CN106508087B - A kind of floating microgravity effect ground simulation method is mixed based on magnetic liquid - Google Patents
A kind of floating microgravity effect ground simulation method is mixed based on magnetic liquidInfo
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- CN106508087B CN106508087B CN201110010828.1A CN201110010828A CN106508087B CN 106508087 B CN106508087 B CN 106508087B CN 201110010828 A CN201110010828 A CN 201110010828A CN 106508087 B CN106508087 B CN 106508087B
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- gravity
- buoyancy
- trim
- permanent magnet
- electromagnetic force
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- 230000005486 microgravity Effects 0.000 title claims abstract description 38
- 230000000694 effects Effects 0.000 title claims abstract description 35
- 239000007788 liquid Substances 0.000 title claims abstract description 31
- 238000004088 simulation Methods 0.000 title claims abstract description 28
- 238000007667 floating Methods 0.000 title claims abstract description 26
- 230000005484 gravity Effects 0.000 claims abstract description 70
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 21
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 3
- 230000005672 electromagnetic field Effects 0.000 abstract description 3
- 230000001264 neutralization Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000037396 body weight Effects 0.000 description 3
- 230000002035 prolonged Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 2
- 230000005487 simulated microgravity Effects 0.000 description 2
- 210000001331 Nose Anatomy 0.000 description 1
- 239000008346 aqueous phase Substances 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 230000001105 regulatory Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The present invention relates to a kind of mix floating microgravity effect ground simulation method based on magnetic liquid, it is technically characterized in that：Based on the buoyancy of liquid, the means for providing accurate simulation space microgravity effect using the electromagnetism mix suspending mode floating with liquid.Wherein, buoyancy overcoming (thick trim) of the most of gravity of object by liquid, remaining very small part of gravity overcome (smart trim) by electromagnetic force fine setting, reach the purpose of accurate trim.Meanwhile, the regulation of object hoverheight under microgravity effect analog environment controls the size and Orientation of electromagnetic force, to realize any change of object hoverheight and position under weightlessness effect by control electric current intensity or the method for other electromagnetic field parameters.
Description
Technical field
Floating microgravity effect ground simulation method is mixed based on magnetic liquid the present invention relates to a kind of, is related to the ground of microgravity effect
Face analogy method.
Background technology
The method of existing stimulated microgravity/effect is broadly divided into two major classes：
(1) short time weightlessness or microgravity environment are created using acceleration of gravity, main realization rate includes freely falling body
The method of movement, such as using zero gravity airplane, sounding rocket and Microgravity Falling Tower (well).
(2) make test body persistently by can balance or approximate equilibrium gravity external force, produce prolonged microgravity effect
Should, main implementation method has hang spring gravity compensation method, Bubble-floating Method and neutral buoyancy method.
In happiness sea et al. in 1998《Ring mould technology》In paper " development and its comparative studies of weightless flight technology ",
Wang Qi et al. was in 2003《Spacecraft Environment Engineering》In paper " neutral buoyancy simulator in the U.S. and its application ",
Bright et al. 2002 of Chen Jin《Spacecraft Environment Engineering》In paper " experiment of satellite environment Simulation, Engineering ＆ Modelling ", Ke by
Congruent people " experiment of satellite environment Simulation, Engineering ＆ Modelling " four documents that Chinese Yuhang Publishing House was published in 1993, it is all right
Existing microgravity environment/effect analog method is analyzed and compared at present both at home and abroad, and its Main Conclusions is concluded such as
Under：
Middle zero gravity airplane, which is carried, to be lost by the environmental simulation of the short time produced during airplane nose down similar freely falling body
Weight state.Once weightless about 20-30 seconds or so duration, Level of Microgravity 1 × 10-2g0~10-3g0。
Microgravity Falling Tower carries out weightless simulation using the freely falling body principle under certain altitude difference.The microgravity time is with falling
Tower height degree is relevant, a current microgravity maximum duration 10 seconds or so, and Level of Microgravity is up to 1 × 10-5g0。
In hang spring gravity compensation method, system compensates the gravity of object by assembly pulley using the weight of mass, from
And reach the purpose of microgravity effect, the maximum deficiency of this method is that mechanism is complicated, is taken up space greatly, motion it is accurate
Property is not high.
