CN105843090B - A kind of aircraft engine dismounting vehicle electrical control gear and method - Google Patents
A kind of aircraft engine dismounting vehicle electrical control gear and method Download PDFInfo
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- CN105843090B CN105843090B CN201610151871.2A CN201610151871A CN105843090B CN 105843090 B CN105843090 B CN 105843090B CN 201610151871 A CN201610151871 A CN 201610151871A CN 105843090 B CN105843090 B CN 105843090B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention provides a kind of aircraft engine dismounting vehicle electrical control gear and method, by being provided with micro-adjusting mechanism, elevating mechanism and walking mechanism, dismounting engine vehicle is comprehensively accurately controlled, and using the position of obliquity sensor real-time detecting system and angle, it is ensured that the completion task of precise and high efficiency.Integrated use detection technique, automated control technology, human-computer interaction and wireless communication technique of the present invention provide a kind of high degree of automation, disassembly efficiency height, good reliability, the convenient and fast aircraft engine dismounting vehicle control device and method of operation.
Description
Technical field
The invention belongs to control system and device fields, and in particular to a kind of aircraft engine dismounting truck control device and side
Method.
Background technique
" heart " of the aircraft engine as aircraft, is the generating means of power needed for aircraft flight, the flight to aircraft
Speed, mobility, load, voyage, reliability, economy and adaptive capacity to environment play decisive role.Engine is made
For the core component of aircraft, installation and disassembly can be carried out to aircraft engine often in aircraft assembling and maintenance process.
Dismounting engine vehicle is by walking mechanism, elevating mechanism and micro-adjusting mechanism three parts composition.The row of existing aircraft engine dismounting vehicle
Mechanism is walked, elevating mechanism and micro-adjusting mechanism are all made of Purely mechanical or elevating mechanism using the hydraulic side with mechanical bond
Formula is mostly pure artificial participation dismounting during dismounting engine, and there are dismounting engine period length, low efficiency, installation accuracy
Difference, manual intervention are larger, using it is quite inconvenient a series of problems, such as.
Summary of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of aircraft engine dismounting vehicle electrical control gear
And method carries out comprehensive accurate control to dismounting engine vehicle by being provided with micro-adjusting mechanism, elevating mechanism and walking mechanism
System, and using the position of obliquity sensor real-time detecting system and angle, it is ensured that the completion task of precise and high efficiency solves
It is in the prior art pure artificial participation dismounting, existing dismounting engine period length, low efficiency, installation accuracy be poor, manual intervention
It is larger, a series of technical problem such as use quite inconvenience.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of aircraft engine dismounting vehicle electrical control
Method the steps include:
1), four movable motors that four apexes in the chassis lower part of dismounting engine vehicle walking mechanism are installed, point
Not Wei movable motor I, movable motor II, movable motor III and movable motor IV, movable motor pass through speed reducer and mechanical structure
Connection, to control the movement of walking mechanism, is moved to designated position for integral device；
2), lifting motor is connect by speed reducer with mechanical structure, is controlled elevating mechanism movement by lifting motor, is realized
The rise or decline of aircraft engine；
3) virtual (x, y, z) axis, is established；
4) micro-adjusting mechanism, is set to elevating mechanism top, for placing aircraft engine, X is finely tuned to electricity by control
Machine, fine tuning Y-direction motor, fine tuning Z-direction motor, realize the adjusting on the direction (x, y, z), and combine fine tuning rotating electric machine by engine
It is fine-tuning to accurate location；
5), using the obliquity sensor being mounted on micro-adjusting mechanism, in real time to the pitching of engine, rolling and deflection angle
It is detected and is transferred to bus control module；
6), the data that bus control module carrys out acquisition obliquity sensor acquisition are analyzed and processed, if engine is
Reach specified co-ordinate system location, then completes this time to operate, control walking mechanism returns to original position, if engine does not reach specified
Co-ordinate system location then issues instruction and manipulates to fine tuning X to motor, fine tuning Y-direction motor, fine tuning Z-direction motor, until engine
Until reaching designated position.
