CN109752969A - A kind of the upright type five-shaft skimulated motion artificial rotary table and its method of multi-pose - Google Patents
A kind of the upright type five-shaft skimulated motion artificial rotary table and its method of multi-pose Download PDFInfo
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- CN109752969A CN109752969A CN201811636254.7A CN201811636254A CN109752969A CN 109752969 A CN109752969 A CN 109752969A CN 201811636254 A CN201811636254 A CN 201811636254A CN 109752969 A CN109752969 A CN 109752969A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses a kind of upright type five-shaft skimulated motion artificial rotary tables of multi-pose, including artificial rotary table ontology, the loading holder of the artificial rotary table ontology includes fixing seat, rotation seat and shaft, the relatively fixed setting of the fixing seat, the shaft wears and rotates in fixing seat, one end of the shaft is connect with rotation seat, the rotation seat is rotatably arranged in fixing seat, finite place piece is set in the shaft, rotation direction on the locating part along shaft is arranged with pulling rope, one end of the pulling rope is connected on locating part, and the other end of the pulling rope is connected on Buffer Unit；In the state that the pulling rope is wound around on locating part completely, the pulling rope drawing prevents the rotation of shaft.The rotational angle of rotation seat is limited by pulling rope and locating part, by adjusting pulling rope length or locating part diameter the limit angle different with adjustment.
Description
Technical field
The invention belongs to artificial rotary table field, in particular to the upright type five-shaft skimulated motion artificial rotary table of a kind of multi-pose and
Its method.
Background technique
Five axis artificial rotary tables are the key equipments of Infrared Imaging in Hardware-in-the-loop Simulation system, are used for simulated flight device oneself state
Inside yaw, pitching and roll attitude movement and infrared, ultraviolet, radio frequency target pitch, yaw-position movement.The emulation of five axis
Turntable is made of target two-axle rotating table and three-axle table, with compact-sized, relative positional accuracy is high, adjustment stability is good and institute
It needs working space small, can be used for infrared or radio frequency guided weapon HWIL simulation by replacing imaging device, have good
Versatility.With the index demand promotion to simulated experiment, thus it requires its emulation five-axis flight table must have big visual field
The technical indicators such as angle, big corner range, high frequency dynamic, but for by the loading holder of driving end, rotary inertia is big, at it
When reaching rotation limit position, the component for angle limit is easily damaged, and limit is caused to fail.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of upright type five-shaft of multi-pose
Skimulated motion artificial rotary table and its method, the normal position-limiting action of guarantee position limiting structure that can be stable.
Technical solution: to achieve the above object, technical scheme is as follows:
A kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose, including artificial rotary table ontology, the artificial rotary table sheet
The loading holder of body includes fixing seat, rotation seat and shaft, and the fixing seat is relatively fixed to be arranged, and the shaft wears and rotates
In fixing seat, one end of the shaft is connect with rotation seat, and the rotation seat is rotatably arranged in fixing seat, in the shaft
Finite place piece is set, and the rotation direction on the locating part along shaft is arranged with pulling rope, and one end of the pulling rope is connected to
On locating part, and the other end of the pulling rope is connected on Buffer Unit；When the pulling rope is wound around on locating part completely
In the state of, the pulling rope drawing prevents the rotation of shaft.
Further, the fixing seat is goblet structure, and the locating part is the rule being arranged in fixing seat inner cavity
Disc-shaped structure, and the locating part, fixing seat and shaft are coaxially disposed, the circumferential wall of the locating part and the circumference of fixing seat
Wall body gap setting, the circumferential wall of the locating part are concavely provided with the cricoid guiding groove for accommodating pulling rope, the fixing seat
Upper corresponding guiding groove offers perforation, and one end of the pulling rope is fixedly connected in the circumferential wall of locating part, and the other end
The outside of fixing seat is extend out to by perforating.
Further, the Buffer Unit includes bumper housing, cushioning supportive body and elastomer, and the bumper housing is packet
Containing tube structure inner cavity and closed at both ends, the cushioning supportive body, which slides axially, to be arranged in the bumper housing
In chamber, one end that the pulling rope stretches out outside fixing seat is pierced into the inner cavity of bumper housing from one end of bumper housing props up with buffering
Support body connects, and pulling rope, which protrudes into, on the cushioning supportive body and bumper housing is provided with elastomer between the end of one end.
