CN104806722A - Double-pendulum head structure driven by differential double motors - Google Patents
Double-pendulum head structure driven by differential double motors Download PDFInfo
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- CN104806722A CN104806722A CN201510209040.1A CN201510209040A CN104806722A CN 104806722 A CN104806722 A CN 104806722A CN 201510209040 A CN201510209040 A CN 201510209040A CN 104806722 A CN104806722 A CN 104806722A
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- bevel gear
- drive bevel
- motor
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/12—Differential gearings without gears having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/126—Self-adjusting during operation, e.g. by a spring
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
Abstract
The invention relates to a double-pendulum head structure driven by differential double motors. Both a first differential input unit and a second differential input unit are driven by double motors, so that pendulum heads have large tilt angles and torques, the driving motors and speed reducers of the two differential input units are arranged on the outer side of a U-shaped support, and moving members of the pendulum heads only include pitching pendulum shafts, rotary pendulum shafts on the pitching pendulum shafts, main shaft boxes and main shaft motors, so that the mass of the moving members of the pendulum heads is integrally reduced. The equal torques in opposite directions are loaded between a driving servo motor and a driven servo motor, so as to form certain torque difference; due to the existence of the torque difference, driving bevel gears of the differential input units are reversely engaged to a driving bevel gear of a differential output unit; under the action of reverse engagement, the transmission clearance of the differential input units is smoothly eliminated, so that non-clearance transmission of the differential input units is realized. Through the non-clearance transmission of the first differential input unit and the second differential input unit, the kinematic accuracy of the pendulum heads is guaranteed ultimately.
Description
Technical field
The present invention relates to the A/B axle Double swing head structure in numerical control machine tool, particularly relate to a kind of Double swing head structure of dual-motor Differential Driving.
Background technique
There is the numerical control machine tool of A/B axle Double swing head, the cutting requirement of special surface can be met, particularly there is the five-shaft linkage numerically controlled machine of A/B axle double pendulum type milling head, in field extensive uses such as aircraft manufacturings.
At present, existing A/B axle Double swing head many employings worm and gear drives, and two cover worm and gears are coaxially arranged, and by applying necessarily to preload in worm screw one end loading butterfly spring or adjusting sleeve etc., and then make to be formed between driving gear with output terminal sector rack oppositely to engage, thus elimination drive gap, in order to improve transmission accuracy, but this machinery disappears, gap mode can reduce gradually along with the growth of the time gap reliability that makes to disappear.
In addition, the driving mode of the rotating servo motor acceleration and deceleration device that existing A/B axle Double swing head adopts, cause the complicated in mechanical structure of A/B axle Double swing head and huge, in swing process, the movement at yaw center can form additional torque, this often needs to be balanced by hydraulic jack, therefore, the unsuitable large angle pendulum of existing A/B axle Double swing head, thus limit the hunting range of yaw.
Summary of the invention
For prior art Problems existing, the invention provides a kind of Double swing head structure of dual-motor Differential Driving, A/B axle Double swing head is made to have possessed larger pivot angle and moment of torsion, by also having possessed to the cooperation control between dual-motor the gap ability that electrically disappears, while improving transmission accuracy, also there is the higher gap reliability that disappears.