Walking mechanism, elevating mechanism and the micro-adjusting mechanism is provided with the limit on the direction respective coordinates system (x, y, z)
Value issues alarm command, at this time device when the occurrence that obliquity sensor detects is greater than the limiting value of any one setting
Entirety stops operating, and alarm lamp is bright.
There are four movable motors, four movable motors to form dismounting engine vehicle vehicle with walking machine for connection on bus control module
Structure；Fine tuning X is connected on bus control module to motor, fine tuning Y-direction motor, fine tuning Z-direction motor and micro- rotating electric machine, composition hair
Motivation dismounting vehicle micro-adjusting mechanism；It is connected with lifting motor on bus control module, forms dismounting engine vehicle elevating mechanism；Control
It is connected with obliquity sensor, detection switch and control button on the signal input part of device, controller is by collected information analysis
After processing, export to bus control module；Also couple wired hand-held unit on the controller to control integral device
System operation.
A kind of equipment used by aircraft engine dismounting vehicle electric control method, it is characterised in that: the controller
On be connected with wireless communication module, integral device is controled and operated by external radio operation unit.
A kind of equipment used by aircraft engine dismounting vehicle electric control method, it is characterised in that: four rows
Walk four vertex positions that motor is separately positioned on dismounting engine chassis.
The beneficial effect of the invention is: the present invention changes the aircraft engine dismounting vehicle mould of previous tradition machinery formula
Formula, automation, the digitizing technique for improving aircraft engine dismounting are horizontal.Pass through motor-driven walking mechanism and freqency fine adjustment machine
Structure overcomes the previous adjustment difficulty using mechanical system, and positioning accuracy is not high, and bothersome laborious deficiency realizes walking mechanism
With the automatic control and positioning of micro-adjusting mechanism；By motor driven elevating mechanism, overcome in the past using existing for hydraulic way
The deficiency of hydraulic leak and poor location realizes the automatic lifting of elevating mechanism.The control device has high degree of automation, surely
It is qualitative good, it is easy to operate, it is adaptable.
Detailed description of the invention
Fig. 1: for control system architecture schematic diagram of the present invention.
Fig. 2: for operation of the present invention flow chart.
Specific embodiment
A kind of aircraft engine dismounting vehicle electric control method, the steps include:
1), four movable motors that four apexes in the chassis lower part of dismounting engine vehicle walking mechanism are installed, point
Not Wei movable motor I, movable motor II, movable motor III and movable motor IV, movable motor pass through speed reducer and mechanical structure
Integral device is moved to control the movement of walking mechanism and formulates position by connection；
2), lifting motor is connect by speed reducer with mechanical structure, is controlled elevating mechanism movement by lifting motor, is realized
The rise or decline of aircraft engine；
3) virtual (x, y, z) axis, is established；
4) micro-adjusting mechanism, is set to elevating mechanism top, for placing aircraft engine, X is finely tuned to electricity by control
Machine, fine tuning Y-direction motor, fine tuning Z-direction motor, realize the adjusting on the direction (x, y, z), and combine fine tuning rotating electric machine by generator
It is fine-tuning to accurate location；
5), using the obliquity sensor being mounted on micro-adjusting mechanism, in real time to the pitching of engine, rolling and deflection angle
It is detected and is transferred to bus control module；
6), the data that bus control module carrys out acquisition obliquity sensor acquisition are analyzed and processed, if engine is
Reach specified co-ordinate system location, then completes this time to operate, control walking mechanism returns to original position, if engine does not reach specified
Co-ordinate system location then issues instruction and manipulates to fine tuning X to motor, fine tuning Y-direction motor, fine tuning Z-direction motor, until generator
Until reaching designated position.
Walking mechanism, elevating mechanism and the micro-adjusting mechanism is provided with the limit on the direction respective coordinates system (x, y, z)
Value issues alarm command, at this time device when the occurrence that obliquity sensor detects is greater than the limiting value of any one setting
Entirety stops operating, and alarm lamp is bright.
