CN201618960U - Crank chain-wheel processing device capable of being automatically detected and corrected - Google Patents
Crank chain-wheel processing device capable of being automatically detected and corrected Download PDFInfo
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- CN201618960U CN201618960U CN2009202156362U CN200920215636U CN201618960U CN 201618960 U CN201618960 U CN 201618960U CN 2009202156362 U CN2009202156362 U CN 2009202156362U CN 200920215636 U CN200920215636 U CN 200920215636U CN 201618960 U CN201618960 U CN 201618960U
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Abstract
The utility model relates to a crank chain-wheel processing device capable of being automatically detected and corrected, which comprises a main shaft part and a lifting part which is opposite to the main shaft part, wherein a measuring part and a correction part are arranged above the main shaft part, and the measuring part transmits a measurement signal to the correction part. The technology integrates the detection and the correction of the deviation of a crank chain wheel, can automatically complete the processing of the crank chain wheel at one time, can improve the quality of the crank chain wheel, greatly reduces the situation that the chain is easy to drop during the application process of the bicycle, prolongs the service life of the bicycle parts such as the crank chain wheel and the chain, and reduces the accident rate of the bicycle.
Description
Technical field
The utility model relates to a kind of bicycle processing unit (plant), relates in particular to a kind of crank sprocket processing device that can detect automatically and proofread and correct.
Background technology
To be bicycle be converted into the critical component of power with manpower to crank and chain-wheel, and crank and chain-wheel connects bicycle pedal on the one hand, connects bicycle chain on the other hand.In actual use, the chain of bicycle is very easy to come off from crank and chain-wheel, bring great inconvenience to the user, wherein chain releasing reason is, elongated along with service time, chain itself can elongate, can strain chain by the skew wheel shaft for this point, and it is most important, also be difficult to keep in repair be, the out of plumb that when crank and chain-wheel is produced, has just had chain wheel face and footstalk, the deflection of sprocket wheel itself, exist deviation chain slightly just to be very easy to come off, and be difficult to follow-up maintenance, though now had some special crank and chain-wheels to address this problem, as the patent No. is 200510129798 disclosed a kind of bicycle cranksets, this crank and chain-wheel has a plurality of sprocket wheels, has for fixing aforementioned a plurality of sprocket wheels to be a plurality of arms that radiation is extended on crank portion, also has the chain baffle plate.Though this technology can solve the chain releasing problem to a certain extent, it is based on the modification to this body structure of crank and chain-wheel, and the crank and chain-wheel structure has complicated, and each cost of bicycle has increased, and is not easy to extensive popularization.And present some that exist can only unilaterally be carried out the deviation measurement to crank and chain-wheel to the crank and chain-wheel process equipment, perhaps roughly adjust deviation, also do not have the process equipment in conjunction with measurement and adjustment.
Summary of the invention
For the chain that solves above-mentioned described existing bicycle comes off easily, the deviation that the chain wheel face occurred when crank and chain-wheel was produced, the out of plumb of chain wheel face and footstalk, and more existing crank and chain-wheel structures are numerous and diverse, a cost high-technology difficult problem, the utility model provides a kind of can detect and proofread and correct crank and chain-wheel simultaneously automatically, and the deviation that can make the chain wheel face makes the crank sprocket processing device that can detect automatically and proofread and correct of the chain wheel face crank and chain-wheel vertical with footstalk in the scope that requires.
The utility model is achieved by the following scheme.A kind of crank sprocket processing device that can detect automatically and proofread and correct is provided, comprise spindle unit, the liftout parts relative with spindle unit, its special feature is, described spindle unit top is provided with measurement component and correcting unit, measurement component transmits measuring-signal and gives controller, via controller is controlled correcting unit after analyzing computing, at spindle unit, the side of measurement component and correcting unit is provided with parts up and down, parts comprise round rail support and the slide block up and down of being located at round rail support top up and down, wherein round rail support and spindle unit are fixed, slide block and measurement component and correcting unit are fixed up and down, and described measurement component is by obtaining measuring-signal with the contacted meter wheel in crank and chain-wheel side.Crank and chain-wheel is fixed between liftout parts and the spindle unit, measurement component is measured the extent of deviation of crank and chain-wheel, then measuring-signal is handled to calculate by controller correction signal is passed to correcting unit, correcting unit is proofreaied and correct processing according to correction signal to crank and chain-wheel, the effect of parts is lifting measurement component and correcting unit up and down, thereby carry out the replacing of crank and chain-wheel, meter wheel is by the slowly passive rotation of crank and chain-wheel of rotation, mainly play the effect of reducing friction, and the lateral displacement of meter wheel promptly is the original measurement signal that measurement component obtains.Described measurement component comprises encoder, the measuring stick that is connected with described meter wheel, the other end of measuring stick connects band and lever assembly synchronously, the lever assembly other end connect to be measured cylinder, and band is fixed on the described slide block up and down by spring after walking around synchronous pulley on the encoder synchronously.Measure cylinder and by lever assembly measuring stick is slightly exerted pressure, keep meter wheel to be close to crank and chain-wheel, obtain accurate signal, measuring stick pulling band synchronously is input to measuring-signal and encodes in the encoder, and spring is kept the tension force of synchronous band.Described correcting unit comprises Calibration Head, proofreaies and correct slide block assembly, latch closure is at the correcting block of crank and chain-wheel both sides, correcting block is positioned at the end of Calibration Head, Calibration Head is fixed on to be proofreaied and correct on the slide block assembly, proofread and correct anchoring filament stem nut assembly in the slide block assembly inner chamber, feed screw nut's assembly is connected with servomotor by shaft coupling, and the shaft coupling outside is with the axial restraint assembly.Servomotor receives correction signal and adjusts rotation time, and feed screw nut's assembly changes axial length under the drive of servomotor, thus the torsion resistance that crank and chain-wheel is corrected in the correction of control end soon, and correcting block is that soft plastic is made.