Further, in shaft in the case where rotating zero-bit state, the pulling rope is corresponding with perforation with the tie point of locating part
Setting；In the case where shaft turns to extreme position state, the pulling rope tenses cushioning supportive body compression elastomer, and described leads
Drawstring is wound around on locating part one week.
It further, further include pulling rope thrust assemblies arranged on the fixing seat, and the pulling rope thrust assemblies are set
It sets between perforation and Buffer Unit；The pulling rope thrust assemblies include directional wheel, thrust guide wheel and positive stop strip, described fixed
The two sides of pulling rope are separately positioned on to guide wheel, thrust guide wheel, and directional wheel relatively rotates with thrust guide wheel and contacts drawing
Rope setting, the positive stop strip are arranged in the shaft of directional wheel and thrust guide wheel, and positive stop strip limit pulling rope is fixed
It is displaced between guide wheel and thrust guide wheel.
Further, the thrust guide wheel includes the guide wheel shaft and guide wheel of coaxial arrangement, the outer circle wall of the guide wheel
It include several thrust fins on body, several thrust fins are strong magnetic piece, and the same same pole of the thrust fin
Setting is faced outwardly, each thrust fin is tangent with the outer circle wall of break bar respectively；Thrust guide wheel is provided with permanent magnet, institute
Permanent magnet is stated close to the setting of the side of perforation, the permanent magnet is located at the inside of guide wheel, and the permanent magnet is towards the one of break bar
Face magnetic pole is identical as the magnetic pole magnetic of thrust fin outwardly；The guide wheel is rotated from a side of perforation to the side of Buffer Unit.
A kind of method of the upright type five-shaft skimulated motion artificial rotary table of multi-pose, comprising the following steps:
S1: driving motor drives rotation seat rotation to carry out simulation flowchart, when rotation seat is rotated to certain side, shaft
On the locating part guiding groove that follows rotation, and loose pulling rope is wrapped in locating part circumferential wall in, work as rotation
When seat continues to rotate the extreme position of arrival in this direction, pulling rope is wrapped on locating part, and simultaneously, and pulling rope pulls buffering
Supporter, and compression elastic piece, and pulling rope is buffered to the pulling force of shaft by elastic component, while increasing the torque of shaft, it limits
The maximum rotation angle of position shaft；
S2: when rotation seat is in rotational angle interval range, the pulling rope is in relaxed state, is not wound around limit
Pulling rope on part is from perforating to exposing outside；The directional wheel and thrust guide wheel are rotatably arranged in fixing seat respectively, and are connect
Pulling rope is touched, the thrust fin on thrust guide wheel is oppositely arranged with permanent magnet and magnetic pole is identical, and permanent magnet is located at the interior of guide wheel
Side, thrust fin circumferentially rotate under the magneticaction to repel each other, rotation direction be from perforation to Buffer Unit side, pulling rope with
It is displaced with thrust guide wheel, exceptionally straight perforation to the pulling rope rope section between locating part.
The utility model has the advantages that of the invention limit the rotational angle of rotation seat by pulling rope and locating part, pass through tune
Whole pulling rope length or the locating part diameter limit angle different with adjustment；And after passing through Buffer Unit to limit
Locating part is buffered, and can be guaranteed there is certain bumper angle in limit, be protected driving assembly, and the device overall structure
Simply, it can guarantee the limit of position limiting structure while appropriate can also adjust it and limit angular amplitude.