Equipment used by a kind of aircraft engine dismounting vehicle electric control method as shown in Figure 1, structure are as follows: in bus
There are four movable motors, four movable motors to form dismounting engine vehicle walking mechanism for connection in control module；Bus marco mould
It is micro- to motor, fine tuning Y-direction motor, fine tuning Z-direction motor and micro- rotating electric machine, composition dismounting engine vehicle that fine tuning X is connected on block
Regulating mechanism；It is connected with lifting motor on bus control module, forms dismounting engine vehicle elevating mechanism；The signal of controller inputs
Be connected with obliquity sensor, detection switch and control button on end, controller will after collected information analysis processing, export to
Bus control module；Also couple wired hand-held unit on the controller and control operation is carried out to integral device.Described
It is connected with wireless communication module on controller, integral device is controled and operated by external radio operation unit.Institute
Four movable motors stated are separately positioned on four vertex positions of dismounting engine chassis.
When specifically used:
The invention is to be achieved through the following technical solutions: providing a kind of aircraft engine dismounting truck control device, packet
It includes: wired hand-held unit, radio operation unit, controller, movable motor I, movable motor II, movable motor III and row
Walk motor IV, lifting motor；X is finely tuned to motor, finely tunes Y-direction motor, finely tunes Z-direction motor, and its fine tuning rotating electric machine；Detection is opened
It closes, wireless communication module, bus control module, obliquity sensor composition.
Controller connects wired hand-held unit, issues control instruction pair to controller by wired hand-held unit
Dismounting engine vehicle control effectively；Bus communication module is installed on the left side of controller, is attached by bottom plate, simultaneously
Bus communication module connect movable motor I, movable motor II, movable motor III, movable motor IV, lifting motor, fine tuning X to
Motor finely tunes Y-direction motor, finely tunes Z-direction motor and its fine tuning rotating electric machine, is issued controller using bus communication module
Motor operation instruction is sent to each motor, carries out running position and the speed of service etc. to motor and controls, and carries out data
Interaction.By controlling movable motor I, movable motor II, movable motor III, movable motor IV, realize that dismounting engine garage is walked
Mechanism advances, retreats, moving left and right, rotating effective exercise, and control lifting motor realizes the upper of dismounting engine vehicle elevating mechanism
It rises, descending motion, control fine tuning X starts to motor, fine tuning Y-direction motor, fine tuning Z-direction motor and its fine tuning rotating electric machine realization
The complicated pose adjustment of the longitudinal direction fine tuning of machine dismounting vehicle micro-adjusting mechanism, laterally fine tuning, vertically delicate adjusting, pitching, rolling, deflection.Wirelessly
Communication module is mounted on the right side of controller, is attached by bottom plate, receiving end of the wireless communication module as data, in real time
The control instruction for receiving long distance wireless operating unit, realize system long distance wireless operation；Controller and detection switch into
Row connection, detects the status information of position in real time, and is handled using controller, the steady operation operation of safeguards system；
Controller is connect with control button, and control button can be to the system power supply of control device, the information such as system cut-off, failure emergency stop
It is acquired, and is effectively treated using controller；Controller is connect with obliquity sensor, by obliquity sensor to fine tuning
The pitching of mechanism, rolling, deflection angle detect and be effectively treated using controller；Controller and status indicator lamp connect
It connects, acousto-optic instruction is carried out to the operating status of dismounting engine vehicle, standby mode, malfunction by status indicator lamp.The control
System controller processed uses PLC controller.
