CN107775611A - Spacecraft posture adjustment cantilevered multi-axis turntable - Google Patents
Spacecraft posture adjustment cantilevered multi-axis turntable Download PDFInfo
- Publication number
- CN107775611A CN107775611A CN201710933096.0A CN201710933096A CN107775611A CN 107775611 A CN107775611 A CN 107775611A CN 201710933096 A CN201710933096 A CN 201710933096A CN 107775611 A CN107775611 A CN 107775611A
- Authority
- CN
- China
- Prior art keywords
- spacecraft
- turntable
- posture adjustment
- pivoted loop
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
Abstract
The invention discloses a kind of axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three, including support platform, Omni-mobile train, jacking system, upset system, slew gear, outside wherein on the inside of the C-shaped ring of rollover stand with pivoted loop is connected by roller assembly, the outside of pivoted loop is looped around on the inside of C-shaped ring, pivoted loop is adjusted to appropriate assembling, test or trystate, and it is by the locking device of pivoted loop that spacecraft is locked, carry out related job to spacecraft.The present invention realizes the opening character assembling demand of the products such as the embedded products such as spacecraft high thrust motor, small space pipeline, has reached the accessibility and convenience of operation, has avoided malformation problem under the big quality load cantilever position of large span.
Description
Technical field
The invention belongs to spacecraft technical field, and in particular to there is one kind the axle posture adjustment of Large-Span Cantilever formula three to turn
Platform, the turntable can realize spacecraft embedded product can opening character, meet assembling and the testing requirement of product.
Background technology
With the maximization of spacecraft product, compact in design, the development trend of personalized external form, the posture of spacecraft
Adjustment demand is more universal, it is necessary to which large-scale turntable realizes the adjustment of spacecraft attitude, to meet spacecraft assembling, test and experiment
Demand.
At present, in order to meet spacecraft assembling, test and experiment demand, conventionally by spacecraft bottom adpting flange with
Two-axle rotating table is connected, and spacecraft posture adjustment demand is realized by the revolution and pitching function of two-axle rotating table.For example, Chinese patent
CN201210477474.6 discloses a kind of attitude of satellite adjustment two-axle rotating table, and the two-axle rotating table uses slider-crank mechanism and silk
The mode of thick stick transmission is realized, is connected by the ring flange on its own with spacecraft, as shown in Figure 1.It is follow-up to occur adopting again
The two-axle rotating table of electricity consumption putting technique, for example, see Chinese patent CN201310144110.0, it discloses a kind of posture adjustment turntable,
The pitching of spacecraft is realized by electric putter, specifically as shown in Figure 2.Two schemes realize the posture adjustment of spacecraft azimuth pitch
Demand.
Above two-axle rotating table scheme meets the purposes such as conventional assembling, test and experiment based on flange connection spacecraft
Demand, but spacecraft configuation is more and more diversified, the particularly spacecraft configuation of truss structure are according to the demand of payload
And change, and without flange-interface；Simultaneously as space product layout is more and more compacter, for the ease of the convenient of space product assembling
Property, its opening character requires also more and more higher.Conventional aerospace device posture adjustment scheme can not meet that the spacecraft of non-flange connection is adjusted
Appearance demand, and the matching requirements of flange base product difficult to realize.
The content of the invention
In order to solve the above-mentioned technical problem, it is an object of the invention to provide one kind to be used for spacecraft Large-Span Cantilever formula three
Axle posture adjustment turntable, the turntable solve the problems, such as malformation under the big quality load cantilever position of large span, effectively increase product
Assembling opening character, realize different appearances of the embedded products such as spacecraft high thrust motor in general assembly and test process
State demand.
The present invention is achieved through the following technical solutions：
The axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three, including support platform, Omni-mobile train, jacking system, turn over
Transfer from one department to another system, slew gear, support platform bottom sets omnidirectional moving train, to be supported to support platform and moving operation,
Auxiliary support is set simultaneously, use is parked for a long time for spacecraft；Jacking system includes lifting support, lead screw guide rails pair, lifting platform
With lifting electric control system, wherein, the lifting support with buttress brace is arranged on the top of support platform；Set on lifting support
There are lead screw guide rails pair and lifting platform, lifting platform lifting support is adjusted to suitable height in the presence of lifting electric control system
Degree；Upset system includes external tooth type turntable bearing, the rollover stand containing C-shaped ring and upset motor system, external tooth type turntable bearing and
It is connected with lifting platform, and the rollover stand containing C-shaped ring is set in outside, by upset motor system, adjusts the rollover stand containing C-shaped ring
To appropriate rolling angle；Rotary system includes pivoted loop and roller assembly, outer with pivoted loop on the inside of the C-shaped ring of rollover stand
Side is connected by roller assembly, is looped around the outside of pivoted loop on the inside of C-shaped ring, adjustment pivoted loop to appropriate assembling,
Test or trystate, and it is by the locking device of pivoted loop that spacecraft is locked, carry out related work item to spacecraft
Mesh.