Detailed description of the invention
Attached drawing 1 is integrally-built stereoscopic schematic diagram of the invention；
Attached drawing 2 is the overall structure diagram of loading holder of the invention；
Attached drawing 3 is the top view of loading holder of the invention；
Attached drawing 4 be Fig. 3 in A-A to half-section diagram；
Attached drawing 5 is the structural schematic diagram of locating part and Buffer Unit of the invention；
Attached drawing 6 is the enlarged diagram of part B in Fig. 1 of the invention；
Attached drawing 7 is the enlarged diagram of Local C in Fig. 3 of the invention；
Attached drawing 8 is the structural schematic diagram of thrust guide wheel of the invention.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
As shown in attached drawing 1 to attached drawing 4, a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose, including artificial rotary table
Ontology 1, the artificial rotary table ontology 1 include circumferentially rotating the turntable 1a on pedestal, and the outer framework 1b on turntable 1a is arranged in,
The both ends rotation of the outer framework 1b is provided with target framework 1c, and also rotation is provided with middle frame 1f on the outer framework, described
The both ends rotation of middle frame 1f is provided with inner frame 1d, and rotation is provided with loading holder 2 on inner frame 1d, the part-structure and existing
The common artificial rotary table having is identical, realizes rotation, deflection of multiple freedom degrees etc..The loading holder 2 of the artificial rotary table ontology 1
Including fixing seat 3, rotation seat 4 and shaft 6, the fixing seat 3 fixed setting opposite with inner frame 1d, the fixing seat 3 is cup
Shape body structure, the shaft 6 wear and rotate in fixing seat 3, and one end of the shaft is connect with rotation seat 4, and one end is set
It is equipped with driving motor 5, for the driving of rotation seat, the rotation seat 4 is rotatably arranged in fixing seat 3, coaxial in the shaft 6
Finite place piece 7 is fixedly installed, the locating part 7 is the regular disc-shaped structure being arranged in 3 inner cavity of fixing seat, the locating part
Rotation direction on 7 along shaft 6 is arranged with pulling rope 8, and one end of the pulling rope 8 is connected on locating part 7, and the drawing
The other end of rope 8 is connected on Buffer Unit；In the state that the pulling rope 8 is wound around completely on locating part 7, namely rotation
Seat is rotated to extreme position, and the drawing of pulling rope 8 prevents the rotation of shaft 6.By pulling rope and locating part to rotation seat
Rotational angle limited, by adjusting pulling rope length or locating part diameter the limit angle different with adjustment；
Pulling rope 8 is longer, and the circle number for capableing of winding on locating part 7 is more, distance is bigger, then rotation seat rotatably encloses number and angle
It is bigger；Pulling rope is shorter, and the radian of winding is smaller on locating part, then the rotatable angle of rotation seat is smaller.Compared to gear
The position limiting structure of pin type can prevent position limiting structure from damaging by pulling rope and locating part 7, guarantee the normal of limit, and pass through
Buffer Unit buffers the locating part after limit, can guarantee there is certain bumper angle in limit, protect driving group
Part, and the device overall structure is simple, can guarantee the limit of position limiting structure while appropriate can also adjust its limit angular amplitude.
As shown in Fig. 4, the locating part 7, fixing seat 3 and shaft 6 are coaxially disposed, the circumferential wall of the locating part 7 with
The circumferential wall body space of fixing seat 3 is arranged, and the circumferential wall of the locating part 7 is concavely provided with the cricoid guiding for accommodating pulling rope 8
Groove 10, the diameter matches for being oriented to groove 10 and pulling rope are arranged, and are accommodated and are oriented in groove by the pulling rope that will be wound, and one
The winding that aspect is conducive to pulling rope is oriented to, and on the other hand, pulling rope and the inner wall of fixing seat 3 is also avoided to generate interference, to increase
Winding circle number, the guiding groove can be helicla flute, and the present embodiment illustrates by taking the guiding groove of a loop as an example, pulling rope
One end is fixed in guiding groove, after locating part rotates 360 ° with shaft, reaches restraining position, pulling rope on locating part around
If one week；Corresponding guiding groove 10 offers the perforation 9 passed through for pulling rope 8 in the fixing seat 3, and the one of the pulling rope 8
End be fixedly connected in the circumferential wall of locating part 7, and the other end by perforation 9 extend out to fixing seat 3 outside and with buffering group
Part connection.