To achieve these goals, the present invention adopts following technological scheme: a kind of Double swing head structure of dual-motor Differential Driving, comprises U-shaped support, pitching balance staff, the first differential input unit, the second differential input unit, differential output unit, headstock, spindle motor and revolution balance staff; Described first differential input unit comprises the first active servo motor and retarder, the first driven actuating motor and retarder, first initiatively worm screw, the first worm driver gear, the first drive bevel gear, the first driven worm screw, the first driven worm gear, the first driven wheel of differential, the first hollow rotating shaft and the first driven spindle; Described second differential input unit comprises the second active servo motor and retarder, the second driven actuating motor and retarder, second initiatively worm screw, the second worm driver gear, the second drive bevel gear, the second driven worm screw, the second driven worm gear, the second driven wheel of differential, the second hollow rotating shaft and the second driven spindle; Described differential output unit comprises the 3rd drive bevel gear and the 3rd driven wheel of differential;
The two ends of described pitching balance staff adopt hollow shaft structure, are set to hollow shelf structure in the middle part of pitching balance staff, and pitching balance staff is arranged on U-shaped support inner side by bearing;
Described spindle motor is connected with headstock, headstock is connected with revolution balance staff one end, revolution balance staff is arranged on the hollow frame of pitching balance staff by bearing, the revolution balance staff the other end is positioned at inside the hollow frame of pitching balance staff, and described 3rd drive bevel gear and the series connection of the 3rd driven wheel of differential are sleeved on the revolution balance staff the other end; Described 3rd drive bevel gear is meshed with the first drive bevel gear and the second drive bevel gear simultaneously, and described 3rd driven wheel of differential is meshed with the first driven wheel of differential and the second driven wheel of differential simultaneously; Described first drive bevel gear is fixedly set in first hollow rotating shaft one end, described second drive bevel gear is fixedly set in second hollow rotating shaft one end, the described first hollow rotating shaft the other end is positioned at U-shaped support outside through pitching balance staff one end hollow shaft, and the described second hollow rotating shaft the other end is positioned at U-shaped support outside through pitching balance staff the other end hollow shaft;
Described first worm driver gear is fixedly set in the first hollow rotating shaft the other end, and the first worm driver gear is meshed with the first active worm screw, and the first active worm screw is connected with the first active servo motor and retarder; Described second worm driver gear is fixedly set in the second hollow rotating shaft the other end, and the second worm driver gear is meshed with the second active worm screw, and the second active worm screw is connected with the second active servo motor and retarder;
Described first driven wheel of differential is fixedly set in first driven spindle one end, the described first driven spindle the other end is positioned at U-shaped support outside through the first hollow rotating shaft, described first driven worm gear is fixedly set in the first driven spindle the other end, first driven worm gear is meshed with the first driven worm screw, and the first driven worm screw is connected with the first driven actuating motor and retarder; Described second driven wheel of differential is fixedly set in second driven spindle one end, the described second driven spindle the other end is positioned at U-shaped support outside through the second hollow rotating shaft, described second driven worm gear is meshed with the second driven worm screw, and the second driven worm screw is connected with the second driven actuating motor and retarder.
Described first differential input unit and the second differential input unit are symmetrical arranged about U-shaped support.
Described first drive bevel gear is equal with the second drive bevel gear angular velocity and direction is identical, and described headstock carries out pitching motion.
Described first drive bevel gear is equal with the second drive bevel gear angular velocity and direction is contrary, and described headstock carries out revolution action.
Described first drive bevel gear and the second drive bevel gear angular velocity do not wait and direction is identical, and described headstock carries out pitching and revolution double-swing linkage.
Described first drive bevel gear and the second drive bevel gear angular velocity do not wait and direction is contrary, and described headstock carries out pitching and revolution double-swing linkage.
Described first active servo motor and the first driven actuating motor form first and to disappear gap actuating motor group, and described second active servo motor and the second driven actuating motor form second and to disappear gap actuating motor group.
Beneficial effect of the present invention:
First differential input unit of the present invention and the second differential input unit all adopt Dual-motors Driving, yaw is possessed larger pivot angle and moment of torsion, and the drive motor of the first differential input unit and the second differential input unit and retarder are all arranged on U-shaped support outside, the moving link of yaw only have pitching balance staff and on revolution balance staff, headstock and spindle motor, alleviate the quality of yaw moving link on the whole; By loading equal and opposite in direction and the contrary moment in direction between active servo motor and driven actuating motor, thus form certain torque difference, due to the existence of torque difference, the drive bevel gear of differential input unit is made oppositely to be engaged in the drive bevel gear of differential output unit, under reverse engagement, eliminate the drive gap of differential input unit smoothly, realize the gapless driving of differential input unit.By the gapless driving of the first differential input unit and the second differential input unit, finally ensure that the kinematic accuracy of yaw.
