CN111780619B - Zero locking mechanism for infrared target simulation system - Google Patents
Zero locking mechanism for infrared target simulation system Download PDFInfo
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- CN111780619B CN111780619B CN202010737009.6A CN202010737009A CN111780619B CN 111780619 B CN111780619 B CN 111780619B CN 202010737009 A CN202010737009 A CN 202010737009A CN 111780619 B CN111780619 B CN 111780619B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 45
- 238000004088 simulation Methods 0.000 title claims abstract description 19
- 230000009471 action Effects 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000000926 separation method Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/32—Devices for testing or checking
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Preventing Unauthorised Actuation Of Valves (AREA)
Abstract
The invention provides a zero locking mechanism for an infrared target simulation system, which comprises a valve seat, a valve sleeve combination, a stop lever, a rotary cover, an outer ring and a second reset spring, wherein the valve sleeve combination and the valve seat are respectively arranged at the front side and the rear side of the outer ring, the inner ring is also arranged in the outer ring, the front side and the rear side of the inner ring are respectively positioned and arranged on the valve sleeve combination and the valve seat through rabbets, the outer ring and the inner ring are coaxially arranged, electromagnetic coils are uniformly wound on the outer wall of the inner ring, the rotary cover is connected with the outer side of the front end of the valve sleeve combination in a threaded manner, and the stop lever is commonly penetrated in the valve seat, the inner ring, the valve sleeve combination and the rotary cover. And manual locking can be realized through mutual matching of the nut and the ejector rod.
Description
Technical Field
The invention belongs to the technical field of locking mechanisms, and particularly relates to a zero locking mechanism for an infrared target simulation system.
Background
The invention is suitable for a horizontal movement mechanism in an infrared target simulation system, and the horizontal movement mechanism mainly comprises a simulator turntable, a zero position locking mechanism, a stepping motor, a clutch and a control circuit. The control circuit sends a clutch actuation instruction, the zero locking mechanism is disengaged from the release rotary table, and the stepping motor drives the simulator rotary table to rotate through the gear mechanism; when the stepping motor stops rotating, the clutch is disengaged, the zero position locking mechanism works, and the rotary table is locked at a certain angle position.
The existing zero locking mechanism is often provided with the following disadvantages when in use: firstly, the internal structure of the existing zero locking mechanism is often complex, and the failure rate is high in a special environment; secondly, as the rotation direction of the rotary table of the simulator is vertical to the movement direction of the stop lever in the zero position locking mechanism, the infrared target simulation system inevitably damages the stop lever of the zero position locking mechanism due to vibration in the transportation process; thirdly, most of the existing zero locking mechanisms have single functions, locking is realized only through an electromagnetic mechanism, and once the electromagnetic mechanism breaks down, locking cannot be continuously realized.
Disclosure of Invention
The invention aims to provide a zero locking mechanism for an infrared target simulation system, which has two modes of automatic locking and manual locking, and can realize manual locking by matching a nut and an ejector rod even if the automatic locking mechanism fails in a special environment.
In order to achieve the purpose, the invention adopts the technical scheme that: the zero-position locking mechanism for the infrared target simulation system comprises a valve seat, a valve sleeve combination, a stop lever, a spiral cover, an outer ring and a second return spring, wherein the valve sleeve combination and the valve seat are respectively arranged on the front side and the rear side of the outer ring, the inner ring is also arranged in the outer ring, the front side and the rear side of the inner ring are respectively positioned and installed on the valve sleeve combination and the valve seat through rabbets, the outer ring and the inner ring are coaxially arranged, electromagnetic coils are uniformly wound on the outer wall of the inner ring, the outer side of the front end of the valve sleeve combination is in threaded connection with the spiral cover, the stop lever is commonly penetrated in the valve seat, the inner ring, the valve sleeve combination and the spiral cover, the front end and the rear end of the stop lever are respectively provided with a limiting table for limiting the stop lever, the second return spring is arranged between the limiting table positioned at the front end and the spiral cover, and the front end of the stop lever penetrates out of the inner part of the spiral cover under the action of the electromagnetic force after the electromagnetic coils are electrified, realizing locking;
the valve seat is installed through the tang location in the one side of keeping away from the valve barrel combination and is had the seat of screwing, the groove of screwing has been seted up to the seat of screwing near one side of valve barrel combination, the rear end of pin runs through the inside that sets up in the groove of screwing behind the valve seat, the outside of the seat of screwing is provided with the nut, the ejector pin is worn to be equipped with jointly by the inside of nut and the seat of screwing, the front end setting of ejector pin is in the inside in the groove of screwing and ejector pin and pin coaxial line setting, wherein, the front end and the seat threaded connection of screwing of ejector pin, the rear end and the nut fixed connection of ejector pin, the nut is close to one side of the seat of screwing and has seted up the groove that resets, be provided with first reset spring in the groove that resets, first reset spring overlaps the outside of establishing at the ejector pin.
