CN105202025A - Rotation-modulation radial spherical pure electromagnetic bearing - Google Patents
Rotation-modulation radial spherical pure electromagnetic bearing Download PDFInfo
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- CN105202025A CN105202025A CN201510580632.4A CN201510580632A CN105202025A CN 105202025 A CN105202025 A CN 105202025A CN 201510580632 A CN201510580632 A CN 201510580632A CN 105202025 A CN105202025 A CN 105202025A
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Abstract
The invention relates to a rotation-modulation radial spherical pure electromagnetic bearing which mainly comprises four stator cores, coils, sleeves, air gaps, rotors, a stator installation disk, a rotation-modulation rotor bearing sleeve, a rotation-modulation bearing, a rotation-modulation rotor lock nut, an ultrasonic motor rotor, an ultrasonic motor stator, a rotation-modulation stator bearing sleeve and a rotation-modulation stator lock nut, wherein the four stator cores are placed along the positive and negative X direction and the positive and negative Y direction. The stator of the radial spherical pure electromagnetic bearing is driven by an ultrasonic motor, so that the rotation of the stator is realized, a rotation-modulation function is realized, gyro drift caused by the rotation of a gyrorotor can be eliminated, and the detection precision during angular rate detection is greatly increased.
Description
Technical field
The present invention relates to a kind of non-contact radial magnetic bearing, particularly a kind of pure electromagnetism magnetic bearing of sphere with rotation modulation function, can be used as the contactless support of rotary component in small-sized astrovehicle, is specially adapted to the non-contact supporting of the responsive gyro of magnetic suspension.
Technical background
Along with the development of space technology, the astrovehicle such as satellite, space station is more and more higher for the required precision of gesture stability, and traditional mechanical momenttum wheel can not meet the demands.Magnetically levitated flywheel adopts magnetic bearing supporting, eliminates the wearing and tearing that mechanical bearing brings, improves precision and the stability of control moment.
In existing magnetically levitated flywheel or magnetic suspension control torque gyroscope structure, generally adopt two-freedom radial direction magnetic bearing.Under the condition meeting bearing capacity, when rotor generation translation, the air gap at magnetic bearing magnetic pole place more evenly can not produce torque by phase countershaft.But when rotor deflects, the magnetic air gap between magnetic bearing stator and rotor is uneven, cause the electromagnetic force in magnetic pole strength uneven, thus produce the torsional moment of relative rotor barycenter, namely translation controls to control to produce disturbance torque to twisting.The radial direction magnetic bearing magnetic pole strength of the permanent magnet offset radial magnetic bearing described in China Patent No. 201010256248.6 and 200710065049.5 and the band pole shoe described in 201010226322.X is cylinder, when magnetic bearing deflects, fixed, non-uniform gap is there is between rotor, thus produce larger torsion negative moment, add the load of flywheel torsion bearing, thus reduce control accuracy and the control moment precision of flywheel rotor, and pole shoe angle is very little, the close saturated phenomenon of easy generation magnetic, and the close circumferential uniformity of magnetic can be affected, and then indirectly cause the reduction of control accuracy.In addition, existing magnetically levitated flywheel or magnetic suspension wipping top, if will realize its measuring ability as sensing unit, be often limited to the reduction that environmental disturbances moment causes its detection part precision.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of eliminate interference and there is the pure electromagnetism magnetic bearing of radial spherical of rotation modulation function.
Technical solution of the present invention is: the pure electromagnetism magnetic bearing of a kind of rotation modulation radial spherical, mainly comprise: four stator cores (1) that edge ± X-direction and ± Y-direction are placed, coil (2), sleeve (3), air gap (4), rotor (5), stator mounting disc (6), rotation modulation rotor shaft bearing sleeve (7), rotation modulation bearing (8), rotation modulation rotor locknut (9), supersonic motor rotor (10), supersonic motor stator (11), rotation modulation stator axis bearing sleeve (12) and rotation modulation stator locknut (13) composition.Wherein radial bearing coil (2) is wound on two magnetic poles of each stator core (1), the radially inner side of four stator cores (1) is rotor (5), radial magnetic air gap (4) is formed between stator core (1) and rotor (5), the radial outside of stator core (1) is sleeve (3), sleeve (3) is fixedly connected with by screw with stator mounting disc (6), the axis outside of stator mounting disc (6) is rotation modulation rotor shaft bearing sleeve (7), for interference fit is connected between stator mounting disc (6) with rotation modulation rotor shaft bearing sleeve (7), the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7), the outer ring of rotation modulation bearing (8) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, stator mounting disc (6) and supersonic motor rotor (10) are connected, supersonic motor rotor (10) and supersonic motor stator (11) are connected by pressure, supersonic motor stator (11) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7) by rotation modulation rotor locknut (9) in the axial direction, the outer ring of rotation modulation bearing (8) is fixed on rotation modulation stator axis bearing sleeve (12) by rotation modulation stator locknut (13) in the axial direction.