The Buffer Unit includes bumper housing 11, cushioning supportive body 12 and elastomer 13, and the bumper housing 11 is packet
Containing tube structure inner cavity and closed at both ends, the bumper housing is arranged in fixing seat 3 along the axis direction of shaft 6,
The cushioning supportive body 12, which slides axially, to be arranged in the inner cavity of the bumper housing 11, and the pulling rope 8 stretches out fixing seat 3
Outer one end is connect from the inner cavity that bumper housing 11 is pierced into one end of bumper housing 11 with cushioning supportive body 12, cushioning supportive body
12 be a cylindrical slide, is slided in bumper housing 11, and the cushioning supportive body 12 protrudes into one with pulling rope 8 on bumper housing 11
Be provided with elastomer 13 between the end at end, the elastomer 13 is spring, be set in the outside of pulling rope 8, when rotation seat 4 after
When continuous rotation reaches extreme position in this direction, pulling rope 8 is wrapped on locating part 7, and simultaneously, and pulling rope 8 pulls buffering
Supporter 12, and compression elastic piece 13, and pulling rope 8 is buffered to the pulling force of shaft 6, to reduce other rotations by elastic component 13
Frame is in rotation to the inertia force of loading holder.Moreover, can when reaching restraining position by discoid locating part 7
The torque for increasing shaft by pulling rope 8, reduces its rotator inertia, quickly to stop at restraining position.
In shaft 6 in the case where rotating zero-bit state, the tie point of the pulling rope 8 and locating part 7 is correspondingly arranged with perforation 9；
In the case where shaft 6 turns to extreme position state, the pulling rope 8 tenses 12 compression elastomer 13 of cushioning supportive body, and described
Pulling rope 8 is wound around on locating part 7 one week, forms one -360~+360 ° of slewing area.
It further include the pulling rope thrust assemblies being arranged in fixing seat 3 as shown in attached drawing 5 to attached drawing 8, and the pulling rope
Thrust assemblies setting is between perforation 9 and Buffer Unit；The pulling rope thrust assemblies include directional wheel 16, thrust guide wheel 14
With positive stop strip 17, the directional wheel 16, thrust guide wheel 17 are separately positioned on the two sides of pulling rope 8, and directional wheel and thrust
Guide wheel relatively rotates and contacts pulling rope setting, and the positive stop strip 17 is arranged in the shaft of directional wheel and thrust guide wheel, and
The positive stop strip 17 limits pulling rope 8 and is displaced between directional wheel and thrust guide wheel, and thrust guide wheel pushes pulling rope to buffering
The side of component is displaced.Pulling rope 8 is reversely pushed by thrust guide wheel, so that perforation 9 and the pulling rope rope section inside fixing seat
It in the state tightened, prevents cable excessively loose, guarantees normal winding of the pulling rope on locating part.
The thrust guide wheel 17 includes the guide wheel shaft 171 and guide wheel 170 of coaxial arrangement, the excircle of the guide wheel 170
It include several thrust fins 172 on wall body, several thrust fins 172 are strong magnetic piece, and the thrust fin 172 is same
One same pole faces outwardly setting, and each thrust fin 172 is tangent with the outer circle wall of break bar 170 respectively, formed circumference to
Heaving of the sea formula structure；Thrust guide wheel 17 is provided with permanent magnet 15, the permanent magnet 15 is set close to the side of perforation 9
It sets, the permanent magnet is located at the inside of guide wheel 17, namely close to the side of pulling rope, the magneticaction and thrust fin of permanent magnet
172, make it and circumferentially rotate, but it is less than the pulling force that pulling rope is wound on locating part to the motive force of pulling rope, it is described forever
One face magnetic pole of magnet 15 towards break bar 171 is identical as the magnetic pole magnetic of thrust fin 172 outwardly；The guide wheel 170 from perforation 9
A side to the side of Buffer Unit rotate.When rotation seat 4 is in rotational angle interval range, the pulling rope 8 is in pine
Relaxation state, the pulling rope not being wound around on locating part 7 is from perforation 9 to exposing outside；The directional wheel 16 and thrust guide wheel 17 divide
It is not rotatably arranged in fixing seat 3, and contacts pulling rope 8, the thrust fin 172 on thrust guide wheel 17 is opposite with permanent magnet 15 to be set
It sets and magnetic pole is identical, and permanent magnet is located at the inside of guide wheel, thrust fin circumferentially rotates under the magneticaction to repel each other, rotation side
To Buffer Unit side, pulling rope 8 follows thrust guide wheel to be displaced for Xiang Weicong perforation 9, exceptionally straight perforation 9 to leading between locating part 7
Drawstring rope section.