Wherein, support platform is mechanical framework.
In above-mentioned technical proposal, support platform is the load body of whole posture adjustment turntable, lead screw guide rails it is secondary for ball-screw and
Line slideway, treat that turntable is moved to correct position, rise lower margin support supplemental protective turntable.
In above-mentioned technical proposal, Omni-mobile train is arranged on below platform base, is Mecanum wheel, is realized 0 ° of platform
Radius of turn, omnidirectional moving, move freely.
In above-mentioned technical proposal, jacking system realizes the elevating function between posture adjustment frock 1200mm-2600mm.
Further, lifting is connected by lead screw guide rails pair with the lifting support being arranged in support platform.
External tooth type turntable bearing is arranged in above-mentioned technical proposal, on lifting platform, its outer ring passes through rollover stand and pivoted loop
Connection, the electric turnover-180 -+180 ° of the rollover stand containing C-shaped ring is realized by motor, so as to realize the upset of spacecraft.
In above-mentioned technical proposal, axial roller assembly and radial rolling is set between pivoted loop and the C-shaped ring of rollover stand
Assembly, it is left axis rotary freedom, manually adjusts pivoted loop and realize that product turns round 360 °, while spacing dress is set
Put, to ensure the reliable fixation of spacecraft product and pivoted loop.
In above-mentioned technical proposal, design fixedly connected part and active connection are set on pivoted loop.
Further, fixedly connected part is fixed by hole installation and pivoted loop madial wall；Active connection one end and space flight
Device product connects, and one end and fixedly connected part, both as support bar, is used as suspension rod again.
Further, one group is connected for circular hole between two connectors, as radial reference, its excess-three group is slotted hole
Connection, radiai adjustment.Active connection design is changed, can be connected with different types of spacecraft, so as to meet different space flight
The posture adjustment demand of device.
Compared with prior art, the present invention realize realize spacecraft embedded product can opening character, meet product
Assembling and testing requirement, it is proposed by the present invention to have reached following effect for the axle posture adjustment turntable of spacecraft Large-Span Cantilever formula three：
1) this turntable cantilever-designed and three axle posture adjustment functions, the embedded productions such as spacecraft high thrust motor can be achieved
The opening character assembling demand of the products such as product, small space pipeline, has reached the accessibility and convenience of operation；
2) this turntable posture adjustment function, the realization of any posture of spacecraft can be achieved, it is each that any mechanism on spacecraft can be achieved
Class attitude test and experiment demand；
3) avoided big using the flexible connection of movable pulley assembly support between the upset C rows ring and revolution annulus
Malformation problem under the big quality load cantilever position of span；
4) fixedly connected part between the revolution annulus and spacecraft and active connection design, and can pass through change activity
Connector and realize other spacecraft posture adjustment functional requirements；
5) spacecraft is effectively placed in one by the turning circle ring mechanism, and the safety for effectively realizing spacecraft body is prevented
Shield.
Brief description of the drawings
Fig. 1 is the structural representation that an attitude of satellite adjusts two-axle rotating table in the prior art.
Fig. 2 is the structural representation of another posture adjustment turntable in the prior art.
Fig. 3 a are the axle posture adjustment platform of Large-Span Cantilever formula spacecraft three of a specific embodiment of the invention in upset annulus
The front view that mechanism is under plumbness.
Fig. 3 b are the axle posture adjustment platform of Large-Span Cantilever formula spacecraft three of a specific embodiment of the invention in upset annulus
The side view that mechanism is under plumbness.
Wherein, 1 is support platform；2 be motion train；3 be auxiliary lower margin support；4 be lifting support；5 be lead screw guide rails
It is secondary；6 be lifting platform；7 be lift servo controlled motor system；8 be rollover stand (containing C-shaped ring)；9 be external tooth type turntable bearing；10
For upset motor system；The 11 roller assembly between connection pivoted loop and upset C-shaped ring；12 be revolution annulus；13 are
Spacecraft connection adapter piece；14 be the locking device of revolution annulus；15 spacecraft to assume.
Fig. 4 is to connect pivoted loop in the axle posture adjustment platform of Large-Span Cantilever formula spacecraft three of a specific embodiment of the invention
Roller assembly schematic diagram between upset C-shaped ring.