Described each stator core (1) magnetic pole is divided into front portion, middle part and root, the angle that its front left edge and right side edge are formed is 83 °, the distance circumferentially gone up between two adjacent stator core (1) magnetic poles is 2mm, left side edge and joint, the middle part angle of each stator core (1) magnetic pole front portion are 152 °, angle between two straightways at middle part is 91 °, and the angle of the tangent direction of middle part and root circular arc is 123 °; In like manner, right side edge and joint, the middle part angle of each stator core (1) magnetic pole front portion are 152 °, and the angle between two straightways at middle part is 91 °, and the angle of the tangent direction of middle part and root circular arc is 123 °.
Described stator core (1) and rotor (5) are the solid bulk of 1J50 magnetic conduction.
The spherical radius of described rotor (5) gets 19mm ~ 49mm, centre of sphere angle corresponding to rotor (5) left sphere is 84 °, on the left of rotor (5) left sphere left side edge and rotor (5) left sphere, circular arc edge tangent line angle is 132 °, on the right side of rotor (5) left sphere right side edge and rotor (5) left sphere, circular arc edge tangent line angle is 132 °, centre of sphere angle corresponding to rotor (5) right sphere is 84 °, on the left of rotor (5) right sphere left side edge and rotor (5) right sphere, circular arc edge tangent line angle is 132 °, on the right side of rotor (5) right sphere right side edge and rotor (5) right sphere, circular arc edge tangent line angle is 132 °.
Described radial air gap (4) size is 0.5mm ~ 0.7mm.
The coil (2) that the magnetic pole of described each stator core (1) is wound around comprises the first field coil (2-1) and the second field coil (2-2), wherein the first field coil (2-1) is near air gap (4) side, second field coil (2-2) is near magnetic pole root, first field coil (2-1) number of turn is 20 ~ 50 circles, it controls current adjustment, second field coil (2-2) number of turn is 100 ~ 200 circles, it is constant that it controls electric current, radial clearance between first field coil (2-1) and the second field coil (2-2) is 0.5mm ~ 0.8mm.
Principle of the present invention is: the important mechanism of foundation of the present invention is the mechanism of the stator rotation modulation of magnetic bearing, that is, by Periodic Rotating radial direction magnetic bearing stator, make its sensitive axes cyclically-varying, measured signal (angle rate signal of rotor) is modulated on period of rotation carrier wave, because gyro drift error is not with the change of rotation carrier cycle, when therefore this radial direction magnetic bearing being used for the angular rate information of responsive rotor, just can eliminate by separating mediation filtering the error that the rotor angle rate information caused is introduced in gyro drift, therefore innovative point of the present invention is just that the stator of radial direction magnetic bearing rotates, the present invention adopts ultrasound electric machine to realize this function, the mechanism wherein realizing stator rotation mainly comprises: stator mounting disc (6), rotation modulation rotor shaft bearing sleeve (7), rotation modulation bearing (8), rotation modulation rotor locknut (9), supersonic motor rotor (10), supersonic motor stator (11), rotation modulation stator axis bearing sleeve (12) and rotation modulation stator locknut (13), wherein stator mounting disc (6) is fixedly connected with by screw with sleeve (3), the axis outside of stator mounting disc (6) is rotation modulation rotor shaft bearing sleeve (7), for interference fit is connected between stator mounting disc (6) with rotation modulation rotor shaft bearing sleeve (7), the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7), the outer ring of rotation modulation bearing (8) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, stator mounting disc (6) and supersonic motor rotor (10) are connected, supersonic motor rotor (10) and supersonic motor stator (11) are connected by pressure, supersonic motor stator (11) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7) by rotation modulation rotor locknut (9) in the axial direction, the outer ring of rotation modulation bearing (8) is fixed on rotation modulation stator axis bearing sleeve (12) by rotation modulation stator locknut (13) in the axial direction.In addition, if two radial direction magnetic bearings are applied in the magnetic bearing-supported flywheel system providing x and y direction deflecting torque, radial direction magnetic bearing stator and axial magnetic bearing stator are connected, it is made to rotate by ultrasound electric machine, the gyro drift eliminating x and y direction two-freedom angular seed can be realized equally, thus improve the testing precision of angular seed.