A kind of method of the upright type five-shaft skimulated motion artificial rotary table of multi-pose, comprising the following steps:
S1: driving motor 5 drives the rotation of rotation seat 4 to carry out simulation flowchart, when rotation seat 4 is rotated to certain side,
Locating part 7 in shaft 6 follows rotation, and loose pulling rope is made to be wrapped in the guiding groove 10 in 7 circumferential wall of locating part
Interior, when rotation seat 4, which continues to rotate, reaches extreme position in this direction, pulling rope 8 is wrapped on locating part 7, and simultaneously, is led
Drawstring 8 pulls cushioning supportive body 12, and compression elastic piece 13, and buffers pulling rope 8 to the pulling force of shaft 6 by elastic component 13,
Increase the torque of shaft 6, the maximum rotation angle of limit rotary shaft 6 simultaneously；
S2: when rotation seat 4 is in rotational angle interval range, the pulling rope 8 is in relaxed state, is not wound around limit
Pulling rope on the part 7 of position is from perforation 9 to exposing outside；The directional wheel 16 and thrust guide wheel 17 are rotatably arranged on fixing seat respectively
On 3, and pulling rope 8 is contacted, the thrust fin 172 on thrust guide wheel 17 is oppositely arranged with permanent magnet 15 and magnetic pole is identical, and forever
Magnet is located at the inside of guide wheel, and thrust fin circumferentially rotates under the magneticaction to repel each other, and rotation direction is from perforation 9 to buffering
Component side, pulling rope 8 follow thrust guide wheel to be displaced, exceptionally straight perforation 9 to the pulling rope rope section between locating part 7.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose, it is characterised in that: including artificial rotary table ontology (1), institute
The loading holder (2) for stating artificial rotary table ontology (1) includes fixing seat (3), rotation seat (4) and shaft (6), the fixing seat (3)
Relatively fixed setting, the shaft (6) wear and rotate on fixing seat (3), and one end and rotation seat (4) of the shaft are even
It connects, the rotation seat (4) is rotatably arranged on fixing seat (3), finite place piece (7) is arranged on the shaft (6), the locating part
(7) rotation direction on along shaft (6) is arranged with pulling rope (8), and one end of the pulling rope (8) is connected on locating part (7),
And the other end of the pulling rope (8) is connected on Buffer Unit；When the pulling rope (8) is wound around completely on locating part (7)
In the state of, pulling rope (8) drawing prevents the rotation of shaft (6).
2. a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose according to claim 1, it is characterised in that: described
Fixing seat (3) is goblet structure, and the locating part (7) is the regular disc-shaped structure being arranged in fixing seat (3) inner cavity, and
The locating part (7), fixing seat (3) and shaft (6) are coaxially disposed, the circumferential wall of the locating part (7) and the circle of fixing seat (3)
The setting of peripheral wall body space, the circumferential wall of the locating part (7) are concavely provided with the cricoid guiding groove for accommodating pulling rope (8)
(10), corresponding guiding groove (10) offers perforation (9) on the fixing seat (3), and one end of the pulling rope (8) is fixedly connected
In the circumferential wall of locating part (7), and the other end extend out to the outside of fixing seat (3) by perforation (9).
3. a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose according to claim 1 or 2, it is characterised in that:
The Buffer Unit includes bumper housing (11), cushioning supportive body (12) and elastomer (13), and the bumper housing (11) is packet
Containing tube structure inner cavity and closed at both ends, the cushioning supportive body (12), which slides axially, to be arranged in the bumper housing
(11) in inner cavity, the pulling rope (8) stretches out the one end of fixing seat (3) outside and pierces into buffering shell from one end of bumper housing (11)
It is connect in the inner cavity of body (11) with cushioning supportive body (12), pulling rope on the cushioning supportive body (12) and bumper housing (11)
(8) it protrudes between the end of one end and is provided with elastomer (13).
4. a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose according to claim 3, it is characterised in that: turning
In the case where rotating zero-bit state, the pulling rope (8) and the tie point of locating part (7) are correspondingly arranged axis (6) with perforation (9)；Turning
Axis (6) turns under extreme position state, and the pulling rope (8) tenses cushioning supportive body (12) compression elastomer (13), and
The pulling rope (8) is wound around on locating part (7) one week.
