembling platform and assembling method thereof for high-speed parallel robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2514963Y (en) * 2001-12-13 2002-10-09 天津鼎盛工程机械有限公司 Lifting-rotating welding position shifting machine
EP1743734A1 (en) * 2005-07-14 2007-01-17 Easom Automation Systems, Inc. Low profile turntable assembly
CN201211603Y (en) * 2008-07-04 2009-03-25 项大清 Welding basal body tooth position locating apparatus
CN201493626U (en) * 2009-04-24 2010-06-02 项大清 Saw blade substrate tooth site positioning device
CN202388166U (en) * 2011-11-21 2012-08-22 青岛华瑞汽车零部件有限公司 Accurate positioning device for changing flange heads
CN103753088A (en) * 2014-01-13 2014-04-30 广西大学 Pure mechanical welding jig with synchronous self-locking function

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2514963Y (en) * 2001-12-13 2002-10-09 天津鼎盛工程机械有限公司 Lifting-rotating welding position shifting machine
EP1743734A1 (en) * 2005-07-14 2007-01-17 Easom Automation Systems, Inc. Low profile turntable assembly
CN201211603Y (en) * 2008-07-04 2009-03-25 项大清 Welding basal body tooth position locating apparatus
CN201493626U (en) * 2009-04-24 2010-06-02 项大清 Saw blade substrate tooth site positioning device
CN202388166U (en) * 2011-11-21 2012-08-22 青岛华瑞汽车零部件有限公司 Accurate positioning device for changing flange heads
CN103753088A (en) * 2014-01-13 2014-04-30 广西大学 Pure mechanical welding jig with synchronous self-locking function

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105501798A (en) * 2016-01-18 2016-04-20 南京龙贞自动化装备技术有限公司 Guide rail frame of feeding system in apex laminating machine
CN105501798B (en) * 2016-01-18 2017-12-22 南京龙贞自动化装备技术有限公司 The guide rail bracket of feeding system in triangular glue adhering machine
CN106640889A (en) * 2017-01-06 2017-05-10 芜湖瑞思机器人有限公司 Assembling platform and assembling method thereof for high-speed parallel robot
CN106640889B (en) * 2017-01-06 2018-12-21 芜湖瑞思机器人有限公司 A kind of high speed parallel robot mounting plate and its assembly method

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Inventor after: Shuai Chaolin

Inventor after: Xu Jing

Inventor after: Song Libin

Inventor after: Yang Xiangdong

Inventor after: Fu Chenglong

Inventor after: Liu Li

Inventor after: He Fengtao

Inventor after: Chen Ken

Inventor after: Duan Zuoheng

Inventor after: Tang Shi

Inventor after: Gao Yuhao

Inventor after: Zhan Youhe

Inventor after: Wu Dan

Inventor after: Wang Guolei

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Inventor before: Yang Dongchao

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Effective date of registration: 20160128

Address after: The dam, 610073 Chengdu Road, Sichuan Province Huang Tian Qingyang District No. 88

Patentee after: Chengdu Airplane Industry (Group) Corp., Ltd.

Patentee after: Tsinghua University

Address before: 100084 Beijing City, Haidian District Tsinghua Yuan

Patentee before: Tsinghua University