CN113340439A - Automatic measuring equipment and automatic measuring method for illuminating lamp - Google Patents
Automatic measuring equipment and automatic measuring method for illuminating lamp Download PDFInfo
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- CN113340439A CN113340439A CN202110170642.6A CN202110170642A CN113340439A CN 113340439 A CN113340439 A CN 113340439A CN 202110170642 A CN202110170642 A CN 202110170642A CN 113340439 A CN113340439 A CN 113340439A
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- 238000000034 method Methods 0.000 title claims description 10
- 238000012360 testing method Methods 0.000 claims abstract description 40
- 230000003287 optical effect Effects 0.000 claims abstract description 24
- 239000000725 suspension Substances 0.000 claims abstract description 22
- 238000010008 shearing Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 239000002994 raw material Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 230000008635 plant growth Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J9/00—Measuring optical phase difference; Determining degree of coherence; Measuring optical wavelength
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Abstract
The invention discloses automatic measuring equipment for an illuminating lamp, which comprises a movable platform, a lifting assembly, a magnetic suspension planar motor, a motion control box, a remote control module and a power supply, wherein the movable platform is connected with the lifting assembly through a connecting rod; the magnetic suspension planar motor comprises a magnetic disc arranged on the executing piece and a bearing table with six-degree-of-freedom motion above the magnetic disc, an optical test head for testing an illuminating lamp is fixedly arranged on the bearing table, and one end of the bearing table is connected with the motion control box through a control line; the optical parameter automatic measurement of the illuminating lamp can be realized through the assembly, and compared with manual measurement, the measurement result is more accurate and the efficiency is higher.
Description
Technical Field
The invention relates to automatic measuring equipment and an automatic measuring method for an illuminating lamp.
Background
The illumination intensity energy emitted by the plant growth lamp has a large influence on the growth and development of plants, and one of the important factors influencing the illumination intensity energy of the plant growth lamp is the distance between the lamp and the plants. In the lighting industry at present, the traditional method for testing the illumination intensity of a lighting surface and an illuminating surface of a three-dimensional space of a lamp at different distances comprises the following steps: the distance is measured by a tape measure, and then the hand-held portable spectrometer is placed under light for measurement, the data measured by the hand-held spectrometer has large data deviation due to inaccurate placing position and inconsistent height, the efficiency is low, and two persons need to be consumed for testing one lamp. In order to improve the testing efficiency and the accuracy of the testing data, an efficient automatic measuring device is required.
Disclosure of Invention
The present invention aims to solve at least one of the above technical problems to a certain extent.
On the first hand, the invention is an improved scheme provided according to the existing plant growth lamp testing method on the market, and an automatic measuring device for the plant growth lamp is developed and developed, and comprises a movable platform, a lifting assembly, a magnetic suspension planar motor, a motion control box, a remote control module and a power supply;
in the automatic measuring equipment, a movable bearing platform with six degrees of freedom is arranged on a magnetic suspension planar motor, the bearing platform is controlled to move at the upper end of a magnetic disk through a motion control box, four groups of Halbach permanent magnet array permanent magnets can be bonded at the bottom of the bearing platform, and the four groups of permanent magnets are sequentially surrounded into a square shape; arranging permanent magnets with smaller volume and vertical magnetization direction at the periphery of the permanent magnet with larger volume to form an array; coils are distributed on the upper surface array of the magnetic disk, the arrangement direction of the coils is the same as that of the permanent magnets, after the coils are electrified, the three-dimensionally distributed permanent magnet array magnetic field and the planar coil array generate interaction to push the bearing table to slide over the magnetic disk in a non-contact way, and the magnetic suspension motion has higher motion control precision because Coulomb friction does not exist and mechanical superposition of a plurality of single-degree-of-freedom motion rigid bodies is not needed;
the magnetic disc can be formed by splicing a plurality of groups of stators formed by the coil arrays, so that the size and the shape in the magnetic disc can be changed according to the actual test environment so as to change the stroke of the bearing table, the upper end of the bearing table is provided with a mounting groove, and the optical test head can be fixed in the mounting groove through bolts; the trigger switch of the optical test head may be controlled by a motion control box.
In the second aspect, the lifting platform of the invention designs a lifting device with a more stable structure by referring to the design thought of the lifting platform of the hoisting machinery; the lifting device comprises a power piece and an executive piece which is driven by the power piece to lift;
as the preferred scheme, the executive component comprises a fixed seat and a slide rail which are fixedly arranged on the mounting plate and on the lower bottom surface of the magnetic suspension planar motor at the same time, a movable seat movably arranged on the slide rail, and a fork frame with one end arranged on the movable seat and the other end fixed on the fixed seat.