Bubble-floating Method is exactly to place object on more smooth platform, and object is floated into millimetre-sized height by gases at high pressure,
The gravity of object is offset to the active force of object with gases at high pressure, a kind of approximate friction free environment is formed, reaches simulation
Microgravity effect obtains purpose.The maximum deficiency of this method is exactly that hoverheight is too low, manufacturing process and control to platform
It is required that it is very high, the simulation of motion and attitude test in two dimensional surface can only be realized.
Neutral buoyancy method is the gravity for offsetting object to the buoyancy of object using liquid, makes object in a liquid in " drift
It is floating " state, approximate simulation microgravity effect.By tested object, (including spacecraft is in kind or model and boat in experimentation
Its member) it is fully immersed in water, using accurate adjustment counterweight or the buoyancy of levitron, make the proportion and aqueous phase of tested object
Together, float in water.This method has six degree of freedom three-dimensional simulation space, can long-time continuous experiment, but only utilize
Buoyancy can not realize the precise control of object hoverheight, and Level of Microgravity is directly influenceed by trim precision.
Although the corresponding Experimental Establishment of existing analogy method has their own characteristics each, but for following spatial operation, its applicability
Wait to discuss.Zero gravity airplane and Microgravity Falling Tower time are too short；Air floating platform system experimentation technology relative maturity, but only
Mm grades of hoverheight can be provided, simple plane relative motion experiment and attitude experiment are mostly used at present (need to add
Plus three-dimensional air-bearing), it is impossible to be used in the ground experiment of spatial three-dimensional movement；Hang spring system not only complicated in mechanical structure,
And be to simulate the distributed force in space with the concentrated force on multiple points, cause ground simulation and space actual loading effect
And the difference of motion.Neutral buoyancy analogy method, object gravity is overcome using liquid buoyancy, is a kind of distributed force, can
The simulation and experiment of spatial three-dimensional movement are carried out, astronaut training is currently used primarily in, but the mould of its microgravity effect
Intend precision directly affected by trim precision volume, and without autonomous control and regulation hoverheight ability, it is rare enter
The autonomous spatial operation of row and the simulation and experiment of activity.
Spatial movement is actually the motion of three-dimensional six degree of freedom, based on current existing microgravity effect analog method,
Six-freedom motion simulated environment can be provided only falls tower, zero gravity airplane and neutral buoyancy method.But it is due to fall
The microgravity time of tower and zero gravity airplane is very of short duration, it is impossible to be used in the simulation of prolonged exercise, therefore, single from this side
Face sees that neutral buoyancy method is more better.
For the ground simulation and experiment of future space operant activity and its technology, the simulation of neutral buoyancy method is only utilized
Microgravity effect can't fully meet requirement of experiment.Main reason is that：
1. neutral buoyancy state is a kind of anticipation, it must can be only achieved by descending water experiment repeatedly.In order to reach neutrality
Buoyant state, carry out operation experiments before, it is necessary in advance to experimental subjects carry out trim, and may need by
Experiment can be only achieved the trim precision of requirement repeatedly.Once experimental subjects is changed, trim again must be carried out again.Time-consuming,
Take a lot of work, arduously.
2. a utilization neutral buoyancy trim gravity does not have real-time operation.In experimentation, the weight of test specimen, knot
Structure, volume may change, and cause center of gravity, centre of buoyancy to change, and buoyancy is with gravity unbalance, it is necessary to buoyancy
Adjusted in real time.But to adjust in real time test specimen volume in itself or only by the real-time exact weight of liquid buoyancy very
Difficulty is accomplished.
3. carry out being also impossible to accomplish that both are complete in the balance of buoyancy and gravity, actual implementation process even with counterweight
, always there is a range of error, in prolonged operating process, this error can cause object vertical in balance
Motion on direction.If the trim precision of two operation objects is inconsistent, it will influence operating process and experimental result.