Furthermore, a counterweight hole for adjusting the gravity center of the stop lever is formed in the rear end of the stop lever along the direction of the central axis, and a counterweight screw is selectively placed in the counterweight hole.
Furthermore, the rear end of the ejector rod is connected with the nut through a connecting screw.
Furthermore, an insulating sleeve is arranged between the rear end of the stop lever and the valve seat.
Furthermore, an elastic gasket is arranged between the limiting table at the rear end and the valve seat.
Furthermore, a line passing hole for the electromagnetic coil to pass through is formed in the valve sleeve assembly.
Furthermore, a threaded sleeve matched with a screw cap is fixedly arranged on the outer side of the front end of the valve sleeve combination, and the screw cap is in detachable threaded connection with the valve sleeve combination through the threaded sleeve.
Furthermore, the front end of the stop lever is conical.
Furthermore, a guide protrusion is arranged on the side wall of the limiting table positioned at the front end, a guide groove matched with the guide protrusion is formed in the inner wall of the valve sleeve combination, the guide groove is arranged along the axial direction of the valve sleeve combination, and the front end of the guide groove is wavy.
Further, the length of the guide groove in the wave shape does not exceed 1/5 of the total length of the guide groove.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic locking mechanism has two modes of automatic locking and manual locking, and in the daily use process, the automatic locking is realized through the mutual matching of the electromagnetic coil and the stop lever, and even if the automatic locking mechanism breaks down in a special environment, the manual locking can be realized through the mutual matching of the nut and the ejector rod;
2. because the automatic locking mechanism has a simple structure, the automatic locking mechanism has lower failure rate and better reliability compared with other zero locking mechanisms;
3. the front end of the stop lever is conical, when the simulator turntable rotates due to vibration in the transportation process, the stop lever collides with the front end of the stop lever, so that the stop lever with the conical front end returns, in order to prevent the separation between the simulator turntable and the stop lever, the side wall of the limiting table at the front end is also provided with the guide protrusion, the inner wall of the valve sleeve combination is provided with the guide groove matched with the guide protrusion, the front end of the guide groove is wavy, and the wavy guide groove plays a certain role in stopping the return of the guide rod and the guide protrusion, so that the vibration reduction purpose can be realized, and the separation of the simulator turntable and the stop lever can be effectively prevented.
Drawings
FIG. 1 is a front view of a zero position locking mechanism for an infrared target simulation system of the present invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a cross-sectional view taken along line B-B of FIG. 1;
FIG. 4 is a schematic view of the guide slots of the present invention in a valve sleeve assembly;
the labels in the figure are: 1. the valve seat, 2, the valve sleeve combination, 3, the stop lever, 4, the spiral cover, 5, the threaded sleeve, 6, the outer ring, 7, the screwing seat, 8, the nut, 9, the connecting screw, 10, the ejector rod, 11, the first return spring, 12, the counterweight screw, 13, the insulating washer, 14, the insulating sleeve, 15, the elastic washer, 16, the second return spring, 17, the inner ring, 18, the limiting table, 19, the wire passing hole, 20 and the guide groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
The zero position locking mechanism for the infrared target simulation system is shown in fig. 1 and 2, and comprises a valve seat 1, a valve sleeve assembly 2, a stop lever 3, a spiral cover 4, an outer ring 6 and a second return spring 16, wherein the valve sleeve assembly 2 and the valve seat 1 are respectively arranged at the front side and the rear side of the outer ring 6, an inner ring 17 is also arranged inside the outer ring 6, the front side and the rear side of the inner ring 17 are respectively positioned and installed on the valve sleeve assembly 2 and the valve seat 1 through spigots, the outer ring 6 and the inner ring 17 are coaxially arranged, electromagnetic coils are uniformly wound on the outer wall of the inner ring 17, the spiral cover 4 is in threaded connection with the outer side of the front end of the valve sleeve assembly 2, the stop lever 3 jointly penetrates through the interiors of the valve seat 1, an insulating sleeve 14 is arranged between the rear end of the stop lever 3 and the valve seat 1, and limit tables 18 for limiting the stop lever 3 are respectively arranged at the front end and the rear end of the stop lever 3, the second return spring 16 is arranged between the limiting table 18 at the front end and the screw cap 4, and after the electromagnetic coil is electrified, the front end of the stop lever 3 penetrates out of the screw cap 4 under the action of electromagnetic force to realize automatic locking;