Preferably, the power part consists of an output part fixed at one end of the fork shearing frame and a driven part fixed at the other end of the fork shearing frame; the output part comprises first connecting rods fixed at one end of the fork frame, a rotating motor fixed between the first connecting rods and a screw rod connected with the output end of the rotating motor; the driven part comprises a sliding block which is in threaded connection with the screw rod and a second connecting rod which is integrally formed with the sliding block, and two groups of bearing blocks are also connected to the second connecting rod in series; one side of the bearing block is also movably provided with a sliding rod;
as the working principle of the lifting platform, the rotary motor drives the screw rod to rotate after being started, and the fork shearing frame is formed by assembling a plurality of groups of diamond-shaped frames, so that the slide block can move on the screw rod in the rotating process of the screw rod, the first connecting rod is fixed, the second connecting rod fixed on the slide block pushes the diamond-shaped frames to be folded in the direction of the vertical central line, and the total height of the fork shearing frame is gradually increased;
as a preferred scheme, four groups of limit switches are further fixed on the mounting plate, and the limit switches are connected with the motion control box through cables; and the four groups of limit switches are used for limiting the strokes of the two groups of movable seats.
The invention also provides an automatic measuring method of the illuminating lamp, a movable platform is moved to the lower part of a light source to be tested, after wireless communication is realized through a motion control box and a remote control module, the remote control module can remotely send a control instruction through an APP, a remote control bearing platform is moved to the right center position of a magnetic disk on the magnetic disk, the movable platform is continuously pushed, an optical test head at the moment is positioned under the light source, after a lifting assembly is lifted to a specified test height, a remote control end sets a stroke track of the bearing platform through the APP, the starting instruction and the stroke track are sent to a motion control box end, then the motion control box end controls the bearing platform to move on the magnetic disk through the stroke track, and the optical test head is triggered to carry out optical data detection after the corresponding position is reached; similarly, after the bearing table moves to the designated position, the current three-dimensional coordinate on the magnetic disk and the test data of the optical test head can be fed back to the motion control box through the control line; the data is transmitted back to the remote control module after A/D conversion; thereby realizing the automatic measurement of the wavelength of the illuminating lamp.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is an overall structural view of an automatic measuring apparatus for an illumination lamp according to the present invention;
FIG. 2 is a diagram of a 15cm height light wave test site profile;
FIG. 3 is a diagram of a 30cm height optical wave test site profile;
FIG. 4 is a diagram of a 60cm height optical wave test site profile;
FIG. 5 is a diagram of a 90cm height lightwave test site profile.
Shown in the figure:
1. a movable platform; 2. a lifting assembly; 3. a magnetic suspension planar motor; 4. a motion control box; 5. a power source; 6. mounting a plate; 7. an optical test head; 31. a magnetic disk; 32. a bearing table; 33. a control line; 21. a power member; 22. an executive component; 221. a fixed seat; 222. a slide rail; 223. a movable seat; 224. a fork shearing frame; 211. An output section; 212. a driven part; 213. a first connecting rod; 214. a rotating electric machine; 215. a screw rod; 321. Mounting grooves; 2121. a slider; 2122. a second connecting rod; 2123. a bearing block; 2124. a slide bar;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as … …, upper, lower, left, right, front, back, inner, outer, center, and middle) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an improved scheme according to the existing plant growth lamp testing method on the market, and develops an automatic measuring device for a plant growth lamp, as shown in figure 1, the automatic measuring device comprises a movable platform 1, a lifting assembly 2, a magnetic suspension planar motor 3, a motion control box 4, a remote control module and a power supply 5;
the movable platform 1 is used for carrying and moving the measuring equipment, and can be replaced by a manual flat car as shown in fig. 1 or a remote control car driven by a motor, and the lifting assembly 2 and the magnetic suspension motor 3 are driven to move by wheels at the bottom;
the motion control box 4 is internally integrated with a power amplifier, an A/D converter, a magnetic suspension motion controller, a motor driver, a motor controller, a sensor system and a wireless communication module;
wherein, the power amplifier is mainly used for amplifying current so as to drive a coil; the A/D converter realizes the conversion of analog and digital signals; the magnetic suspension motion controller is mainly integrated with a Cortex-A10-based motion control platform, and can realize position feedback calculation and motion control of the bearing platform;
the motor driver is mainly used for driving a servo motor driving the lifting assembly, and the motor controller mainly controls the number of rotation turns of the motor through the encoder, rotates forwards and backwards and realizes the lifting control of the fork shearing frame.