Even if 4. each experimental subjects can accurately trim and stable suspersion, but in experimentation, if thinking accurate in real time adjust
The hoverheight of whole object, relies only on neutral buoyancy not all right, it is necessary to rely on experimental subjects in itself or other external force.
Carry out the real-time accurate adjustment of hoverheight in itself by experimental subjects, the not only design to object proposes particular/special requirement,
Add additional function, and ground experiment process can be made not to be inconsistent with real space operating process, cause experimental data and
As a result unreliable and unavailable.Therefore the real-time accurate adjustment by other external force progress object hoverheight is needed.
The content of the invention
In order to avoid in place of the deficiencies in the prior art, the present invention proposes a kind of microgravity effect ground mixed and floated based on magnetic liquid
Analogy method.
The present invention proposes the microgravity effect ground simulation method based on magnetic liquid mixing buoyancy, and its basic thought is as follows：
Buoyancy based on liquid, accurate simulation space microgravity effect is provided using the mix suspending mode of electromagnetism+liquid clothes
Means.Wherein, most of gravity of object is remaining very small part of heavy by the buoyancy overcoming (thick trim) of liquid
Power overcomes (smart trim) by electromagnetic force fine setting, reaches the purpose of accurate trim.Meanwhile, microgravity effect analog environment
The regulation of lower object hoverheight controls the big of electromagnetic force by control electric current intensity or the method for other electromagnetic field parameters
Small and direction, to realize any change of object hoverheight and position under weightlessness effect.
It is a kind of that floating microgravity effect ground simulation method is mixed based on magnetic liquid, it is characterised in that：Slightly matched somebody with somebody by liquid buoyancy
The flat means being combined with the smart trim of electromagnetic force, are comprised the following steps that：
Step 1：According to the quality of object and thick trim precision, according to formula FElectromagnetic force=mg (1-u), calculates and carries out essence
Electromagnetic force size needed for trim, wherein FElectromagnetic forceFor the size of the electromagnetic force needed for accurate match somebody with somebody usually, unit is ox, m
For mass of object, unit for kilogram, g is acceleration of gravity, takes 9.8m/s2, u is thick trim precision, uses percentage
Represent；
Step 2：With electromagnetic force FElectromagnetic forceAs known conditions, based on Ansoft softwares, under available rated current,
Numerical computations are carried out using FInite Element, magnet exciting coil parameter and permanent magnet parameter and composition exciting electromagnet iron is obtained；Institute
Magnet exciting coil parameter is stated for coil surface current, sectional area, the number of turn；The permanent magnet parameter is that permanent magnet section is accumulated and thick
Degree；
Step 3：Permanent magnet is determined according to permanent magnet parameter and underbelly in liquid is placed on, object is placed in
In water and in a free state in planar horizontal state；
Step 4：Measure the gravity G1 and buoyancy F1 of object；
Step 5：According to thick trim precision, calculate and reach the thick poor δ for matching somebody with somebody usually required buoyancy and gravity, simultaneously
The gravity G1 and buoyancy F1 of object difference G1-F1=Δs are calculated, the thick trim of gravity is carried out；
As G1-F1=Δ ＞ 0, calculate F=Δs+| δ | value, and need increased buoyancy to put on using F as object
Object, makes body surface parallel with permanent magnet surfaces, and ensures that permanent magnet center of gravity, object center of gravity, floating body center of gravity exist
On straight line, meet trim precision；
As G1-F1=Δs ＜ 0, and | Δ | ＞ | δ | when, calculate F '=| Δ |-| δ | value, and using F ' as object need it is increased
Gravity puts on object, makes body surface parallel with permanent magnet surfaces, and ensure permanent magnet center of gravity, object center of gravity,
Floating body center of gravity point-blank, meets trim precision；
As G1-F1=Δs ＜ 0, and | Δ | ＜ | δ | when, meet trim precision；
Step 6：Exciting electromagnet iron is placed in below liquid tank, makes its center axis along gravity direction；
Step 7：Steady magnetic field is produced with exciting electromagnet iron coil, according to the electricity that generation suction is selected with magnet polarities
Flow direction so that object keeps Current Voltage constant after central axis suspension, reaches stress balance；
Step 8：Adjust field coil current size so that the height that object moves up and down until reaching requirement.