In addition, the field coil of the stator core of whole device can also adopt two coil configuration, and two coil turns are different, and the coil current that the number of turn is few is controlled, produce and regulate magnetic field, the coil current that the number of turn is many is constant, produces bias magnetic field, compared with single coil structure, because the number of turn of controlled coil is few, therefore inductance is little, can greatly improve current-responsive speed, and controllable current adopts differential form.
In addition, the magnetic pole strength of stator core of the present invention adopts spheric structure, makes electromagnetic force suffered by rotating shaft all the time through the centre of sphere, and when the rotating shaft centre of sphere overlaps with barycenter, the moment of torsion that electromagnetic force phase countershaft produces is zero, thus eliminates the interference of radial twisting to axial translation.
The solution of the present invention is compared with existing scheme, and major advantage is: (1) the present invention, owing to have employed sphere magnetic pole, compared with the magnetic bearing of existing cylinder magnetic pole, eliminates the interference of radial twisting to radial translation; (2) stator core adopts pole shoe structure, make magnetic field have good even circumferential degree, and the various piece angle of pole parts is different, magnetic in magnetic pole can be made close more even, can not cause the close saturated phenomenon of local magnetic; (3) because its stator core is driven by ultrasound electric machine, achieve the rotation of stator, therefore there is rotation modulation function, therefore the gyro drift that gyrorotor rotates introducing can be eliminated, substantially increase testing precision.
Accompanying drawing explanation
Fig. 1 is the sectional view of the pure electromagnetism magnetic bearing of a kind of rotation modulation radial spherical of the technology of the present invention solution;
Fig. 2 is the stator core structure figure of the technology of the present invention solution;
Fig. 3 is the rotor structure figure of the technology of the present invention solution;
Fig. 4 is the stator core magnetic pole of the technology of the present invention solution overall structure figure when having a twin coil;
Fig. 5 is the stator core magnetic pole of the technology of the present invention solution overall tomograph when having a twin coil.
Specific embodiments
As depicted in figs. 1 and 2, the pure electromagnetism magnetic bearing of a kind of rotation modulation radial spherical, mainly comprise: four stator cores (1) that edge ± X-direction and ± Y-direction are placed, coil (2), sleeve (3), air gap (4), rotor (5), stator mounting disc (6), rotation modulation rotor shaft bearing sleeve (7), rotation modulation bearing (8), rotation modulation rotor locknut (9), supersonic motor rotor (10), supersonic motor stator (11), rotation modulation stator axis bearing sleeve (12) and rotation modulation stator locknut (13) composition.Wherein radial bearing coil (2) is wound on two magnetic poles of each stator core (1), the radially inner side of four stator cores (1) is rotor (5), radial magnetic air gap (4) is formed between stator core (1) and rotor (5), the radial outside of stator core (1) is sleeve (3), sleeve (3) is fixedly connected with by screw with stator mounting disc (6), the axis outside of stator mounting disc (6) is rotation modulation rotor shaft bearing sleeve (7), for interference fit is connected between stator mounting disc (6) with rotation modulation rotor shaft bearing sleeve (7), the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7), the outer ring of rotation modulation bearing (8) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, stator mounting disc (6) and supersonic motor rotor (10) are connected, supersonic motor rotor (10) and supersonic motor stator (11) are connected by pressure, supersonic motor stator (11) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7) by rotation modulation rotor locknut (9) in the axial direction, the outer ring of rotation modulation bearing (8) is fixed on rotation modulation stator axis bearing sleeve (12) by rotation modulation stator locknut (13) in the axial direction.Described radial air gap (4) size is 0.5mm ~ 0.7mm, preferred 0.6mm.
Fig. 3 is stator core field structure figure, described each stator core (1) magnetic pole is divided into front portion, middle part and root, the angle that its front left edge and right side edge are formed is 83 °, the distance circumferentially gone up between two adjacent stator core (1) magnetic poles is 2mm, left side edge and joint, the middle part angle of each stator core (1) magnetic pole front portion are 152 °, angle between two straightways at middle part is 91 °, and the angle of the tangent direction of middle part and root circular arc is 123 °; In like manner, right side edge and joint, the middle part angle of each stator core (1) magnetic pole front portion are 152 °, and the angle between two straightways at middle part is 91 °, and the angle of the tangent direction of middle part and root circular arc is 123 °.