The remote control module is connected with the motion control box through a wireless communication module, is used for controlling the lifting of the lifting assembly and the operation of the magnetic suspension planar motor, and can be a mobile phone, a tablet personal computer and a PC computer;
the sensor system comprises 4 groups of eddy current sensors and 4 groups of displacement sensors, wherein the 4 groups of eddy current sensors are respectively arranged at the bottom ends of four corners of the bearing table and are used for detecting the spatial information of the bearing table on a vertical surface; 4 sets of displacement sensors are arranged on four sides of the magnetic disk, and space position attitude calculation is carried out on the bearing platform according to the four sets of laser displacement sensors and the four sets of eddy current sensors, wherein the calculation method belongs to the prior art and is not further explained;
the power supply is connected with the motion control box through a cable; used for supplying power to the lifting assembly 2 and the magnetic suspension plane motor 3;
the magnetic suspension planar motor 3 comprises a magnetic disc 31 arranged on the executive component and a bearing platform 32 with six-degree-of-freedom motion above the magnetic disc 31, an optical test head 7 for testing wavelength is fixedly arranged on the bearing platform 32, and one end of the bearing platform 32 is connected with the motion control box 4 through a control line 33.
In the automatic measuring equipment, a movable bearing platform 32 with six degrees of freedom is arranged on a magnetic suspension planar motor 3, the bearing platform is controlled to move at the upper end of a magnetic disk through a motion control box 4, four groups of Halbach permanent magnet array permanent magnets can be bonded at the bottom of the bearing platform, and the four groups of permanent magnets are sequentially surrounded into a square shape; arranging permanent magnets with smaller volume and vertical magnetization direction at the periphery of the permanent magnet with larger volume to form an array; coils are distributed on the upper surface array of the magnetic disk, the arrangement direction of the coils is the same as that of the permanent magnets, after the coils are electrified, the three-dimensionally distributed permanent magnet array magnetic field and the planar coil array generate interaction to push the bearing table to slide over the magnetic disk in a non-contact way, and the magnetic suspension motion has higher motion control precision because Coulomb friction does not exist and mechanical superposition of a plurality of single-degree-of-freedom motion rigid bodies is not needed;
the magnetic disk 31 can be formed by splicing a plurality of sets of stators formed by the coil arrays, so that the size and the shape of the magnetic disk can be changed according to the actual test environment, so as to change the stroke of the bearing table 32, the upper end of the bearing table 32 is provided with a mounting groove 321, and the optical test head 7 can be fixed in the mounting groove 321 through bolts; the trigger switch of the optical test head 7 may be controlled by the motion control box 4.
According to the lifting platform, two groups of lifting assemblies with more stable structures are designed according to the design idea of the lifting platform of the hoisting machinery, and the two groups of lifting assemblies 2 are designed; the lifting assembly 2 comprises a power member 21 and an actuating member 22 driven by the power member 21 to lift;
preferably, the actuating member 22 includes a fixed base 221 and a slide rail 222 both fixedly mounted on the mounting plate 6 and on the lower bottom surface of the maglev planar motor 3, a movable base 223 movably mounted on the slide rail 222, and a fork frame 224 having one end mounted on the movable base 223 and the other end fixed on the fixed base 221.
Preferably, the power member 21 is composed of an output portion 211 fixed at one end of the fork arm 224 and a driven portion 212 fixed at the other end of the fork arm; the output part 211 includes first connection rods 213 fixed to one end of the fork frame 224, a rotating motor 214 fixed between the first connection rods 213, and a lead screw 215 to which an output end of the rotating motor 214 is connected; the driven part 212 comprises a sliding block 2121 screwed on the screw rod 215 and a second connecting rod 2122 integrally formed with the sliding block 2121, and the second connecting rod 2122 is further connected with two sets of bearing blocks 2123 in series; a sliding rod 2124 is movably arranged on one side of the bearing block 2123;
as the working principle of the above lifting platform, after the rotating motor 214 is started, the lead screw 215 is driven to rotate, and the fork shearing frame 224 is formed by assembling a plurality of groups of diamond-shaped frames, so that the slide block 2121 can move on the lead screw 215 and the first connecting rod 213 is not moved in the rotating process of the lead screw 215, the second connecting rod 2122 fixed on the slide block 2121 pushes the diamond-shaped frames to be folded towards the direction of the first connecting rod 213, and the total height of the fork shearing frame 224 is gradually increased; when the second connecting rod 2122 fixed to the slider 2121 pushes the diamond frame to spread in a direction away from the first connecting rod 213, the total height of the fork shearing frame 224 is gradually reduced;
preferably, four sets of limit switches 61 are fixed on the mounting plate 6, and the limit switches 61 are connected with the motion control box 4 through cables; the four sets of limit switches 61 are used for limiting the travel of the two sets of movable seats 223.