Embodiment
The axle posture adjustment platform of Large-Span Cantilever formula spacecraft three of the present invention is described in further detail below in conjunction with accompanying drawing,
But what this was merely exemplary, it is no intended to which any restrictions are carried out to protection scope of the present invention.
Referring to Fig. 3, Fig. 3 a are that the axle posture adjustment platform of Large-Span Cantilever formula spacecraft three of a specific embodiment of the invention exists
The front view that upset annulus mechanism is under plumbness；Fig. 3 b are the Large-Span Cantilever formula boat of a specific embodiment of the invention
The side view that its axle posture adjustment platform of device three is under plumbness in upset annulus mechanism, Large-Span Cantilever formula space flight of the invention
The axle posture adjustment turntable of device three, including support platform (mechanical framework) 1, Omni-mobile train 2, jacking system, upset system, turn-around machine
Structure, the bottom of support platform 1 set omnidirectional moving train 2, to be supported to support platform 1 and moving operation, while set auxiliary
Support 3 is helped, use is parked for a long time for spacecraft；Jacking system includes lifting support 4, lead screw guide rails pair 5, lifting platform 6 and lifting
Electric control system 7, wherein, the lifting support 4 with buttress brace is arranged on the top of support platform 1；4 are provided with lifting support
Lead screw guide rails pair 5 and lifting platform 6, lifting platform 6 make lifting support adjust to suitable height in the presence of lifting electric control system 7
Degree；Upset system includes external tooth type turntable bearing 9, the rollover stand 8 containing C-shaped ring and upset motor system 10, external tooth type turntable shaft
Hold 9 and be connected with lifting platform 6, and the rollover stand 8 containing C-shaped ring is set in outside, by upset motor system 10, rollover stand (contains C
Type ring) to appropriate rolling angle；Rotary system includes pivoted loop 12 and five groups of roller assemblys 11, in the C-shaped ring of rollover stand 8
Side and the outside of pivoted loop 12 are connected by roller assembly 11, and the outside of pivoted loop 12, adjustment are looped around on the inside of C-shaped ring
Pivoted loop 12 is and locked by spacecraft by the locking device 14 of pivoted loop to appropriate assembling, test or trystate, right
Spacecraft carries out related job；
The structure chart of the roller assembly 11 of connection pivoted loop and rollover stand (containing C-shaped ring) in the present invention is referring to Fig. 4, figure
4 show the structural representation of roller assembly, wherein, including axial roller assembly and radial direction roller assembly, axially rolling
Wheel assembly and radial direction roller assembly are separately positioned on the inner side of the C-shaped ring of rollover stand；Pivoted loop is arranged on five groups of roller groups
Between zoarium, wherein roller assembly limits the axial movement of pivoted loop, radially inner and outer roller assembly limit axially up and down
The radial motion of pivoted loop is made, so as to realize rotation of the pivoted loop around own axes.
In specific embodiments, after pivoted loop 12 is adjusted to appropriate location, the inner side of pivoted loop 12 is provided with spacecraft
Connection adapter piece 13, for connecting spacecraft.
Subsequently space flight can be realized by electric-control system lifting controllable function, turn over function and the Manual rotary function of turntable
The adjustment of the posture of device.Turntable is transported to general assembly, test or test site by other to Mecanum wheel 2 by electric-control system
Ground.
This specific embodiment is only explanation of the invention, and it is not limitation of the present invention, person skilled
The modification of no creative contribution can be made to the present embodiment as needed after this specification is read, but as long as in right
All protected in claimed range by Patent Law.
Claims (11)
1. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three, including support platform, Omni-mobile train, jacking system, upset
System, slew gear, support platform bottom set omnidirectional moving train, to be supported to support platform and moving operation, together
When Auxiliary support is set, park use for a long time for spacecraft；Jacking system include lifting support, lead screw guide rails secondary, lifting platform and
Lifting electric control system, wherein, the lifting support with buttress brace is arranged on the top of support platform；It is provided with lifting support
Lead screw guide rails are secondary and lifting platform, lifting platform make lifting support adjust to proper height in the presence of lifting electric control system；
Upset system includes external tooth type turntable bearing, the rollover stand containing C-shaped ring and upset motor system, external tooth type turntable bearing and lifting
Platform connects, and sets the rollover stand containing C-shaped ring in outside, controls external tooth type turntable bearing to rotate by electric system, so as to adjust
The rollover stand of whole C-shaped ring is to appropriate rolling angle；Rotary system includes pivoted loop and roller assembly, the C-shaped ring of rollover stand
Inner side and the outside of pivoted loop are connected by roller assembly, and the outside of pivoted loop, adjustment revolution are looped around on the inside of C-shaped ring
Ring is and locked by spacecraft by the locking device of pivoted loop to appropriate assembling, test or trystate, and spacecraft is opened
Exhibition operation.
2. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, support platform is bottom mechanical
Framework.
3. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, support platform is whole posture adjustment
The load body of turntable, lead screw guide rails pair is ball-screw and line slideway, treats that turntable is moved to correct position, rises lower margin support
Supplemental protective turntable.
4. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as described in claim any one of 1-3, wherein, Omni-mobile wheel
System is arranged on below platform base, is Mecanum wheel, is realized 0 ° of radius of turn of platform, omnidirectional moving, move freely.
5. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as described in claim any one of 1-3, wherein, jacking system is real
Elevating function between existing posture adjustment frock 1200mm-2600mm.
6. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, lifting platform passes through lead screw guide rails
Pair is connected with the lifting support being arranged in support platform.
7. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, external tooth is arranged on lifting platform
Formula turntable bearing, its outer ring are connected by rollover stand with pivoted loop, are realized by motor driven external tooth type turntable bearing and are contained C-shaped ring
- 180-+180 ° of rollover stand electric turnover, so as to realize the upset of spacecraft.
8. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, the C of pivoted loop and rollover stand
Axial roller assembly and radial rolling assembly are set between type ring, is left axis rotary freedom, manually adjusts back
Change realizes that product turns round 360 °, while sets stopping means, to ensure the reliable fixation of spacecraft product and pivoted loop.
9. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, set design solid on pivoted loop
Determine connector and active connection.
10. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, fixedly connected part passes through hole
Installation and pivoted loop madial wall are fixed；Active connection one end is connected with spacecraft product, one end and fixedly connected part, both conducts
Support bar, suspension rod is used as again.
11. the axle posture adjustment turntable of Large-Span Cantilever formula spacecraft three as claimed in claim 1, wherein, have between two connectors
One group is that circular hole connects, and as radial reference, its excess-three group connects for slotted hole, radiai adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710933096.0A CN107775611B (en) | 2017-10-10 | 2017-10-10 | Cantilever type multi-shaft rotary table for spacecraft attitude adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710933096.0A CN107775611B (en) | 2017-10-10 | 2017-10-10 | Cantilever type multi-shaft rotary table for spacecraft attitude adjustment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107775611A true CN107775611A (en) | 2018-03-09 |
| CN107775611B CN107775611B (en) | 2020-02-18 |
Family
ID=61434294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710933096.0A Active CN107775611B (en) | 2017-10-10 | 2017-10-10 | Cantilever type multi-shaft rotary table for spacecraft attitude adjustment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107775611B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483466A (en) * | 2019-01-03 | 2019-03-19 | 武汉船用机械有限责任公司 | A kind of turning tool and its application method of half tube components of oval |
| CN112720391A (en) * | 2020-12-21 | 2021-04-30 | 中国航空工业集团公司北京航空精密机械研究所 | Attitude adjustment three-axis turntable for large-scale space satellite product test |
| CN113146171A (en) * | 2021-03-05 | 2021-07-23 | 南京晨光集团有限责任公司 | Satellite attitude conversion device with rotation azimuth lifting function |
| CN117226693A (en) * | 2023-11-16 | 2023-12-15 | 中国航发沈阳黎明航空发动机有限责任公司 | Space posture adjusting device and method for polishing blisk parts |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080093514A (en) * | 2007-04-17 | 2008-10-22 | 현대중공업 주식회사 | Variable elevation worktable |
| CN203636286U (en) * | 2013-11-28 | 2014-06-11 | 山河智能装备股份有限公司 | Welding positioner for excavator booms |
| CN203779096U (en) * | 2014-04-08 | 2014-08-20 | 中国农业机械化科学研究院 | Multi-degree-of-freedom aero-engine assembly platform |
| CN104015171A (en) * | 2014-05-27 | 2014-09-03 | 北京卫星环境工程研究所 | Multifunctional rotary table used for posture adjustment of spacecraft |