The determination of described all angles is the optimal corner angle value obtained by a large amount of emulation and experiment, air-gap field fluctuation in a circumferential direction can be made minimum, peak-to-peak value can at below 15mT, and magnetic is close can not be produced due to " magnetic intensive in " and the saturation problem caused in stator core (1) magnetic pole various piece, stator core (1) and rotor (5) are 1J50 or 1J22 magnetic conduction bulk materials, the spherical radius of stator core (1) gets 20mm ~ 50mm, the spherical radius of stator core in the present invention (1) gets 23mm, and the boundary dimension of each stator core of edge ± X-direction and the placement of ± Y-direction is completely equal, after installing, each centre of sphere overlaps completely.
Fig. 4 is the rotor structure figure of the technology of the present invention solution, the spherical radius of rotor (5) gets 19mm ~ 49mm, the spherical radius of rotor (5) gets 22mm in the present embodiment, centre of sphere angle corresponding to rotor (5) left sphere is 84 °, on the left of rotor (5) left sphere left side edge and rotor (5) left sphere, circular arc edge tangent line angle is 132 °, on the right side of rotor (5) left sphere right side edge and rotor (5) left sphere, circular arc edge tangent line angle is 132 °, centre of sphere angle corresponding to rotor (5) right sphere is 84 °, on the left of rotor (5) right sphere left side edge and rotor (5) right sphere, circular arc edge tangent line angle is 132 °, on the right side of rotor (5) right sphere right side edge and rotor (5) right sphere, circular arc edge tangent line angle is 132 °.
As shown in Figure 5, the radial spherical magnetic bearing with rotation modulation function of the present invention, the coil (2) that the magnetic pole of its each stator core (1) is wound around comprises the first field coil (2-1) and the second field coil (2-2), wherein the first field coil (2-1) is near air gap (4) side, second field coil (2-2) is near magnetic pole root, first field coil (2-1) number of turn is 20 ~ 50 circles, preferably 36 circles, it controls current adjustment, second field coil (2-2) number of turn is 100 ~ 200 circles, preferably 120 circles, it is constant that it controls electric current, radial clearance between first field coil (2-1) and the second field coil (2-2) is 0.5mm ~ 0.8mm, be preferably 0.55mm.
The content be not described in detail in specification of the present invention belongs to the known prior art of professional and technical personnel in the field.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. the pure electromagnetism magnetic bearing of rotation modulation radial spherical, it is characterized in that: mainly comprise: four stator cores (1) that edge ± X-direction and ± Y-direction are placed, coil (2), sleeve (3), air gap (4), rotor (5), stator mounting disc (6), rotation modulation rotor shaft bearing sleeve (7), rotation modulation bearing (8), rotation modulation rotor locknut (9), supersonic motor rotor (10), supersonic motor stator (11), rotation modulation stator axis bearing sleeve (12) and rotation modulation stator locknut (13) composition.Wherein radial bearing coil (2) is wound on two magnetic poles of each stator core (1), the radially inner side of four stator cores (1) is rotor (5), radial magnetic air gap (4) is formed between stator core (1) and rotor (5), the radial outside of stator core (1) is sleeve (3), sleeve (3) is fixedly connected with by screw with stator mounting disc (6), the axis outside of stator mounting disc (6) is rotation modulation rotor shaft bearing sleeve (7), for interference fit is connected between stator mounting disc (6) with rotation modulation rotor shaft bearing sleeve (7), the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7), the outer ring of rotation modulation bearing (8) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, stator mounting disc (6) and supersonic motor rotor (10) are connected, supersonic motor rotor (10) and supersonic motor stator (11) are connected by pressure, supersonic motor stator (11) is connected with rotation modulation stator axis bearing sleeve (12) interference fit, the inner ring of rotation modulation bearing (8) is fixed on rotation modulation rotor shaft bearing sleeve (7) by rotation modulation rotor locknut (9) in the axial direction, the outer ring of rotation modulation bearing (8) is fixed on rotation modulation stator axis bearing sleeve (12) by rotation modulation stator locknut (13) in the axial direction, described each stator core (1) magnetic pole is divided into front portion, middle part and root, the angle that its front left edge and right side edge are formed is 83 °, the distance circumferentially gone up between two adjacent stator core (1) magnetic poles is 2mm, left side edge and joint, the middle part angle of each stator core (1) magnetic pole front portion are 152 °, angle between two straightways at middle part is 91 °, and the angle of the tangent direction of middle part and root circular arc is 123 °, in like manner, right side edge and joint, the middle part angle of each stator core (1) magnetic pole front portion are 152 °, and the angle between two straightways at middle part is 91 °, and the angle of the tangent direction of middle part and root circular arc is 123 °.
2. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, is characterized in that: described stator core (1) and rotor (5) are the solid bulk of 1J50 magnetic conduction.
3. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, it is characterized in that: the spherical radius of described rotor (5) gets 19mm ~ 49mm, centre of sphere angle corresponding to rotor (5) left sphere is 84 °, on the left of rotor (5) left sphere left side edge and rotor (5) left sphere, circular arc edge tangent line angle is 132 °, on the right side of rotor (5) left sphere right side edge and rotor (5) left sphere, circular arc edge tangent line angle is 132 °, centre of sphere angle corresponding to rotor (5) right sphere is 84 °, on the left of rotor (5) right sphere left side edge and rotor (5) right sphere, circular arc edge tangent line angle is 132 °, on the right side of rotor (5) right sphere right side edge and rotor (5) right sphere, circular arc edge tangent line angle is 132 °.
4. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, is characterized in that: described radial air gap (4) size is 0.5mm ~ 0.7mm.
5. the pure electromagnetism magnetic bearing of rotation modulation radial spherical according to claim 1, it is characterized in that: the coil (2) that the magnetic pole of described each stator core (1) is wound around comprises the first field coil (2-1) and the second field coil (2-2), wherein the first field coil (2-1) is near air gap (4) side, second field coil (2-2) is near magnetic pole root, first field coil (2-1) number of turn is 20 ~ 50 circles, it controls current adjustment, second field coil (2-2) number of turn is 100 ~ 200 circles, it is constant that it controls electric current, radial clearance between first field coil (2-1) and the second field coil (2-2) is 0.5mm ~ 0.8mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510580632.4A CN105202025B (en) | 2015-09-12 | 2015-09-12 | A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510580632.4A CN105202025B (en) | 2015-09-12 | 2015-09-12 | A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical |
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| CN105202025A true CN105202025A (en) | 2015-12-30 |
| CN105202025B CN105202025B (en) | 2017-09-15 |
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| CN201510580632.4A Expired - Fee Related CN105202025B (en) | 2015-09-12 | 2015-09-12 | A kind of pure electromagnetism magnetic bearing of rotation modulation radial spherical |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106369055A (en) * | 2016-11-21 | 2017-02-01 | 杭州电子科技大学 | Pneumatic bidirectional output shaft based on magnetic-air hybrid spherical bearing |
| CN106370349A (en) * | 2016-08-29 | 2017-02-01 | 大连理工大学 | Gyro rotor mass center position accurate adjustment device and method based on ultrasonic antifriction effect |
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| US4552417A (en) * | 1982-07-20 | 1985-11-12 | Tokyo Shibaura Denki Kabushiki Kaisha | Polygonal type optical deflector |
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| CN104214216A (en) * | 2014-08-06 | 2014-12-17 | 北京航空航天大学 | Four-degree-of-freedom inner rotor magnetic bearing |
| CN104533949A (en) * | 2015-01-21 | 2015-04-22 | 北京石油化工学院 | Internal rotor spherical radial pure electromagnetic bearing |
| CN104696362A (en) * | 2015-01-21 | 2015-06-10 | 北京石油化工学院 | Inner rotor radial spherical pure electromagnetic bearing |
| CN204419855U (en) * | 2015-01-21 | 2015-06-24 | 北京石油化工学院 | The pure electromagnetism magnetic bearing of a kind of spherical radial direction of external rotor |
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Patent Citations (8)
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| DE3325985A1 (en) * | 1982-07-20 | 1984-02-02 | Tokyo Shibaura Denki K.K., Kawasaki, Kanagawa | ELECTRIC MOTOR UNIT |
| US4552417A (en) * | 1982-07-20 | 1985-11-12 | Tokyo Shibaura Denki Kabushiki Kaisha | Polygonal type optical deflector |
| US7723883B2 (en) * | 2005-12-09 | 2010-05-25 | Ntn Corporation | Motor built-in magnetic bearing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106370349A (en) * | 2016-08-29 | 2017-02-01 | 大连理工大学 | Gyro rotor mass center position accurate adjustment device and method based on ultrasonic antifriction effect |
| CN106370349B (en) * | 2016-08-29 | 2019-01-01 | 大连理工大学 | A kind of gyrorotor centroid position precision adjustment unit and method based on ultrasonic antifriction effect |
| CN106369055A (en) * | 2016-11-21 | 2017-02-01 | 杭州电子科技大学 | Pneumatic bidirectional output shaft based on magnetic-air hybrid spherical bearing |
| CN106369055B (en) * | 2016-11-21 | 2018-05-29 | 杭州电子科技大学 | A kind of pneumatic output shafts based on magnetism mixing spherical bearing |
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