Whole system working principle: aircraft engine dismounting vehicle walking mechanism by I-shaped chassis mechanical mechanism structure
At movable motor I, movable motor II, movable motor III, movable motor IV are individually positioned in four vertex positions on chassis, lead to
It crosses speed reducer to connect with mechanical mechanism, passes through the movement of movable motor I, movable motor II, movable motor III, movable motor IV
Chassis machine structure is controlled, so that its walking mechanism advanced, retreated, move left and right, rotary motion.Elevating mechanism is by " X " type machinery
Mechanism is constituted, and lifting motor is connect by speed reducer with " X " type mechanical mechanism, passes through motion control " X " type machine of lifting motor
Tool structure moves its elevating mechanism.Micro-adjusting mechanism is placed in elevating mechanism top, for placing aircraft engine, by machinery
Structure composition realizes the lateral fine tuning of micro-adjusting mechanism, finely tunes Y-direction motor by control, realize by control fine tuning X to motor
Longitudinal fine tuning of micro-adjusting mechanism, finely tunes Z-direction motor by control, realizes the Z-direction fine tuning of micro-adjusting mechanism.By jointly controlling fine tuning
X realizes the pitching, rolling, deflection of micro-adjusting mechanism to motor, fine tuning Y-direction motor, fine tuning Z-direction motor and its fine tuning rotating electric machine
Complicated pose adjustment, avoid aircraft engine and engine that the collision in cabin is installed, ensure the safety of aircraft and engine.Control
System is divided into two parts of control and detection, and control section passes through wired hand-held unit, radio operation unit, control button
Control instruction is issued, after the operation and processing of controller, control instruction is on the one hand sent to movable motor driving walking
On the other hand control instruction is sent to lifting driving elevating mechanism movement, while control instruction is sent fine tuning X by mechanism kinematic
It is moved to motor, fine tuning Y-direction motor, fine tuning Z-direction motor and its fine tuning rotating electric machine driving micro-adjusting mechanism.Detection is opened by detection
It closes and realizes, using detection switch elevating mechanism high-low limit position, X, Y, Z, the extreme position of micro-adjusting mechanism are detected, and are used
Obliquity sensor detects pitching, rolling, deflection angle, and by and controller calculation process after, and referred to by state
Show that lamp is indicated, forms the control system of a set of collection detection, calculation process and control.
Controller is separately connected hand-held unit, detection switch, control button, inclination angle sensing as core processing unit
Device, status indicator lamp.Controller connect with the communication interface of wired hand-held unit equipped with RS232 interface and carries out data friendship
It changes and is connect in the left side of controller configuration bottom plate with bus control module, the bottom plate and wireless communication module of right side configuration connect
It connects, extends analog module, realize that the acquisition of system and control control, controller device selects Delta SX2 type PLC.
Wired hand-held unit configures RS232 interface and is communicated with controller, led to as local interactive interface
Crossing hand-held operating unit default, walking mechanism, elevating mechanism, micro-adjusting mechanism can control operation, including row to the parameter of the system
Walk the "front", "rear", "left", "right", " left front ", " left back ", " before right ", " after right ", " left-handed ", the control of " dextrorotation " direction of mechanism
System.Rising operation, the decline operation control of elevating mechanism.Movement, rolling, pitching, the deflection control of adjustment are finely tuned, while to being
The operating status of system carries out real-time display and alarm detection.
Radio operation unit is communicated as remote operation terminal by wireless communication mode and wireless communication module,
It ensure that at a distance to effective control of dismounting engine vehicle, flexibly and easily.
Control button mainly includes manual/auto, local/remote operation, system power supply, system cut-off, failure emergency stop etc.,
The whole control of system is completed together with wired hand-held unit and radio operation unit.
Bus control module is mounted on the left side of controller, have CANOPEN communications protocol, it is contemplated that system it is small-sized
Change, movable motor, lifting motor, fine tuning motor, fine tuning rotating electric machine are all made of integrated electric motor, have CANOPEN communication association
View, CAN+, CN- terminal of CAN+, CAN- terminal of motor and bus control module are attached, and are constituted total based on CAN
The Motion Control Network of line.Main website, movable motor, lifting motor, fine tuning motor, fine tuning rotation difference are set by bus module
It is set as slave station, while the data that bus communication module acquires are transferred to controller and is analyzed and is handled.
Pitching, overturning, deflection angle detection by obliquity sensor completion, obliquity sensor is mounted on micro-adjusting mechanism
On, the 0-5V signal of obliquity sensor output, the modulus input module of access controller extension, and carried out at data to controller
Reason, the angle installed by the real-time detection engine of obliquity sensor, avoids angle is excessive from causing to slide dangerous generation.