It is less than the plate floating body of water when needing buoyancy in step 5 from density, it is desirable to the pure buoyancy F=that the floating body is produced
Δ+|δ|；Described pure buoyancy refers to that buoyancy subtracts the gravity of itself.
It is more than the balancing weight of water when needing to increase gravity in step 5 from density, it is desirable to which it is additional heavy that the balancing weight is produced
The size F ' of power=| Δ |-| δ |；Described additional gravity refers to that gravity subtracts the buoyancy of itself.
It is proposed by the present invention that floating microgravity effect ground simulation method is mixed based on magnetic liquid, microgravity effect can be formed
Experimental situation, and there is offer long-time, big height suspension, highly controllable adjustable experimental situation.
Stable suspersion under the achievable meter level height of the present invention, by adjusting the ratio of buoyancy and gravity, can easily float
102The object of kg magnitudes, realizes the purpose of accurate simulated microgravity effect, and hoverheight is adjustable controllable.
The principle of the invention is simple, implements simple, easy to operate.
The present invention can solve the problems, such as the ground experiment of future space operation, using the teaching of the invention it is possible to provide six degree of freedom, three-dimensional motion are empty
Between, the complete microgravity effect ground simulation of long-time of hoverheight controllable precise, be the ground of following complex space operation
Face mould is intended providing good experimental enviroment.
Brief description of the drawings
Fig. 1：The schematic diagram of the inventive method
1- test articles, 2- exciting electromagnet iron, 3- liquid tanks, 4- water, 5- power of alterating and direct current controllers, 6- electric circles；
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
The implementation system of this method includes the equipment groups such as liquid water tank, magnet exciting coil, experiment body, DC power converter
Into.The buoyancy of body is tested in system and the ratio of the thick trim of gravity is less than 1.02: 1, experiment body weight 39.5kg.Electromagnetism
System carries out gravity accurately with can usually provide the electromagnetic force not less than 2% gravity, and maximum hoverheight is (apart from water tank
Bottom surface) 1m, electromagnetic system rated current 60A, rated voltage 450V.It is demonstrated experimentally that under meter level hoverheight,
Pass through the electric current of regulating winding, it is possible to achieve the stable suspersion of arbitrary height.
The first step：According to the quality of object and thick trim precision, according to formula FElectromagnetic force=mg (1-u), calculates and carries out essence
Electromagnetic force size needed for trim, wherein FElectromagnetic forceFor the size of the electromagnetic force needed for accurate match somebody with somebody usually, unit is ox, m
For mass of object, unit for kilogram, g is acceleration of gravity, takes 9.8m/s2, u is thick trim precision, uses percentage
Represent.
Second step：This electromagnetic force is produced by permanent magnet and magnet exciting coil.By required electromagnetic force FElectromagnetic forceAs known conditions,
Based on Ansoft softwares, under available rated current, numerical computations are carried out using FInite Element, excitation wire is obtained
The parameter of circle and the size parameter of permanent magnet, including coil surface current, sectional area, the number of turn, permanent magnet section product and thickness
Degree, successively selection meets all previous coil and permanent magnet of parameter request.
3rd：Permanent magnet is connected to underbody (being referred to as this object to test body), makes the thing for being connected to permanent magnet
Permanent magnet is in planar horizontal state in a free state when body is placed in water.
4th step：Measurement experiment body weight power G1 and buoyancy F1.
5th step：The thick trim of gravity.According to thick trim precision, calculating reach slightly with usually required buoyancy with again
The poor δ of power.Compare the size of gravity and buoyancy, if G1-F1=Δs ＞ 0, calculate Δ+| δ | value, be less than from density
The plate floating body of water, it is desirable to the size F=Δs for the pure buoyancy (buoyancy subtracts the gravity of itself) that the floating body is produced+| δ |.