disk seat 1 is installed through the tang location in one side of keeping away from valve barrel combination 2 and is screwed seat 7, the groove of screwing has been seted up to one side that the seat 7 of screwing is close to valve barrel combination 2, the rear end of pin 3 runs through and sets up the inside in the groove of screwing behind disk seat 1, the outside of the seat 7 of screwing is provided with nut 8, nut 8 wears to be equipped with ejector pin 10 with the inside of the seat 7 of screwing jointly, the front end setting of ejector pin 10 is in the inside in the groove of screwing and ejector pin 10 and 3 coaxial line settings of pin, wherein, the front end of ejector pin 10 and the seat 7 threaded connection of screwing, the rear end and the nut 8 fixed connection of ejector pin 10, the reset groove has been seted up to one side that nut 8 is close to the seat 7 of screwing, the inslot that resets is provided with first reset spring 11, first reset spring 11 covers establishes the outside at ejector pin 10.
The automatic locking mechanism has two modes of automatic locking and manual locking, and can realize automatic locking by matching the electromagnetic coil with the stop lever 3 in the daily use process, and even if the automatic locking mechanism of the automatic locking mechanism breaks down in a special environment, the automatic locking mechanism can realize manual locking by matching the nut 8 and the ejector rod 10; moreover, due to the simple structure, compared with other zero locking mechanisms, the zero locking mechanism has lower failure rate and better reliability.
When the zero-position locking mechanism is used, the zero-position locking mechanism is generally required to be placed along the vertical direction, in order to adjust the initial position of the stop lever 3, the rear end of the stop lever 3 is provided with a counterweight hole for adjusting the gravity center of the stop lever 3 along the direction of the central axis, a counterweight screw 12 is optionally placed in the counterweight hole, and the gravity center of the stop lever 3 can be adjusted according to the selection of counterweight screws 12 with different weights or the screwing of the counterweight screws 12 into different positions in the counterweight hole, so that the purpose of adjusting the initial position of the stop lever 3 is achieved.
As shown in fig. 3, the rear end of the top rod 10 is connected with the nut 8 through a connecting screw 9.
In order to prevent the moving stop lever 3 from damaging the valve seat 1, an elastic gasket 15 is arranged between a limiting platform 18 at the rear end and the valve seat 1.
In order to achieve the best use effect, a wire passing hole 19 for an electromagnetic coil to pass through is formed in the valve sleeve assembly 2, an inner ring 17, the valve seat 1 and the outer ring 6 jointly enclose an electromagnetic cavity for generating electromagnetic force, the electromagnetic coil is wound on the outer side of the inner ring 17, when the electromagnetic coil is electrified, an electromagnetic field is jointly generated in the valve sleeve assembly 2, the inner ring 17 and the valve seat 1, the stop lever 3 moves forwards under the action of the electromagnetic field to realize locking, and in order to prevent the electromagnetic field from influencing the outside, an insulating washer 13 is arranged on the inner side of the valve core 1.
In order to achieve the best use effect, a threaded sleeve 5 matched with a screw cap 4 is fixedly arranged on the outer side of the front end of the valve sleeve assembly 2, the screw cap 4 is in detachable threaded connection with the valve sleeve assembly 2 through the threaded sleeve 5, and the length of the threaded sleeve 5 can be properly lengthened, so that the threaded sleeve is used for connecting the screw cap 4 on one hand and enhancing the overall strength of the valve sleeve assembly 2 on the other hand.
The front end of the stop lever 3 is conical, when the simulator turntable rotates due to vibration in the transportation process, the simulator turntable collides with the front end of the stop lever 3, so that the stop lever with the conical front end returns, in order to prevent the separation between the simulator turntable and the stop lever, the side wall of the limiting table at the front end is also provided with a guide protrusion, as shown in fig. 4, the inner wall of the valve sleeve combination is provided with a guide groove matched with the guide protrusion, the front end of the guide groove 20 is wavy, the scheme is further optimized, the guide protrusion is made of wear-resistant materials, the wavy guide groove has a certain blocking effect on the return of the guide rod and the guide protrusion, the purpose of vibration reduction can be realized, and the separation of the simulator turntable and the stop lever can be effectively prevented. It should be noted here that the retraction of the blocking lever is only suitable for the case of automatic locking, and the length of the wave-shaped guide groove does not exceed 1/5 of the total length of the guide groove in order not to affect the speed of the forward and retraction of the blocking lever 3.
In this embodiment, the principle of automatic locking is as follows: the electromagnetic coil is connected with a +24V direct current power supply, when direct current flows through the electromagnetic coil, the electromagnetic coil can magnetize the valve sleeve assembly 2, the valve seat 1, the outer ring 6 and the stop lever 3 to generate electromagnetic force, the stop lever 3 is acted by the electromagnetic force in a magnetic field, the electromagnetic force is in direct proportion to the current passing through the electromagnetic coil, the resistance value of the electromagnetic coil is about 9 omega, the current is about 2.7A, the stop lever 3 overcomes the elastic force of the second reset spring 16 and moves forwards to generate locking action, in the embodiment, the stop lever 3 preferentially adopts an iron core, when the direct current power supply is disconnected, the electromagnetic force disappears, and the stop lever 3 bounces under the elastic force of the second reset spring 16 to release locking.
The principle of manual locking is as follows: the nut 8 is rotated to drive the ejector rod 10 to move forwards, and when the ejector rod 10 moves forwards and contacts the stop lever 3, the stop lever 3 is driven to move forwards continuously, so that the stop lever 3 extends out and is locked at a zero position on the rotary table.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. Zero position locking mechanical system that infrared target analog system used characterized in that: comprises a valve seat (1), a valve sleeve combination (2), a stop lever (3), a spiral cover (4), an outer ring (6) and a second reset spring (16), wherein the valve sleeve combination (2) and the valve seat (1) are respectively arranged on the front side and the rear side of the outer ring (6), an inner ring (17) is also arranged in the outer ring (6), the front side and the rear side of the inner ring (17) are respectively positioned and installed on the valve sleeve combination (2) and the valve seat (1) through spigots, the outer ring (6) and the inner ring (17) are coaxially arranged, electromagnetic coils are uniformly wound on the outer wall of the inner ring (17), the outer side of the front end of the valve sleeve combination (2) is in threaded connection with the spiral cover (4), the stop lever (3) is commonly penetrated in the valve seat (1), the inner ring (17), the valve sleeve combination (2) and the spiral cover (4), and limit tables (18) for limiting the stop lever (3) are respectively arranged at the front end and the rear end of the stop lever (3), the second return spring (16) is arranged between the limiting table (18) at the front end and the screw cap (4), and after the electromagnetic coil is electrified, the front end of the stop lever (3) penetrates out of the screw cap (4) under the action of electromagnetic force to realize locking;
a screwing seat (7) is installed on one side, far away from the valve sleeve assembly (2), of the valve seat (1) through a spigot for positioning, a screwing groove is formed in one side, close to the valve sleeve assembly (2), of the screwing seat (7), the rear end of the stop lever (3) penetrates through the valve seat (1) and is arranged inside the screwing groove, a nut (8) is arranged outside the screwing seat (7), a push rod (10) is jointly penetrated through the nut (8) and the screwing seat (7), the front end of the push rod (10) is arranged inside the screwing groove, and the push rod (10) and the stop lever (3) are coaxially arranged, the front end of the ejector rod (10) is in threaded connection with the screwing seat (7), the rear end of the ejector rod (10) is fixedly connected with the nut (8), one side, close to the screwing seat (7), of the nut (8) is provided with a reset groove, a first reset spring (11) is arranged in the reset groove, and the first reset spring (11) is sleeved on the outer side of the ejector rod (10).
2. A zero locking mechanism for an infrared target simulation system as set forth in claim 1, wherein: the rear end of the stop lever (3) is provided with a counterweight hole for adjusting the gravity center of the stop lever (3) along the direction of the central axis, and a counterweight screw (12) is selectively placed in the counterweight hole.
3. A zero locking mechanism for an infrared target simulation system as set forth in claim 1, wherein: the rear end of the ejector rod (10) is connected with the nut (8) through a connecting screw (9).
4. A zero locking mechanism for an infrared target simulation system according to claim 3, wherein: an insulating sleeve (14) is arranged between the rear end of the stop lever (3) and the valve seat (1).
5. The zero locking mechanism for an infrared target simulation system of claim 4, wherein: an elastic gasket (15) is arranged between the limiting platform (18) at the rear end and the valve seat (1).
6. The zero locking mechanism for an infrared target simulation system of claim 5, wherein: and the valve sleeve assembly (2) is provided with a wire passing hole (19) for the electromagnetic coil to pass through.
7. The zero locking mechanism for an infrared target simulation system of claim 6, wherein: the outer side of the front end of the valve sleeve combination (2) is fixedly provided with a threaded sleeve (5) matched with the screw cap (4), and the screw cap (4) is connected with the valve sleeve combination (2) in a detachable threaded mode through the threaded sleeve (5).
8. A zero locking mechanism for an infrared target simulation system according to claim 7, wherein: the front end of the stop lever (3) is conical.
9. A zero locking mechanism for an infrared target simulation system according to claim 8, wherein: the side wall of the limiting table (18) positioned at the front end is provided with a guide protrusion, the inner wall of the valve sleeve combination (2) is provided with a guide groove matched with the guide protrusion, the guide groove is arranged along the axial direction of the valve sleeve combination (2), and the front end of the guide groove is wavy.
10. A zero locking mechanism for an infrared target simulation system as set forth in claim 9, wherein: the length of the wave-shaped guide groove (20) does not exceed 1/5 of the total length of the guide groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010737009.6A CN111780619B (en) | 2020-07-28 | 2020-07-28 | Zero locking mechanism for infrared target simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010737009.6A CN111780619B (en) | 2020-07-28 | 2020-07-28 | Zero locking mechanism for infrared target simulation system |
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| Publication Number | Publication Date |
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| CN111780619A CN111780619A (en) | 2020-10-16 |
| CN111780619B true CN111780619B (en) | 2022-03-04 |
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| CN202010737009.6A Active CN111780619B (en) | 2020-07-28 | 2020-07-28 | Zero locking mechanism for infrared target simulation system |
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| CN118407979A (en) * | 2024-07-04 | 2024-07-30 | 长春通视光电技术股份有限公司 | Photoelectric turntable with automatic shaft locking device and method |
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| JPH0783253A (en) * | 1993-07-23 | 1995-03-28 | Fuji Electric Co Ltd | Nonexciting electromagnetic braking device equipped with manual release locking device |
| CN201458613U (en) * | 2009-07-08 | 2010-05-12 | 上海三一科技有限公司 | Rotary locking device |
| CN203531538U (en) * | 2013-11-06 | 2014-04-09 | 四川华庆机械有限责任公司 | Electric unlocking device |
| CN104590548A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Steering engine zero-position locking mechanism |
| CN105674001A (en) * | 2016-03-16 | 2016-06-15 | 中国科学院西安光学精密机械研究所 | Telescopic deployable mechanism |
| CN105673633A (en) * | 2016-04-13 | 2016-06-15 | 厦门市新岚五金工具有限公司 | Elastic fastening device with electromagnet |
| CN106787412A (en) * | 2016-11-15 | 2017-05-31 | 北京精密机电控制设备研究所 | A kind of highly integrated formula electromechanical actuator of integrated design |
-
2020
- 2020-07-28 CN CN202010737009.6A patent/CN111780619B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0783253A (en) * | 1993-07-23 | 1995-03-28 | Fuji Electric Co Ltd | Nonexciting electromagnetic braking device equipped with manual release locking device |
| CN201458613U (en) * | 2009-07-08 | 2010-05-12 | 上海三一科技有限公司 | Rotary locking device |
| CN104590548A (en) * | 2013-10-30 | 2015-05-06 | 北京精密机电控制设备研究所 | Steering engine zero-position locking mechanism |
| CN203531538U (en) * | 2013-11-06 | 2014-04-09 | 四川华庆机械有限责任公司 | Electric unlocking device |
| CN105674001A (en) * | 2016-03-16 | 2016-06-15 | 中国科学院西安光学精密机械研究所 | Telescopic deployable mechanism |
| CN105673633A (en) * | 2016-04-13 | 2016-06-15 | 厦门市新岚五金工具有限公司 | Elastic fastening device with electromagnet |
| CN106787412A (en) * | 2016-11-15 | 2017-05-31 | 北京精密机电控制设备研究所 | A kind of highly integrated formula electromechanical actuator of integrated design |
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| CN111780619A (en) | 2020-10-16 |
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