In a third aspect, the invention also provides an automatic measuring method of the illuminating lamp, the movable platform 1 is moved to the lower part of the light source to be tested, after wireless communication is realized between the motion control box 4 and the remote control module, the remote control module can remotely send a control command through the APP, the remote control bearing platform 32 moves to the positive center position of the magnetic disk 31 on the magnetic disk 31, the movable platform 1 is continuously pushed, the optical test head 7 at the moment is positioned under the light source, after the lifting assembly 2 is lifted to a specified test height, the remote control module sets the stroke track of the bearing platform through the APP, the test area can be as shown in fig. 2-5, fig. 2-5 are light wave test data of the bearing table at 15cm height, 30cm height, 60cm height and 90cm height, respectively, wherein the place with the data is the point where the optical detection head needs to stay; the outer largest square area of FIGS. 2-5 corresponds to the size of the disk; in the travel track, the travel track consists of square tracks with gradually reduced areas, 8 groups of points to be measured are arranged on each square track, and 1 group is arranged at the position extending to the center; the four groups of points to be measured are distributed at four groups of top corners of the square track, the other four groups of points are distributed at the center of each edge of the track, a starting instruction and the travel track are sent to the end of the motion control box, a starting point is formulated, and the motion control box calculates the optimal path assuming that the starting point is selected at the center;
then the end of the motion control box 4 controls the bearing platform 32 to move on the magnetic disk 31 through a stroke track and a path, and triggers the optical test head 7 to perform optical data detection after reaching a corresponding position until the last point is tested; similarly, after the carrier 32 moves to the designated position, the current three-dimensional coordinates on the magnetic disk 31 and the test data of the optical test head 7 can be fed back to the motion control box 4 through the control line 33; the data is transmitted back to the remote control module after A/D conversion; thereby realizing the automatic measurement of the wavelength of the illuminating lamp.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An automated measuring device for a lighting lamp, characterized by: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the movable platform is used for bearing and moving the measuring equipment;
the lifting assembly is fixed on the movable platform through a mounting plate and comprises a power part and an executing part driven by the power part;
the magnetic suspension planar motor is fixedly arranged on the lifting assembly;
the motion control box is internally integrated with a power amplifier, an A/D converter, a magnetic suspension motion controller, a motor driver, a motor controller, a sensor system and a wireless communication module;
the remote control module is connected with the motion control box through a wireless communication module and is used for controlling the lifting of the lifting assembly and the operation of the magnetic suspension planar motor;
the power supply is connected with the motion control box through a cable; the lifting assembly is used for supplying power to the lifting assembly and the magnetic suspension planar motor;
the magnetic suspension planar motor comprises a magnetic disc and a bearing table, wherein the magnetic disc is installed on the executing piece, six-degree-of-freedom motion is achieved above the magnetic disc, an optical test head used for testing wavelength is fixedly installed on the bearing table, and one end of the bearing table is connected with the motion control box through a control line.
2. An automatic measuring device for lighting lamps according to claim 1, characterized in that: the executive component comprises a fixed seat, a slide rail, a movable seat and a fork frame, wherein the fixed seat and the slide rail are fixedly installed on the installation plate and on the lower bottom surface of the magnetic suspension planar motor, the movable seat is movably installed on the slide rail, one end of the fork frame is installed on the movable seat, and the other end of the fork frame is fixed on the fixed seat.
3. An automatic measuring device for lighting lamps according to claim 2, characterized in that: the power part consists of an output part fixed at one end of the fork shearing frame and a driven part fixed at the other end of the fork shearing frame.
4. An automatic measuring device for lighting lamps according to claim 3, characterized in that: the output part comprises first connecting rods fixed at one end of the fork shearing frame, a rotating motor fixed between the first connecting rods and a screw rod connected with the output end of the rotating motor.
5. An automatic measuring device for lighting lamps according to claim 4, characterized in that: the driven part comprises a sliding block which is in threaded connection with the screw rod and a second connecting rod which is integrally formed with the sliding block, and two groups of bearing blocks are connected in series on the second connecting rod.