The plate floating body is installed on experiment body afterwards, makes its surface parallel with permanent magnet surfaces, and ensure permanent magnet
Center of gravity, object center of gravity, floating body center of gravity are point-blank.If G1-F1=Δs ＜ 0, and | Δ | ＜ | δ |, show thick trim essence
Degree has reached.If G1-F1=Δs ＜ 0, and | Δ | ＞ | δ |, select then balancing weight of the density more than water, it is desirable to which the balancing weight is produced
Additional gravity (gravity subtracts the buoyancy of itself) size F=| Δ |-| δ |.The balancing weight is attached to experiment body afterwards
On, it is located at permanent magnet lowly, and ensure that both centers of gravity are overlapped.
6th step：Magnet exciting coil is installed additional under liquid tank outer bottom, makes its center axis along gravity direction, coil is with handing over
Direct current switching controller is connected, and the change in electromagnetic field intensity and direction can be realized by the Current Voltage of controller control coil
Change.
7th step：Liquid water tank with water, experiment body is put into, it is swum on the water surface, and in coiling group center
Near axis.
8th step：Magnet exciting coil is connected with power of alterating and direct current converting system, and steady magnetic field is produced after energization.User's root
According to being selected to produce the sense of current of suction with magnet polarities, the size of electric current on regulation power supply controller, until object exists
Suspended near central axis, holding Current Voltage is constant afterwards, and object is stopped at certain point, reaches stress balance, simulation
Microgravity effect.
9th step：Change object hoverheight, adjust field coil current size, object moves up and down, Zhi Daoda
To desired height.
During experiment, start test articles and swim in the water surface, magnet coil battle array is arranged in below water tank, and electricity is produced after energization
Test articles (installing permanent magnet additional) are produced electromagnetic force by magnetic field.Electromagnetic force balance test thing together with buoyancy
The gravity of body, makes experiment body be completely submerged in water and suspends, reach the purpose of simulated microgravity effect.
Claims (3)
1. a kind of mix floating microgravity effect ground simulation method based on magnetic liquid, it is characterised in that：Slightly matched somebody with somebody by liquid buoyancy
The flat means being combined with the smart trim of electromagnetic force, are comprised the following steps that：
Step 1：According to the quality of object and thick trim precision, according to formula FElectromagnetic force=mg (1-u), calculates and carries out essence
Electromagnetic force size needed for trim, wherein FElectromagnetic forceFor the size of the electromagnetic force needed for accurate match somebody with somebody usually, unit is ox, m
For mass of object, unit for kilogram, g is acceleration of gravity, takes 9.8m/s2, u is thick trim precision, uses percentage
Represent；
Step 2：With electromagnetic force FElectromagnetic forceAs known conditions, based on Ansoft softwares, under available rated current,
Numerical computations are carried out using FInite Element, magnet exciting coil parameter and permanent magnet parameter and composition exciting electromagnet iron is obtained；Institute
Magnet exciting coil parameter is stated for coil surface current, sectional area, the number of turn；The permanent magnet parameter is that permanent magnet section is accumulated and thick
Degree；
Step 3：Permanent magnet is determined according to permanent magnet parameter and underbelly in liquid is placed on, object is placed in
In water and in a free state in planar horizontal state；
Step 4：Measure the gravity G1 and buoyancy F1 of object；
Step 5：According to thick trim precision, calculate and reach the thick poor δ for matching somebody with somebody usually required buoyancy and gravity, simultaneously
The gravity G1 and buoyancy F1 of object difference G1-F1=Δs are calculated, the thick trim of gravity is carried out；
As G1-F1=Δ ＞ 0, calculate F=Δs+| δ | value, and need increased buoyancy to put on using F as object
Object, makes body surface parallel with permanent magnet surfaces, and ensures that permanent magnet center of gravity, object center of gravity, floating body center of gravity exist
On straight line, meet trim precision；
As G1-F1=Δs ＜ 0, and | Δ | ＞ | δ | when, calculate F '=| Δ |-| δ | value, and using F ' as object need it is increased
Gravity puts on object, makes body surface parallel with permanent magnet surfaces, and ensure permanent magnet center of gravity, object center of gravity,
Floating body center of gravity point-blank, meets trim precision；
As G1-F1=Δs ＜ 0, and | Δ | ＜ | δ | when, meet trim precision；
Step 6：Exciting electromagnet iron is placed in below liquid tank, makes its center axis along gravity direction；
Step 7：Steady magnetic field is produced with exciting electromagnet iron coil, according to the electricity that generation suction is selected with magnet polarities
Flow direction so that object keeps Current Voltage constant after central axis suspension, reaches stress balance；
Step 8：Adjust field coil current size so that the height that object moves up and down until reaching requirement.