Accompanying drawing explanation
Fig. 1 is the Double swing head structural perspective of a kind of dual-motor Differential Driving of the present invention;
Fig. 2 is the Double swing head structure principle chart of a kind of dual-motor Differential Driving of the present invention;
In figure, 1-U-shaped support, 2-pitching balance staff, 3-headstock, 4-spindle motor, 5-the first active servo motor and retarder, 6-the first driven actuating motor and retarder, 7-the second active servo motor and retarder, 8-the second driven actuating motor and retarder, 9-the first active worm screw, 10-the first worm driver gear, 11-the first drive bevel gear, 12-the first driven worm screw, 13-the first driven worm gear, 14-the first driven wheel of differential, 15-the second active worm screw, 16-the second worm driver gear, 17-the second drive bevel gear, 18-the second driven worm screw, 19-the second driven worm gear, 20-the second driven wheel of differential, 21-the three drive bevel gear, 22-the three driven wheel of differential, 23-revolution balance staff, 24-the first hollow rotating shaft, 25-the second hollow rotating shaft, 26-the first driven spindle, 27-the second driven spindle.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1, 2, a kind of Double swing head structure of dual-motor Differential Driving, comprises U-shaped support 1, the differential input unit of pitching balance staff 2, first, the second differential input unit, differential output unit, headstock 3, spindle motor 4 and revolution balance staff 23; Described first differential input unit comprises the first active servo motor and the driven actuating motor of retarder 5, first and retarder 6, first initiatively worm screw 9, first worm driver gear 10, first drive bevel gear 11, first driven worm screw 12, first driven worm gear 13, first driven wheel of differential 14, first hollow rotating shaft 24 and the first driven spindle 26; Described second differential input unit comprises the second active servo motor and the driven actuating motor of retarder 7, second and retarder 8, second initiatively worm screw 15, second worm driver gear 16, second drive bevel gear 17, second driven worm screw 18, second driven worm gear 19, second driven wheel of differential 20, second hollow rotating shaft 25 and the second driven spindle 27; Described differential output unit comprises the 3rd drive bevel gear 21 and the 3rd driven wheel of differential 22;
The two ends of described pitching balance staff 2 adopt hollow shaft structure, and be set to hollow shelf structure in the middle part of pitching balance staff 2, pitching balance staff 2 is arranged on inside U-shaped support 1 by bearing;
Described spindle motor 4 is connected with headstock 3, headstock 3 is connected with revolution balance staff 23 one end, revolution balance staff 23 is arranged on the hollow frame of pitching balance staff 2 by bearing, revolution balance staff 23 the other end is positioned at inside the hollow frame of pitching balance staff 2, and described 3rd drive bevel gear 21 and the series connection of the 3rd driven wheel of differential 22 are sleeved on revolution balance staff 23 the other end; Described 3rd drive bevel gear 21 is meshed with the first drive bevel gear 11 and the second drive bevel gear 17 simultaneously, and described 3rd driven wheel of differential 22 is meshed with the first driven wheel of differential 14 and the second driven wheel of differential 20 simultaneously; Described first drive bevel gear 11 is fixedly set in first hollow rotating shaft 24 one end, described second drive bevel gear 17 is fixedly set in second hollow rotating shaft 25 one end, described first hollow rotating shaft 24 the other end is positioned at outside U-shaped support 1 through pitching balance staff 2 one end hollow shaft, and described second hollow rotating shaft 25 the other end is positioned at outside U-shaped support 1 through pitching balance staff 2 the other end hollow shaft;
Described first worm driver gear 10 is fixedly set in first hollow rotating shaft 24 the other end, and the first worm driver gear 10 is meshed with the first active worm screw 9, and the first active worm screw 9 is connected with the first active servo motor and retarder 5; Described second worm driver gear 16 is fixedly set in second hollow rotating shaft 25 the other end, and the second worm driver gear 16 is meshed with the second active worm screw 15, and the second active worm screw 15 is connected with the second active servo motor and retarder 7;
Described first driven wheel of differential 14 is fixedly set in first driven spindle 26 one end, described first driven spindle 26 the other end is positioned at outside U-shaped support 1 through the first hollow rotating shaft 24, described first driven worm gear 13 is fixedly set in first driven spindle 26 the other end, first driven worm gear 13 is meshed with the first driven worm screw 12, and the first driven worm screw 12 is connected with the first driven actuating motor and retarder 6; Described second driven wheel of differential 20 is fixedly set in second driven spindle 27 one end, described second driven spindle 27 the other end is positioned at outside U-shaped support 1 through the second hollow rotating shaft 25, described second driven worm gear 19 is meshed with the second driven worm screw 18, and the second driven worm screw 18 is connected with the second driven actuating motor and retarder 8.