6. An automatic measuring device for lighting lamps according to claim 5, characterized in that: and one side of the bearing block is also movably provided with a sliding rod.
7. An automatic measuring device for lighting lamps according to claim 1, characterized in that: four groups of limit switches are further fixed on the mounting plate, and the limit switches are connected with the motion control box through cables.
8. An automatic measuring method according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:
s1, moving the movable platform to the lower part of the light source to be tested, after realizing wireless communication with the remote control module through the motion control box, the remote control module can remotely send out a control instruction through an APP, remotely control the bearing platform to move to the right center position of the magnetic disk on the magnetic disk, and continuously push the movable platform to enable the optical test head to be positioned right below the light source;
s2, after the lifting assembly is lifted to a specified test height, the remote control end sets the stroke track of the bearing platform through the APP, sends a starting instruction and the stroke track to the motion control box end, then the motion control box end controls the bearing platform to move on the magnetic disk through the stroke track, and triggers the optical test head to perform optical data detection after reaching a corresponding position;
s3, after the bearing platform moves to the designated position, the current three-dimensional coordinate on the magnetic disc and the test data of the optical test head can be fed back to the motion control box through the control line; the data is transmitted back to the remote control module after A/D conversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110170642.6A CN113340439A (en) | 2021-02-08 | 2021-02-08 | Automatic measuring equipment and automatic measuring method for illuminating lamp |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110170642.6A CN113340439A (en) | 2021-02-08 | 2021-02-08 | Automatic measuring equipment and automatic measuring method for illuminating lamp |
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| CN113340439A true CN113340439A (en) | 2021-09-03 |
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| CN202110170642.6A Pending CN113340439A (en) | 2021-02-08 | 2021-02-08 | Automatic measuring equipment and automatic measuring method for illuminating lamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203298868U (en) * | 2013-05-30 | 2013-11-20 | 杭州灵彩科技有限公司 | Automatic detection spectrometer applied to plant growth lamps in agricultural production |
| CN108952253A (en) * | 2018-06-27 | 2018-12-07 | 河海大学常州校区 | A kind of concealed parking device |
| CN109052217A (en) * | 2018-08-17 | 2018-12-21 | 北京索英电气技术有限公司 | A kind of automation lifting device |
| CN208537025U (en) * | 2018-08-03 | 2019-02-22 | 杭州远方光电信息股份有限公司 | A kind of plant illumination test macro |
| CN109962646A (en) * | 2019-03-28 | 2019-07-02 | 武汉大学 | A kind of six degree of freedom maglev planar motor |
| CN110932602A (en) * | 2019-12-20 | 2020-03-27 | 武汉大学 | Six-degree-of-freedom magnetic suspension rotary table, control system and method |
| CN212377894U (en) * | 2020-07-24 | 2021-01-19 | 北国之光(深圳)科技有限公司 | Plant lighting lamp with lifting function |
| CN112311192A (en) * | 2020-10-20 | 2021-02-02 | 江苏科技大学 | Logistics device based on magnetic suspension planar motor and control method thereof |
-
2021
- 2021-02-08 CN CN202110170642.6A patent/CN113340439A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203298868U (en) * | 2013-05-30 | 2013-11-20 | 杭州灵彩科技有限公司 | Automatic detection spectrometer applied to plant growth lamps in agricultural production |
| CN108952253A (en) * | 2018-06-27 | 2018-12-07 | 河海大学常州校区 | A kind of concealed parking device |
| CN208537025U (en) * | 2018-08-03 | 2019-02-22 | 杭州远方光电信息股份有限公司 | A kind of plant illumination test macro |
| CN109052217A (en) * | 2018-08-17 | 2018-12-21 | 北京索英电气技术有限公司 | A kind of automation lifting device |
| CN109962646A (en) * | 2019-03-28 | 2019-07-02 | 武汉大学 | A kind of six degree of freedom maglev planar motor |
| CN110932602A (en) * | 2019-12-20 | 2020-03-27 | 武汉大学 | Six-degree-of-freedom magnetic suspension rotary table, control system and method |
| CN212377894U (en) * | 2020-07-24 | 2021-01-19 | 北国之光(深圳)科技有限公司 | Plant lighting lamp with lifting function |
| CN112311192A (en) * | 2020-10-20 | 2021-02-02 | 江苏科技大学 | Logistics device based on magnetic suspension planar motor and control method thereof |
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Application publication date: 20210903 |