5. a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose according to claim 2, it is characterised in that: also wrap
The pulling rope thrust assemblies being arranged on fixing seat (3) are included, and the pulling rope thrust assemblies are arranged in perforation (9) and buffering group
Between part；The pulling rope thrust assemblies include directional wheel (16), thrust guide wheel (14) and positive stop strip (17), and the orientation is led
Wheel (16), thrust guide wheel (17) are separately positioned on the two sides of pulling rope (8), and directional wheel is relatively rotated and connect with thrust guide wheel
Pulling rope setting is touched, the positive stop strip (17) is arranged in the shaft of directional wheel and thrust guide wheel, and the positive stop strip (17)
Limit pulling rope (8) is displaced between directional wheel and thrust guide wheel.
6. a kind of upright type five-shaft skimulated motion artificial rotary table of multi-pose according to claim 5, it is characterised in that: described
Thrust guide wheel (17) includes the guide wheel shaft (171) and guide wheel (170) of coaxial arrangement, the excircle wall body of the guide wheel (170)
On include several thrust fins (172), several thrust fins (172) are strong magnetic piece, and the thrust fin (172)
Same same pole faces outwardly setting, and each thrust fin (172) is tangent with the outer circle wall of break bar (170) respectively；Apart
Thrust guide wheel (17) is provided with permanent magnet (15), and the permanent magnet (15) is close to the setting of the side of perforation (9), the permanent magnet position
In the inside of guide wheel (17), and the permanent magnet (15) towards a face magnetic pole of break bar (171) and thrust fin (172) outwardly
Magnetic pole magnetic is identical；The guide wheel (170) rotates from a side of perforation (9) to the side of Buffer Unit.
7. a kind of method of the upright type five-shaft skimulated motion artificial rotary table of multi-pose, it is characterised in that: the following steps are included:
S1: driving motor (5) drives rotation seat (4) rotation to carry out simulation flowchart, when rotation seat (4) is rotated to certain side
When, the locating part (7) in shaft (6) follows rotation, and loose pulling rope is made to be wrapped in leading in locating part (7) circumferential wall
Into groove (10), when rotation seat (4), which continues to rotate, reaches extreme position in this direction, pulling rope (8) is wrapped in limit
On part (7), and simultaneously, pulling rope (8) pulls cushioning supportive body (12), and compression elastic piece (13), and passes through elastic component (13)
Pulling rope (8) are buffered to the pulling force of shaft (6), while increasing the torque of shaft (6), the maximum rotation angle of limit rotary shaft (6)；
S2: when rotation seat (4) is in rotational angle interval range, the pulling rope (8) is in relaxed state, is not wound around limit
Pulling rope on position part (7) is from perforation (9) to exposing outside；The directional wheel (16) and thrust guide wheel (17) rotate setting respectively
On fixing seat (3), and pulling rope (8) are contacted, the thrust fin (172) on thrust guide wheel (17) is opposite with permanent magnet (15) to be set
It sets and magnetic pole is identical, and permanent magnet is located at the inside of guide wheel, thrust fin circumferentially rotates under the magneticaction to repel each other, rotation side
Xiang Weicong perforation (9) to Buffer Unit side, pulling rope (8) follow thrust guide wheel to be displaced, exceptionally straight perforation (9) to locating part (7)
Between pulling rope rope section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636254.7A CN109752969B (en) | 2018-12-29 | 2018-12-29 | Multi-pose vertical five-axis simulated motion simulation turntable and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636254.7A CN109752969B (en) | 2018-12-29 | 2018-12-29 | Multi-pose vertical five-axis simulated motion simulation turntable and method thereof |
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| CN109752969A true CN109752969A (en) | 2019-05-14 |
| CN109752969B CN109752969B (en) | 2023-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123783A (en) * | 2019-12-25 | 2020-05-08 | 中国航空工业集团公司北京航空精密机械研究所 | CPCI bus motion control system |
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| Publication number | Publication date |
|---|---|
| CN109752969B (en) | 2023-08-25 |
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