Described first differential input unit and the second differential input unit are symmetrical arranged about U-shaped support 1.
Described first drive bevel gear 11 is equal with the second drive bevel gear 17 angular velocity and direction is identical, and described headstock 3 carries out pitching motion.
Described first drive bevel gear 11 is equal with the second drive bevel gear 17 angular velocity and direction is contrary, and described headstock 3 carries out revolution action.
Described first drive bevel gear 11 and the second drive bevel gear 17 angular velocity do not wait and direction is identical, and described headstock 3 carries out pitching and revolution double-swing linkage.
Described first drive bevel gear 11 and the second drive bevel gear 17 angular velocity do not wait and direction is contrary, and described headstock 3 carries out pitching and revolution double-swing linkage.
Described first active servo motor and the first driven actuating motor form first and to disappear gap actuating motor group, and described second active servo motor and the second driven actuating motor form second and to disappear gap actuating motor group.
Below in conjunction with accompanying drawing, a using process of the present invention is described:
After numerical control machine tool have employed Double swing head structure of the present invention, want the positional accuracy ensureing yaw, just must ensure the transmission accuracy of yaw, this mainly depends on that transmission accuracy, the second active servo motor and the retarder 7 being applied to the first drive bevel gear 11 with the first active servo motor and retarder 5 is applied to the transmission accuracy of the second drive bevel gear 17, and transmission accuracy can be subject to the impact of drive gap, therefore, must drive gap be eliminated, specifically electronically eliminate drive gap.
The drive path of the first differential input unit is as follows:
First active servo motor and retarder 5 → the first be worm screw 9 → the first worm driver gear 10 → the first hollow rotating shaft 24 → the first drive bevel gear the 11 → three drive bevel gear 21 → revolution balance staff 23 initiatively;
First driven actuating motor and the driven worm screw of retarder 6 → the first 12 → the first driven worm gear 13 → the first driven spindle 26 → the first driven wheel of differential the 14 → three driven wheel of differential 22 → revolution balance staff 23.
The drive path of the second differential input unit is as follows:
Second active servo motor and retarder 7 → the second be worm screw 15 → the second worm driver gear 16 → the second hollow rotating shaft 25 → the second drive bevel gear the 17 → three drive bevel gear 21 → revolution balance staff 23 initiatively;
Second driven actuating motor and the driven worm screw of retarder 8 → the second 18 → the second driven worm gear 19 → the second driven spindle 27 → the second driven wheel of differential the 20 → three driven wheel of differential 22 → revolution balance staff 23;
At yaw when performing corresponding actions, between the first active servo motor and retarder 5 and the first driven actuating motor and retarder 6, between the second active servo motor and retarder 7 and the second driven actuating motor and retarder 8, remain that constant speed rotates backward.
No matter yaw remains static or in movement process, in order to eliminate the drive gap of the first differential input unit, only need load equal and opposite in direction at the first active servo motor and retarder 5 with between the first driven actuating motor and retarder 6 and the contrary moment in direction, thus form certain torque difference, due to the existence of torque difference, the first drive bevel gear 11 is made oppositely to be engaged in the 3rd drive bevel gear 21, the first driven wheel of differential 14 is made oppositely to be engaged in the 3rd driven wheel of differential 22, under reverse engagement, eliminate the drive gap of the first differential input unit smoothly, achieve the gapless driving of the first differential input unit.