Multiple detection switch are arranged in system, including for elevating mechanism, the lateral fine tuning of micro-adjusting mechanism, Zong Xiangwei
Tune, the respective initial position of vertically delicate adjusting, final position and its respective dead-center position guarantee the signal stabilization detection of system.
System has state-indicating function, and state instruction etc. includes power supply instruction, manually and automatically indicates, indicating fault,
Operation instruction, standby instruction etc., are indicated by state of the status indicator lamp to system, safeguards system safe and reliable operation.
The control device operating process is as shown in Fig. 2, main operational steps are as follows:
1, electrical control gear power supply, system worked well operation are connected, and wired handheld unit, radio operation unit are just
Often display, while status indicator lamp is shown normally；
2, wired handheld unit is selected according to the practical operation situation of work or radio operation unit controls；
3, corresponding speed and its position are respectively set on operating unit to walking mechanism, elevating mechanism, micro-adjusting mechanism
Etc. parameters；The processing of whole system include data acquisition module, travelling control module, elevating control module, fine tuning control module,
Multiaxis runs module, calculation processing module and alarming and managing module.It is main to complete " walking mechanism movement ", " elevating mechanism fortune
It is dynamic ", " micro-adjusting mechanism movement ", " warning message ", the functions such as " administrator setting ".Walking mechanism motor function is responsible for engine and is torn open
The direction controlling of the multiple speed of service settings of the low speed of four motors of entrucking, middling speed, high speed and its multiple movements of walking mechanism,
Complete the operation control of walking mechanism.Elevating mechanism motor function is responsible in engine installation process, and the fortune of lifting motor is selected
Dynamic speed, respectively low speed and high speed both of which, are selected and are controlled the behaviour of elevating mechanism by " liter ", " drop " button
Make.It is respectively the linear motion along X, Y, Z axis and the deflection fortune around X, Y, Z axis that micro-adjusting mechanism motor function, which is responsible for six-freedom degree,
It is dynamic."front", "rear" is respectively set, "left", "right", "upper", "lower" respectively correspond X, Y, Z axis."X+","X-","Y+","Y-",
" Z+ ", " Z- " are respectively corresponded around X, Y, Z axis, i.e. rolling, the adjustment of the multiple postures of pitching and course, realize the movement of micro-adjusting mechanism
Control.Warning message is responsible for realization system during the work time, when failure is alarmed, shows failure and failure reset.Management
Member is set as debugging button when debugging system or system failure.It is operated by above-mentioned, to entire dismounting engine
Vehicle is effectively adjusted；
4, walking mechanism movement is controlled by wired or wireless operating unit, dismounting engine garage is sailed into aircraft engine
The position in machine installation cabin；
5, controlling elevating mechanism by wired or wireless operating unit makes dismounting engine vehicle increase or drop to certain height
Spend position；
6, micro-adjusting mechanism movement is controlled by wired or wireless operating unit to answer the micro-adjusting mechanism of dismounting engine vehicle
Miscellaneous pose adjustment；
7, the operation for according to actual needs, repeating step 4,5,6 to dismounting engine vehicle electrical control gear, until
Until reaching final adjustment position, guarantee that position is good at aircraft engine and the location hole in engine installation cabin, and install and determine
Position pin extracts positioning pin, completes the installation and removal of engine；
8, walking mechanism, the movement of elevating mechanism micro-adjusting mechanism are controlled, make to start to install the walking mechanism of vehicle, elevating mechanism,
Micro-adjusting mechanism returns to initial position；
9, after the completion of operating, cutting supply power supply, and wait operation next time.