| CN204772435U (en) * | 2015-06-11 | 2015-11-18 | 戴志达 | A movable roll -over stand for assembly of engine |
| CN105619355A (en) * | 2016-03-16 | 2016-06-01 | 梁山中集东岳车辆有限公司 | Synchronous centering positioning device |
| CN206527687U (en) * | 2017-03-10 | 2017-09-29 | 周口科技职业学院 | The roll-over stand for dismounting engine of convenient use |
| CN206632599U (en) * | 2017-03-30 | 2017-11-14 | 常熟市恒康机械制造有限公司 | The welding rollover stand of aerogenerator machine base |
-
2017
- 2017-10-10 CN CN201710933096.0A patent/CN107775611B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080093514A (en) * | 2007-04-17 | 2008-10-22 | 현대중공업 주식회사 | Variable elevation worktable |
| CN203636286U (en) * | 2013-11-28 | 2014-06-11 | 山河智能装备股份有限公司 | Welding positioner for excavator booms |
| CN203779096U (en) * | 2014-04-08 | 2014-08-20 | 中国农业机械化科学研究院 | Multi-degree-of-freedom aero-engine assembly platform |
| CN104015171A (en) * | 2014-05-27 | 2014-09-03 | 北京卫星环境工程研究所 | Multifunctional rotary table used for posture adjustment of spacecraft |
| CN204772435U (en) * | 2015-06-11 | 2015-11-18 | 戴志达 | A movable roll -over stand for assembly of engine |
| CN105619355A (en) * | 2016-03-16 | 2016-06-01 | 梁山中集东岳车辆有限公司 | Synchronous centering positioning device |
| CN206527687U (en) * | 2017-03-10 | 2017-09-29 | 周口科技职业学院 | The roll-over stand for dismounting engine of convenient use |
| CN206632599U (en) * | 2017-03-30 | 2017-11-14 | 常熟市恒康机械制造有限公司 | The welding rollover stand of aerogenerator machine base |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483466A (en) * | 2019-01-03 | 2019-03-19 | 武汉船用机械有限责任公司 | A kind of turning tool and its application method of half tube components of oval |
| CN109483466B (en) * | 2019-01-03 | 2020-12-08 | 武汉船用机械有限责任公司 | Turnover tool for oval semi-pipe part and using method thereof |
| CN112720391A (en) * | 2020-12-21 | 2021-04-30 | 中国航空工业集团公司北京航空精密机械研究所 | Attitude adjustment three-axis turntable for large-scale space satellite product test |
| CN113146171A (en) * | 2021-03-05 | 2021-07-23 | 南京晨光集团有限责任公司 | Satellite attitude conversion device with rotation azimuth lifting function |
| CN117226693A (en) * | 2023-11-16 | 2023-12-15 | 中国航发沈阳黎明航空发动机有限责任公司 | Space posture adjusting device and method for polishing blisk parts |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107775611B (en) | 2020-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107775611A (en) | Spacecraft posture adjustment cantilevered multi-axis turntable | |
| CN104224328B (en) | Robot body structure for supporting minimally-invasive surgery instrument | |
| CN105232287B (en) | Operation table column for an operation table | |
| CN108216682A (en) | Six degree of freedom Portable unmanned machine wing and the general posture adjustment docking motorcycle of vee tail | |
| CN106826180B (en) | A kind of manual Butt Assembling device of gas suspension | |
| CN110666752B (en) | Combined deflection turntable with multiple working postures and combined mode | |
| CN104733858A (en) | Automatic antenna support | |
| CN101850796B (en) | Four-limb unit formed by combined joints of robot | |
| CN102937139B (en) | Pivoting support, boom system and elevating fire truck | |
| CN103693124A (en) | Transformable spherical robot | |
| CN101309851A (en) | Lifting system | |
| CN106644389A (en) | High precision five-freedom degree position and pose adjusting mechanism used for space environment test | |
| CN106002951B (en) | A kind of movable type carrying platform | |
| CN108163785A (en) | A kind of moveable attitude adjustment platform | |
| CN104511733B (en) | The rotation table device that can be lifted on a large scale | |
| CN107264670A (en) | Light-type direction movement lift cart | |
| CN104261255A (en) | Hoisting device and method for FAST (five-hundred-meter aperture spherical radio telescope) reflection surface unit | |
| CN109178768A (en) | A kind of double rolling bed transportation systems and its working method | |
| CN108381521A (en) | The mechanism in six degree of freedom of High Mach number high dynamic pressure lift model captive trajectory testing | |
| CN109928137B (en) | Steerable roller way system | |
| CN206332154U (en) | Phased-array radar assembly carrier | |
| CN102680261A (en) | Rotary inclined test bed device | |
| CN104401910B (en) | A kind of large-scale can the rotary showing device of multiple layer up-down | |
| WO2018120606A1 (en) | Dual parallel positioning mechanism for seated radiotherapy | |
| KR20210027042A (en) | Vehicle for assisting drone take-off and landing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |