CN113240978B - Standard cube star tiny space science experimental apparatus - Google Patents
Standard cube star tiny space science experimental apparatus Download PDFInfo
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- CN113240978B CN113240978B CN202110465122.8A CN202110465122A CN113240978B CN 113240978 B CN113240978 B CN 113240978B CN 202110465122 A CN202110465122 A CN 202110465122A CN 113240978 B CN113240978 B CN 113240978B
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Abstract
The invention discloses a standard cubic star micro space scientific experimental device which can integrally evaluate aerospace materials, is provided with loads required by a friction wear experiment, a structural vibration experiment and a mechanism performance degradation experiment in a partitioning manner, is designed in a modularized manner and is used for standardized part installation; the experimental device is integrally processed by the same material, can evaluate corresponding aerospace materials, and has the basis of researching the material level change rule, the component level change rule and the system level change rule of the aerospace materials. This experimental apparatus adopts curb plate, bottom plate and girder as main support, through auxiliary beam auxiliary stay, has both fully considered complicated mechanics environmental condition in the emission process and has increased structural strength stability, reduces the development cost again as far as possible unnecessary structural component. In the 2U load space, the experimental device considers factors such as mechanism heat dissipation, circuit arrangement, mechanism running space and the like, optimizes the integrated layout and compact design of the structure, and realizes the installation of three different experimental modules.
Description
Technical Field
The invention belongs to the technical field of spaceflight, and relates to a standard cube star micro space scientific experimental device.
Background
Throughout the history of more than forty years, the development of satellites has gone through the road from small satellites to large satellites and to small satellites. Compared with a large satellite, the small satellite has the advantages of light weight, small size, low cost, short development period, low orbit, easiness in launching, strong survival capability, low risk, high technical content and the like. Therefore, many colleges, research institutes and enterprises adopt the micro space scientific experimental device carried by the microsatellite to carry out experimental research. At the present stage, the development period of the micro space scientific experimental device is long, the standard specification is not uniform, the modular production cannot be carried out, the space utilization rate is low, and the aerospace material cannot be integrally evaluated. Therefore, a standard cube star micro space scientific experimental device is needed.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a standard cube star micro-space scientific experimental device.
The technical scheme for solving the technical problem is that a standard cube star micro space scientific experimental device is designed, and the experimental device is characterized by comprising a four-bar mechanism, a transverse direct current brushless motor, a vertical direct current brushless motor, a first camera, a laser displacement sensor, a second camera, an infrared temperature sensor, a third camera, a three-dimensional force sensor, a friction head, an acceleration sensor, a vibrating piece, a friction disc and a base frame;
The base frame is composed of four main beams, six auxiliary beams, a bottom plate and side plates, wherein the four main beams are vertically divided into a front group and a rear group, the front group and the rear group are separated and arranged oppositely, each group is two, the two main beams are separated and arranged in a left-right alignment mode, and a rectangular structure with four edges in the same direction is formed; the top ends of a group of two main beams at the rear side are connected through an auxiliary beam; the upper end and the lower end of the right side between the front main beam and the rear main beam are respectively connected through an auxiliary beam, so that the right side between the front main beam and the rear main beam is connected; the upper, middle, upper and lower ends of the left side between the front and rear main beams are respectively connected through an auxiliary beam, so that the left side between the front and rear main beams is connected; the side plates are arranged on the outer side surfaces of the front group of main beams in a punching and screw installing mode, the bottom plate is arranged on the outer side surfaces of the bottoms of the front and rear groups of main beams, and a base frame of a hexahedral frame structure with a closed front side surface and a closed bottom surface and without panels on other surfaces is formed;
both ends from the top down in proper order parallel fixation between a set of two girders of the rear side of bed frame is provided with: the device comprises auxiliary beams, four-rod beams, friction disc beams and laser displacement sensor beams; the four-bar mechanism comprises a driving bar, a connecting bar, a driven bar, a four-bar driving frame and a four-bar driven frame; the four-bar active frame is arranged in the base frame, and the rear part of the four-bar active frame is fixed on the right side of the four-bar beam;
The vibrating piece is arranged in the base frame, two ends of the vibrating piece are respectively fixed on the left side of the four-bar beam and the left side of the friction beam, and the vibrating piece is perpendicular to the four-bar beam and the friction beam; the middle part of the vibrating reed is provided with an acceleration sensor in a punching and screw installing mode; an acceleration sensor is arranged in the middle of the connecting rod in a punching and screw installing mode; the four-bar driven frame is arranged in the base frame, and the rear part of the four-bar driven frame is fixed on the right side of the friction cross beam;
the transverse direct-current brushless motor is transversely and fixedly installed at the front part of the four-bar driving frame, one end of the driving rod is fixed on an output shaft of the transverse direct-current brushless motor through a jackscrew, one end of the connecting rod is connected with the other end of the driving rod through the jackscrew and can keep relative rotation, one end of the driven rod is connected with the other end of the connecting rod through the jackscrew and can keep relative rotation, and the other end of the driven rod is connected with the front part of the four-bar driven frame through the jackscrew and can keep relative rotation;
the rear part of the friction bearing seat is fixed on a friction disc cross beam, the friction bearing is arranged in the friction bearing seat, the friction disc is arranged in the friction bearing, the friction disc and the friction bearing are fixed through a snap spring, and the axes of the friction bearing seat, the friction bearing and the friction disc are on the same straight line;
The friction disc is fixed on an output shaft of the vertical direct current brushless motor through a jackscrew, and the central axis of the friction disc is superposed with the central axis of the output shaft of the vertical direct current brushless motor;
the vertical direct-current brushless motor is positioned on the upper side of the friction disc in the axial direction, the friction head is arranged on the lower side of the friction disc in the axial direction, and the top of the friction head is in contact with the bottom of the friction disc; a certain pretightening force is formed between the friction head and the friction disc, and the friction head and the friction disc can keep relative rotation; the lower part of the friction head is fixed on a three-dimensional force sensor, the three-dimensional force sensor is fixed on a force sensor cantilever, and the force sensor cantilever is perpendicular to two main beams on the left side of the base frame and is fixed on the inner side of the base frame; a first camera is fixedly arranged on the base frame main beam on the right side of the friction head through a camera beam, and the friction head is within the shooting range of the first camera; the laser displacement sensor is positioned behind and below the first camera, is fixed on a beam of the laser displacement sensor, and is aligned to the friction disc at a laser receiving and transmitting end;
a third camera is arranged below the three-dimensional force sensor, is fixed on the inner side of the auxiliary beam below the left side of the base frame, has a shooting range of the outer side of the device, and can be used for observing the outer space environment and the satellite body;
The infrared temperature sensor is fixed on the left side of the bottom plate, and the temperature sensing end of the infrared temperature sensor is opposite to the friction disc; the second camera is fixed on the right side of the bottom plate, and the friction disc and the four-bar mechanism are within the shooting range.
The invention has the beneficial effects that: the experimental device provided by the invention can be used for integrally evaluating the aerospace material, setting the loads required by a friction wear experiment, a structural vibration experiment and a mechanism performance degradation experiment in a partitioning manner, realizing modular design and standardizing part installation; the experimental device is integrally processed by the same material, can evaluate the corresponding aerospace material, and has the basis of researching the material level change rule, the component level change rule and the system level change rule of the aerospace material.
This experimental apparatus adopts curb plate, bottom plate and girder as main support, through auxiliary beam auxiliary stay, has both fully considered complicated mechanics environmental condition in the emission process and has increased structural strength stability, and the unnecessary structural component that reduces again reduces the development cost as far as possible, improves economic benefits and reduction device weight. In the 2U load space, the experimental device considers factors such as mechanism heat dissipation, circuit arrangement, mechanism running space and the like, optimizes the integrated layout and compact design of the structure, and realizes the installation of three different experimental modules.
Drawings
FIG. 1 is a front view of one embodiment of the standard cubic satellite micro space science experimental apparatus of the present invention (with side panel 27 removed);
FIG. 2 is a schematic diagram of a right-view structure of an embodiment of a standard cube star micro space science experiment apparatus of the present invention;
FIG. 3 is a schematic left-view structural diagram of an embodiment of a standard cube star micro space science experiment apparatus of the present invention;
FIG. 4 is a schematic diagram of a rear view structure of an embodiment of a standard cube star micro space science experiment apparatus according to the present invention;
FIG. 5 is a schematic diagram of an assembly of a friction bearing seat, a friction bearing and a friction disk according to an embodiment of the experimental apparatus for the micro space science of the standard cube star of the present invention (partially cross-sectional view, wherein the friction bearing seat is a front view of the rest part cut away with a certain radian, the friction bearing is a front view of the rest part cut away with a certain radian, and the cut-away parts of the friction bearing and the rest part are at the same angle of arc);
FIG. 6 is a schematic top view of a friction bearing seat according to an embodiment of the standard cube star micro space science experiment apparatus of the present invention;
FIG. 7 is a schematic illustration of a friction disk in accordance with an embodiment of the standard cube star micro space science experiment apparatus of the present invention;
in the figure: 1. a transverse DC brushless motor; 2. a four-bar active frame; 3. a driving lever; 4. a connecting rod; 5. a four-bar driven frame; 6. a driven lever; 7. a main beam; 8. a friction disk cross member; 9. a friction bearing seat; 10. a first camera; 11. a laser displacement sensor; 12. a second camera; 13. a base plate; 14. an infrared temperature sensor; 15. a third camera; 16. a three-dimensional force sensor; 17. a friction head; 18. a friction beam; 19. a vertical DC brushless motor; 20. an acceleration sensor; 21. a vibrating piece; 22. an auxiliary beam; 23. a positioning sleeve; 24. a corner connector; 25. a camera head base plate; 26. a camera beam; 27. a side plate; 28. a friction disk; 29. a load cell cantilever; 30. a friction motor base; 31. a four-bar beam; 32. a laser displacement sensor beam; 33. and (3) a friction bearing.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides a standard cube star micro-space scientific experimental device which is characterized by comprising a four-bar mechanism, a transverse direct current brushless motor 1, a vertical direct current brushless motor 19, a first camera 10, a laser displacement sensor 11, a second camera 12, an infrared temperature sensor 14, a third camera 15, a three-dimensional force sensor 16, a friction head 17, an acceleration sensor 20, a vibrating piece 21, a friction disc 28 and a base frame.
The base frame is composed of four main beams 7, six auxiliary beams 22, a bottom plate 13 and side plates 27, wherein the four main beams 7 are vertically divided into a front group and a rear group, the front group and the rear group are separated and arranged oppositely, each group is two, the two groups are separated and arranged in a left-right alignment mode, and a rectangular structure with four edges in the same direction is formed; the top ends of a group of two main beams 7 at the rear side are connected through an auxiliary beam 22; the upper end and the lower end of the right side between the front main beam and the rear main beam are respectively connected through an auxiliary beam 22, so that the right side between the front main beam and the rear main beam is connected; the upper, middle, upper and lower ends of the left side between the front and rear main beams are respectively connected through an auxiliary beam 22, so that the left side between the front and rear main beams is connected; the side plates 27 are arranged on the outer side surfaces of the front group of main beams in a punching and screw installing mode, the bottom plate 13 is arranged on the outer side surfaces of the bottoms of the front and rear groups of main beams, and the base frame of the hexahedral frame structure with the closed front side surface and the closed bottom surface and no panel on other surfaces is formed. The bottom plate 13 and the bottoms of the front and rear main beams are fixed through angle connectors 24 respectively.
Two ends from the top down in proper order parallel fixed between a set of two girder 7 of the rear side of bed frame are provided with: auxiliary beam 22, four-bar beam 31, friction beam 18, friction disk beam 8, laser displacement sensor beam 32; the four-bar mechanism comprises a driving bar 3, a connecting bar 4, a driven bar 6, a four-bar driving frame 2 and a four-bar driven frame 5; the four-bar active frame 2 is arranged in the base frame, and the rear part of the four-bar active frame is fixed on the right side of the four-bar beam 31; the vibrating reed 21 is arranged in the pedestal, two ends of the vibrating reed 21 are respectively fixed on the left side of the four-bar beam 31 and the left side of the friction beam 18, and the vibrating reed 21 is perpendicular to the four-bar beam 31 and the friction beam 18; an acceleration sensor 20 is arranged in the middle of the vibrating piece 21 in a punching and screw installing mode; preferably, the two vibrating reeds 21 are disposed in parallel on the left side of the four-bar beam 31 and the left side of the friction beam 18, and one acceleration sensor 20 is disposed in the middle of each vibrating reed. An acceleration sensor 20 is installed in the middle of the connecting rod 4 in a manner of punching and screwing. The four-bar driven frame 5 is arranged in the base frame, and the rear part of the four-bar driven frame is fixed on the right side of the friction cross beam 18;
the transverse direct-current brushless motor 1 is transversely fixedly installed at the front part of the four-rod driving frame 2, one end of the driving rod 3 is fixed on an output shaft of the transverse direct-current brushless motor 1 through a jackscrew, one end of the connecting rod 4 is connected with the other end of the driving rod 3 through the jackscrew and can keep relative rotation, one end of the driven rod 6 is connected with the other end of the connecting rod 4 through the jackscrew and can keep relative rotation, and the other end of the driven rod 6 is connected with the front part of the four-rod driven frame 5 through the jackscrew and can keep relative rotation.
The rear part of the friction bearing block 9 is fixed on the friction disc cross beam 8, the friction bearing 33 is installed inside the friction bearing block 9, the friction disc 28 is installed inside the friction bearing 33, the friction disc 28 and the friction bearing 33 are fixed through the snap spring, and the axle centers of the friction bearing block 9, the friction bearing 33 and the friction disc 28 are on the same straight line.
The vertical brushless DC motor 19 is vertically fixed on the front part of the friction motor base 30, the rear part of the friction motor base 30 is fixed on the friction beam 18, the middle part of the friction disc 28 is fixed on the output shaft of the vertical brushless DC motor 19 through a jackscrew, and the central axis of the friction disc 28 coincides with the central axis of the output shaft of the vertical brushless DC motor 19.
The vertical direct current brushless motor 19 is positioned at the upper side of the axial direction of the friction disc 28, the friction head 17 is arranged at the lower side of the axial direction of the friction disc 28, and the top of the friction head 17 is contacted with the bottom of the friction disc 28; a certain pretightening force is formed between the friction head 17 and the friction disc 28, and the friction head and the friction disc can keep rotating relatively. The lower part of the friction head 17 is fixed on the three-dimensional force sensor 16, the three-dimensional force sensor 16 is fixed on a force sensor cantilever 29, and the force sensor cantilever 29 is arranged perpendicular to the two main beams 7 on the left side of the base frame and is fixed on the inner side of the two main beams; a first camera 10 is fixedly arranged on the base frame main beam on the right side of the friction head 17 through a camera cross beam 26, and the friction head 17 is within the shooting range; the laser displacement sensor 11 is positioned at the rear lower part of the first camera 10, is fixed on a laser displacement sensor beam 32, and the laser receiving and emitting end of the laser displacement sensor is aligned with the friction disc 28.
And a third camera 15 is arranged below the three-dimensional force sensor 16, is fixed on the inner side of an auxiliary beam 22 below the left side of the base frame, has a shooting range of the outer side of the device, and can be used for observing the outer space environment and the satellite body.
The infrared temperature sensor 14 is fixed on the left side of the bottom plate 13, and the temperature sensing end of the infrared temperature sensor is opposite to the friction disc 28; the second camera 12 is fixed on the right side of the bottom plate 13, and the shooting range is the friction disc 28 and the four-bar mechanism.
The bottom plate 13 and the side plate 27 are used for partially sealing the device, and the side plate 27 is used as a circuit mounting carrier of the electronic component;
the model of the acceleration sensor 20 is EVAL-ADXL356BZ, the models of the transverse direct current brushless motor 1 and the vertical direct current brushless motor 19 are 216000+118186/273271, the model of the laser displacement sensor 11 is optoNCDT ILD1420-10, the model of the three-dimensional force sensor 16 is GR303, and the models of the first camera 10, the second camera 12 and the third camera 15 are QR-USB130W01 MT.
The experimental device can be used for friction and wear experiments, structural vibration experiments and mechanism performance degradation experiments, and the working principle and the working process are as follows:
test procedure of frictional wear: the vertical direct current brushless motor 19 drives the friction disc 28 to rotate and generate friction with the friction head 17, the three-dimensional force sensor 16 measures X, Y, Z stress borne by the friction head 17 in the friction state, the laser displacement sensor 11 measures scratch depth generated between the friction head 17 and the friction disc 28, the first camera 10 transversely observes the motion track and the motion state of the friction head 17 in the friction state, the second camera 12 longitudinally observes the motion state of the friction disc 28 in the friction state, and the infrared temperature sensor 14 measures temperature change of the friction disc 28 in the friction state.
The testing process of the structural vibration is as follows: the transverse direct-current brushless motor 1 drives the active rod 3 of the four-bar mechanism to operate, the four-bar mechanism is driven to operate integrally, the acceleration sensor 20 on the connecting rod 4 measures the vibration acceleration generated by the operation of the four-bar mechanism, and the second camera 12 records the operation state of the four-bar mechanism.
And (3) testing the degradation of the mechanism performance: the vibration plate 21 senses pulse excitation generated in a friction wear test process and a structural vibration test process, and an acceleration sensor 20 on the vibration plate 21 performs parameter measurement.
The material level change rule of the aerospace material in a space gravity-free environment is explored by analyzing and processing friction and wear experiment data. The component level change rule of the aerospace material in a space gravity-free environment is explored by analyzing and processing the structural vibration test and the mechanism performance degradation test data. The whole space experiment load is manufactured by adopting the same experiment material, the space experiment load is a whole, and the system-level change rule of the space material in a space gravity-free environment is explored.
The invention relates to a standard cubic star micro-space scientific experimental device, the technical scheme content of the experimental device only relates to the design and layout of device load, and the control details of each experimental process are out of the technical scope of the invention.
Nothing in this specification is said to apply to the prior art.
Claims (8)
1. A standard cube star micro space scientific experiment device is characterized by comprising a four-bar mechanism, a transverse direct current brushless motor, a vertical direct current brushless motor, a first camera, a laser displacement sensor, a second camera, an infrared temperature sensor, a third camera, a three-dimensional force sensor, a friction head, an acceleration sensor, a vibrating piece, a friction disc and a base frame, wherein the transverse direct current brushless motor is connected with the four-bar mechanism;
the base frame is composed of four main beams, six auxiliary beams, a bottom plate and side plates, wherein the four main beams are vertically divided into a front group and a rear group, the front group and the rear group are separated and arranged oppositely, each group is two, the two main beams are separated and arranged in a left-right alignment mode, and a rectangular structure with four edges in the same direction is formed; the top ends of a group of two main beams at the rear side are connected through an auxiliary beam; the upper end and the lower end of the right side between the front main beam and the rear main beam are respectively connected through an auxiliary beam, so that the right side between the front main beam and the rear main beam is connected; the upper, middle, upper and lower ends of the left side between the front and rear main beams are respectively connected through an auxiliary beam, so that the left side between the front and rear main beams is connected; the side plates are arranged on the outer side surfaces of the front group of main beams in a punching and screw installing mode, the bottom plate is arranged on the outer side surfaces of the bottoms of the front and rear groups of main beams, and a base frame of a hexahedral frame structure with a closed front side surface and a closed bottom surface and without panels on other surfaces is formed;
Both ends from the top down in proper order parallel fixation between a set of two girders of the rear side of bed frame is provided with: the device comprises auxiliary beams, four-rod beams, friction disc beams and laser displacement sensor beams; the four-bar mechanism comprises a driving bar, a connecting bar, a driven bar, a four-bar driving frame and a four-bar driven frame; the four-bar active frame is arranged in the base frame, and the rear part of the four-bar active frame is fixed on the right side of the four-bar beam;
the vibrating piece is arranged in the base frame, two ends of the vibrating piece are respectively fixed on the left side of the four-bar beam and the left side of the friction beam, and the vibrating piece is perpendicular to the four-bar beam and the friction beam; an acceleration sensor is arranged in the middle of the vibrating piece in a punching and screw installing mode; an acceleration sensor is arranged in the middle of the connecting rod in a punching and screw installing mode; the four-bar driven frame is arranged in the base frame, and the rear part of the four-bar driven frame is fixed on the right side of the friction cross beam;
the transverse direct-current brushless motor is transversely and fixedly installed at the front part of the four-bar driving frame, one end of the driving rod is fixed on an output shaft of the transverse direct-current brushless motor through a jackscrew, one end of the connecting rod is connected with the other end of the driving rod through the jackscrew and can keep relative rotation, one end of the driven rod is connected with the other end of the connecting rod through the jackscrew and can keep relative rotation, and the other end of the driven rod is connected with the front part of the four-bar driven frame through the jackscrew and can keep relative rotation;
The rear part of the friction bearing seat is fixed on a friction disc cross beam, the friction bearing is arranged in the friction bearing seat, the friction disc is arranged in the friction bearing, the friction disc and the friction bearing are fixed through a snap spring, and the axes of the friction bearing seat, the friction bearing and the friction disc are on the same straight line;
the friction disc is fixed on an output shaft of the vertical direct current brushless motor through a jackscrew, and the central axis of the friction disc is superposed with the central axis of the output shaft of the vertical direct current brushless motor;
the vertical direct-current brushless motor is positioned on the upper side of the friction disc in the axial direction, the friction head is arranged on the lower side of the friction disc in the axial direction, and the top of the friction head is in contact with the bottom of the friction disc; a certain pretightening force is formed between the friction head and the friction disc, and the friction head and the friction disc can keep relative rotation; the lower part of the friction head is fixed on a three-dimensional force sensor, the three-dimensional force sensor is fixed on a force sensor cantilever, and the force sensor cantilever is perpendicular to two main beams on the left side of the base frame and is fixed on the inner side of the base frame; a first camera is fixedly arranged on the base frame main beam on the right side of the friction head through a camera beam, and the friction head is within the shooting range of the first camera; the laser displacement sensor is positioned behind and below the first camera, is fixed on a beam of the laser displacement sensor, and is aligned to the friction disc at a laser receiving and transmitting end;
A third camera is arranged below the three-dimensional force sensor, is fixed on the inner side of the auxiliary beam below the left side of the base frame, has a shooting range of the outer side of the device, and can be used for observing the outer space environment and the satellite body;
the infrared temperature sensor is fixed on the left side of the bottom plate, and the temperature sensing end of the infrared temperature sensor is right opposite to the friction disc; the second camera is fixed on the right side of the bottom plate, and the friction disc and the four-bar mechanism are within the shooting range of the second camera;
test procedure of frictional wear: the friction plate is driven by a vertical direct-current brushless motor to rotate to generate friction with a friction head, the three-dimensional force sensor measures X, Y, Z stress borne by the friction head in the friction state, the laser displacement sensor measures the scratch depth generated between the friction head and the friction plate, the first camera transversely observes the motion trail and the motion state of the friction head in the friction state, the second camera longitudinally observes the motion state of the friction plate in the friction state, and the infrared temperature sensor measures the temperature change of the friction plate in the friction state;
the testing process of the structural vibration is as follows: the transverse direct-current brushless motor drives a driving rod of the four-bar mechanism to operate, the four-bar mechanism is driven to operate integrally, an acceleration sensor on a connecting rod measures vibration acceleration generated by the operation of the four-bar mechanism, and a second camera records the operation state of the four-bar mechanism;
And (3) testing the degradation of the mechanism performance: the vibration plate senses pulse excitation generated in the test process of friction wear and the test process of structural vibration, and an acceleration sensor on the vibration plate measures parameters.
2. The experimental apparatus for scientific experiments in standard cubic satellite miniscule space as claimed in claim 1, wherein the bottom plate is fixed with the bottoms of the front and rear groups of main beams through angle connectors respectively.
3. The experimental apparatus for scientific experiments on standard cubic micro-space as claimed in claim 1, wherein there are two vibrating reeds, both are disposed in parallel on the left side of the four-bar beam and the left side of the friction beam, and both are respectively disposed with an acceleration sensor in the middle.
4. A standard cubic minispace science experiment device as set forth in claim 1 wherein the acceleration sensor model is EVAL-ADXL356 BZ.
5. The apparatus of claim 1, wherein the transverse brushless dc motor and the vertical brushless dc motor are 216000+ 118186/273271.
6. The apparatus of claim 1, wherein the laser displacement sensor is of the type optoNCDT ILD 1420-10.
7. The apparatus according to claim 1, wherein the three-dimensional force sensor is model number GR 303.
8. The experimental apparatus for standard cuboidal micro space science according to claim 1, characterized in that the models of the first camera, the second camera and the third camera are all QR-USB130W01 MT.
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Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101526463A (en) * | 2009-04-23 | 2009-09-09 | 哈尔滨工业大学 | Experimental apparatus for testing sliding friction property of friction materials |
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| CN109900790B (en) * | 2019-03-22 | 2021-04-02 | 东北大学 | Composite material dynamic fatigue test device and method based on reverse resonance |
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| CN101526463A (en) * | 2009-04-23 | 2009-09-09 | 哈尔滨工业大学 | Experimental apparatus for testing sliding friction property of friction materials |
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| CN206684021U (en) * | 2017-03-16 | 2017-11-28 | 商洛学院 | A kind of static and dynamic friction coefficient measure and frictional force probe into device |
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