In like manner, in order to eliminate the drive gap of the second differential input unit, only need load equal and opposite in direction at the second active servo motor and retarder 7 with between the second driven actuating motor and retarder 8 and the contrary moment in direction, thus form certain torque difference, due to the existence of torque difference, the second drive bevel gear 17 is made oppositely to be engaged in the 3rd drive bevel gear 21, the second driven wheel of differential 20 is made oppositely to be engaged in the 3rd driven wheel of differential 22, under reverse engagement, eliminate the drive gap of the second differential input unit smoothly, achieve the gapless driving of the second differential input unit, and then pass through the gapless driving of the first differential input unit and the second differential input unit, finally ensure that the kinematic accuracy of yaw.
Scheme in embodiment is also not used to limit scope of patent protection of the present invention, and the equivalence that all the present invention of disengaging do is implemented or changed, and is all contained in the scope of the claims of this case.
Claims (7)
1. a Double swing head structure for dual-motor Differential Driving, is characterized in that: comprise U-shaped support, pitching balance staff, the first differential input unit, the second differential input unit, differential output unit, headstock, spindle motor and revolution balance staff; Described first differential input unit comprises the first active servo motor and retarder, the first driven actuating motor and retarder, first initiatively worm screw, the first worm driver gear, the first drive bevel gear, the first driven worm screw, the first driven worm gear, the first driven wheel of differential, the first hollow rotating shaft and the first driven spindle; Described second differential input unit comprises the second active servo motor and retarder, the second driven actuating motor and retarder, second initiatively worm screw, the second worm driver gear, the second drive bevel gear, the second driven worm screw, the second driven worm gear, the second driven wheel of differential, the second hollow rotating shaft and the second driven spindle; Described differential output unit comprises the 3rd drive bevel gear and the 3rd driven wheel of differential;
The two ends of described pitching balance staff adopt hollow shaft structure, are set to hollow shelf structure in the middle part of pitching balance staff, and pitching balance staff is arranged on U-shaped support inner side by bearing;
Described spindle motor is connected with headstock, headstock is connected with revolution balance staff one end, revolution balance staff is arranged on the hollow frame of pitching balance staff by bearing, the revolution balance staff the other end is positioned at inside the hollow frame of pitching balance staff, and described 3rd drive bevel gear and the series connection of the 3rd driven wheel of differential are sleeved on the revolution balance staff the other end; Described 3rd drive bevel gear is meshed with the first drive bevel gear and the second drive bevel gear simultaneously, and described 3rd driven wheel of differential is meshed with the first driven wheel of differential and the second driven wheel of differential simultaneously; Described first drive bevel gear is fixedly set in first hollow rotating shaft one end, described second drive bevel gear is fixedly set in second hollow rotating shaft one end, the described first hollow rotating shaft the other end is positioned at U-shaped support outside through pitching balance staff one end hollow shaft, and the described second hollow rotating shaft the other end is positioned at U-shaped support outside through pitching balance staff the other end hollow shaft;
Described first worm driver gear is fixedly set in the first hollow rotating shaft the other end, and the first worm driver gear is meshed with the first active worm screw, and the first active worm screw is connected with the first active servo motor and retarder; Described second worm driver gear is fixedly set in the second hollow rotating shaft the other end, and the second worm driver gear is meshed with the second active worm screw, and the second active worm screw is connected with the second active servo motor and retarder;
Described first driven wheel of differential is fixedly set in first driven spindle one end, the described first driven spindle the other end is positioned at U-shaped support outside through the first hollow rotating shaft, described first driven worm gear is fixedly set in the first driven spindle the other end, first driven worm gear is meshed with the first driven worm screw, and the first driven worm screw is connected with the first driven actuating motor and retarder; Described second driven wheel of differential is fixedly set in second driven spindle one end, the described second driven spindle the other end is positioned at U-shaped support outside through the second hollow rotating shaft, described second driven worm gear is meshed with the second driven worm screw, and the second driven worm screw is connected with the second driven actuating motor and retarder.