Claims (1)
1. a kind of aircraft engine dismounting vehicle electric control method, the steps include:
1), four movable motors that four apexes in the chassis lower part of dismounting engine vehicle walking mechanism are installed, respectively
Movable motor I, movable motor II, movable motor III and movable motor IV, movable motor are connected by speed reducer and mechanical structure
It connects, to control the movement of walking mechanism, integral device is moved to designated position；
2), lifting motor is connect by speed reducer with mechanical structure, is controlled elevating mechanism movement by lifting motor, is realized aircraft
The rise or decline of engine；
3) virtual x, y, z-axis, are established；
4) micro-adjusting mechanism, is set to elevating mechanism top, for placing aircraft engine, by control fine tuning X to motor, micro-
Y-direction motor, fine tuning Z-direction motor are adjusted, realizes x, y, the adjusting on the direction z, and fine tuning rotating electric machine is combined to be fine-tuning to engine
Accurate location；
5), using the obliquity sensor being mounted on micro-adjusting mechanism, the pitching of engine, rolling and deflection angle are carried out in real time
It detects and is transferred to bus control module；
6), bus control module to obliquity sensor acquisition come data be analyzed and processed, if engine have reached it is specified
Co-ordinate system location, then complete this time operate, control walking mechanism return to original position, if engine do not reach specified coordinate system position
Set, then issue instruction and fine tuning X is manipulated to motor, fine tuning Y-direction motor, fine tuning Z-direction motor, until engine reach it is specified
Until position；
There are four movable motors, four movable motors to form dismounting engine vehicle walking mechanism for connection on bus control module；
Fine tuning X is connected on bus control module to motor, fine tuning Y-direction motor, fine tuning Z-direction motor and fine tuning rotating electric machine, composition hair
Motivation dismounting vehicle micro-adjusting mechanism；It is connected with lifting motor on bus control module, forms dismounting engine vehicle elevating mechanism；Control
It is connected with obliquity sensor, detection switch and control button on the signal input part of device, controller is by collected information analysis
After processing, export to bus control module；Also couple wired hand-held unit on the controller to control integral device
System operation；
Walking mechanism, elevating mechanism and the micro-adjusting mechanism is provided with limiting value on the direction respective coordinates system x, y, z, when inclining
When the occurrence that angle transducer detects is greater than the limiting value of any one setting, alarm command is issued, device integrally stops at this time
It only operates, alarm lamp is bright；
It is connected with wireless communication module on the controller, integral device is controlled by external radio operation unit
And operation；
Four movable motors are separately positioned on four vertex positions of dismounting engine chassis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610151871.2A CN105843090B (en) | 2016-03-17 | 2016-03-17 | A kind of aircraft engine dismounting vehicle electrical control gear and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610151871.2A CN105843090B (en) | 2016-03-17 | 2016-03-17 | A kind of aircraft engine dismounting vehicle electrical control gear and method |
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| CN105843090B true CN105843090B (en) | 2019-01-29 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106933181B (en) * | 2017-04-27 | 2023-07-18 | 沈阳飞机工业（集团）有限公司 | Electrical control system of small-sized engine dismounting device |
| CN107357244A (en) * | 2017-06-28 | 2017-11-17 | 成都立航科技有限公司 | A kind of complex control system of bomb truck |
| CN115259005A (en) * | 2022-07-08 | 2022-11-01 | 江西洪都航空工业集团有限责任公司 | Electrical system based on aircraft engine mounting vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201693341U (en) * | 2010-06-18 | 2011-01-05 | 江念敏 | Automobile engine disassembly and assembly lifting arm with multi-degree of freedom |
| CN202763389U (en) * | 2012-08-03 | 2013-03-06 | 江阴新仁科技有限公司 | Disassembly and assembly device for large-scale bearing box |
| CN103935528A (en) * | 2014-05-05 | 2014-07-23 | 沈阳飞研航空设备有限公司 | Engine demounting and mounting trailer |
-
2016
- 2016-03-17 CN CN201610151871.2A patent/CN105843090B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201693341U (en) * | 2010-06-18 | 2011-01-05 | 江念敏 | Automobile engine disassembly and assembly lifting arm with multi-degree of freedom |
| CN202763389U (en) * | 2012-08-03 | 2013-03-06 | 江阴新仁科技有限公司 | Disassembly and assembly device for large-scale bearing box |
| CN103935528A (en) * | 2014-05-05 | 2014-07-23 | 沈阳飞研航空设备有限公司 | Engine demounting and mounting trailer |
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