2. according to claim 1 mix floating microgravity effect ground simulation method based on magnetic liquid, it is characterised in that：
It is less than the plate floating body of water when needing buoyancy in step 5 from density, it is desirable to the pure buoyancy F=that the floating body is produced
Δ+|δ|；Described pure buoyancy refers to that buoyancy subtracts the gravity of itself.
3. according to claim 1 mix floating microgravity effect ground simulation method based on magnetic liquid, it is characterised in that：
It is more than the balancing weight of water when needing to increase gravity in step 5 from density, it is desirable to which it is additional heavy that the balancing weight is produced
The size F ' of power=| Δ |-| δ |；Described additional gravity refers to that gravity subtracts the buoyancy of itself.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106508087B true CN106508087B (en) | 2013-06-19 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278323A (en) * | 2018-01-09 | 2018-07-13 | 中国空间技术研究院 | A kind of zero stiffness vibration isolating method without tow platform towards electrostatic suspension formula twin-stage |
| CN110481819A (en) * | 2019-08-22 | 2019-11-22 | 燕山大学 | Microgravity experiment platform based on halbach array permanent magnet |
| CN113325340A (en) * | 2021-04-23 | 2021-08-31 | 上海卫星工程研究所 | Polarity testing method, system and device for double-supersatellite magnetic suspension actuator |
| CN114838791A (en) * | 2022-04-01 | 2022-08-02 | 浙江筑工科技有限公司 | High-precision warehousing raw material weighing machine for producing assembly type prefabricated parts |
| CN114062146B (en) * | 2021-11-04 | 2024-03-22 | 吉林大学 | Satellite soil low gravity experiment simulation method and device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278323A (en) * | 2018-01-09 | 2018-07-13 | 中国空间技术研究院 | A kind of zero stiffness vibration isolating method without tow platform towards electrostatic suspension formula twin-stage |
| CN108278323B (en) * | 2018-01-09 | 2019-11-29 | 中国空间技术研究院 | A kind of zero stiffness vibration isolating method towards electrostatic suspension formula twin-stage without tow platform |
| CN110481819A (en) * | 2019-08-22 | 2019-11-22 | 燕山大学 | Microgravity experiment platform based on halbach array permanent magnet |
| CN113325340A (en) * | 2021-04-23 | 2021-08-31 | 上海卫星工程研究所 | Polarity testing method, system and device for double-supersatellite magnetic suspension actuator |
| CN113325340B (en) * | 2021-04-23 | 2022-08-12 | 上海卫星工程研究所 | Polarity testing method, system and device for double-supersatellite magnetic suspension actuator |
| CN114062146B (en) * | 2021-11-04 | 2024-03-22 | 吉林大学 | Satellite soil low gravity experiment simulation method and device |
| CN114838791A (en) * | 2022-04-01 | 2022-08-02 | 浙江筑工科技有限公司 | High-precision warehousing raw material weighing machine for producing assembly type prefabricated parts |
| CN114838791B (en) * | 2022-04-01 | 2023-07-25 | 浙江筑工科技有限公司 | High-precision warehousing raw material weighing machine for producing prefabricated parts |
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Address after: Beilin District Shaanxi province Xi'an City friendship road 710072 No. 127 Patentee after: Northwestern Polytechnical University Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Patentee before: Northwestern Polytechnical University |