2. the Double swing head structure of a kind of dual-motor Differential Driving according to claim 1, is characterized in that: described first differential input unit and the second differential input unit are symmetrical arranged about U-shaped support.
3. the Double swing head structure of a kind of dual-motor Differential Driving according to claim 1, is characterized in that: described first drive bevel gear is equal with the second drive bevel gear angular velocity and direction is identical, and described headstock carries out pitching motion.
4. the Double swing head structure of a kind of dual-motor Differential Driving according to claim 1, is characterized in that: described first drive bevel gear is equal with the second drive bevel gear angular velocity and direction is contrary, and described headstock carries out revolution action.
5. the Double swing head structure of a kind of dual-motor Differential Driving according to claim 1, is characterized in that: described first drive bevel gear and the second drive bevel gear angular velocity do not wait and direction is identical, and described headstock carries out pitching and revolution double-swing linkage.
6. the Double swing head structure of a kind of dual-motor Differential Driving according to claim 1, is characterized in that: described first drive bevel gear and the second drive bevel gear angular velocity do not wait and direction is contrary, and described headstock carries out pitching and revolution double-swing linkage.
7. the Double swing head structure of a kind of dual-motor Differential Driving according to claim 1, it is characterized in that: described first active servo motor and the first driven actuating motor form first and to disappear gap actuating motor group, described second active servo motor and the second driven actuating motor form second and to disappear gap actuating motor group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510209040.1A CN104806722B (en) | 2015-04-29 | 2015-04-29 | Double-pendulum head structure driven by differential double motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510209040.1A CN104806722B (en) | 2015-04-29 | 2015-04-29 | Double-pendulum head structure driven by differential double motors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104806722A true CN104806722A (en) | 2015-07-29 |
| CN104806722B CN104806722B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510209040.1A Expired - Fee Related CN104806722B (en) | 2015-04-29 | 2015-04-29 | Double-pendulum head structure driven by differential double motors |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107498406A (en) * | 2017-08-11 | 2017-12-22 | 德州普利森机床有限公司 | A kind of differential headstock |
| CN108583253A (en) * | 2017-12-20 | 2018-09-28 | 重庆市弘鼎圣科技有限公司 | A kind of automobile dynamic system integration assembly |
| CN110155703A (en) * | 2019-05-09 | 2019-08-23 | 温州大学激光与光电智能制造研究院 | A kind of Short Axis Kind of Parts grasping mechanism |
| CN110616701A (en) * | 2019-06-26 | 2019-12-27 | 武汉大学 | Method and device for adjusting clearance of thread pair of safety mechanism of gear rack climbing type ship lift |
| CN113809876A (en) * | 2021-10-27 | 2021-12-17 | 中国电子科技集团公司第三十八研究所 | High-precision split type radar servo scanner |
| CN114367875A (en) * | 2022-02-17 | 2022-04-19 | 山东省机械设计研究院 | Oscillating type milling and turning combined machining center |
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| CN110155703A (en) * | 2019-05-09 | 2019-08-23 | 温州大学激光与光电智能制造研究院 | A kind of Short Axis Kind of Parts grasping mechanism |
| CN110616701A (en) * | 2019-06-26 | 2019-12-27 | 武汉大学 | Method and device for adjusting clearance of thread pair of safety mechanism of gear rack climbing type ship lift |
| CN110616701B (en) * | 2019-06-26 | 2021-04-02 | 武汉大学 | Method and device for adjusting clearance of thread pair of safety mechanism of gear rack climbing type ship lift |
| CN113809876A (en) * | 2021-10-27 | 2021-12-17 | 中国电子科技集团公司第三十八研究所 | High-precision split type radar servo scanner |
| CN114367875A (en) * | 2022-02-17 | 2022-04-19 | 山东省机械设计研究院 | Oscillating type milling and turning combined machining center |
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| CN104806722B (en) | 2017-03-22 |
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