As preferably, described encoder is connected by being with synchronously with measuring stick, the other end of measuring stick is provided with pulley, and connection lever assembly, the lever assembly other end connects measures cylinder, describedly be fixed on the described slide block up and down by spring after walking around synchronous pulley on the encoder with an end synchronously, the other end is walked around pulley and is fixed on the holder that is located on the slide block up and down.Measuring cylinder slightly exerts pressure to measuring stick by lever assembly, keep meter wheel to be close to crank and chain-wheel, obtain accurate signal, measuring stick is input to accurate one times measuring-signal in the encoder by the synchronous band of pulley pulling and encodes, spring is kept the tension force of synchronous band, and the amount of movement of band is one times that measuring stick moves synchronously.
As preferably, described lever assembly by hinge with measure cylinder and be connected with measuring stick, and rotate by bearing pin, measure cylinder and be fixed on the lever assembly, about encoder is fixed on by measuring seat on the slide block by cylinder block.
As preferably, described measurement component comprises the measuring stick that is connected with described meter wheel, the other end of measuring stick is connected with the measurement cylinder by cylinder block, measure the cylinder other end and connect joint cover, fixed grating chi sensing head on the joint cover, grating chi sensing head connects the grating chi body of top, and grating chi body is fixed on the described slide block up and down by the grating mount pad.This programme is the another kind of preferred version of measurement component, and measuring stick is sent to grating chi body with displacement signal and carries out more accurate measurement and coding.
As preferably, described spindle unit comprises location side's awl of main shaft, fixed crank sprocket wheel, and location side awl is located at the end of main shaft, and the bearing that main shaft is with outside leading to is installed in the main shaft supporting, and the main shaft other end is connected with servomotor by shaft coupling.Servomotor drives main shaft and slowly rotates, and the crank and chain-wheel that is installed on location side's awl is also done slow rotation.
As preferably, also be with positioning sleeve outside the described main shaft, this positioning sleeve is positioned on the main shaft, and described servomotor is fixed on main shaft supporting by motor cabinet.The effect that is decided to be cover is by can make location side's awl be in the angle of convenient upper and lower material near switch.
As preferably, described up and down parts comprise the rail supporting of lifting circle and the servomotor or the upper and lower air cylinders of slide block up and down, also comprise run through up and down slide block and with the fixing round rail of circle rail supporting, slide block is provided with handwheel up and down, and slide block was connected with the supporting of circle rail by rotary joint assembly about this handwheel penetrated.Servomotor or upper and lower air cylinders all can be used as the lifting equipment of parts up and down.Distance about the adjustment of use upper and lower air cylinders between slide block and the supporting of circle rail is regulated by handwheel.Distance between using the servomotor adjustment slide block supporting with the circle rail up and down can realize that numerical control adjusts automatically.
As preferably, described liftout parts comprise ejector beam, the liftout head relative with spindle unit, the liftout head is located at the end of ejector beam, ejector beam is connected with the liftout supporting by the linear bearing that the outside is with, the other end of ejector beam is connected with the liftout cylinder, and the liftout cylinder is fixed in the liftout supporting by the liftout cylinder block.Ejector beam cooperates and finishes the operation of changing crank and chain-wheel by the effect translation back and forth of liftout cylinder.
As preferably, described spindle unit below also is provided with the discharging parts, spindle unit comprises main shaft, main shaft supporting, described discharging parts comprise the discharging circle that is looped around the main shaft outside, the discharging circle is fixed on the discharging coil support, and the discharging coil support connects discharge arm, and the discharge arm outside is connected with main shaft supporting by the linear bearing that is with, the discharge arm other end connects the discharging cylinder, and the discharging cylinder is fixed on the discharging coil support by cylinder block.The discharging cylinder promotes that discharging is dried to be moved axially, and promotes the discharging circle and cooperates the replacing operation of finishing crank and chain-wheel.
The utility model has been integrated the detection and the correction of crank and chain-wheel skew, the disposable processing of finishing crank and chain-wheel automatically, improved the quality of crank and chain-wheel, significantly reduced the situation that the chain of crank and chain-wheel in the bicycle use comes off easily, prolonged the life-span of bicycle assembly parts such as crank and chain-wheel and chain, reduced the accident rate that bicycle is made mistakes, simultaneously also avoided increasing the cost of crank and chain-wheel because reducing the problem of chain releasing, the structure of complicated crank and chain-wheel, thereby the utility model can fundamentally solve the problem that bicycle chain comes off, and the design of automation also can meet large-scale production and processing.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the present utility model;
Accompanying drawing 2 is a kind of structural representations of the measurement component in the utility model;
Accompanying drawing 3 is another kind of structural representations of the measurement component in the utility model;
Accompanying drawing 4 is a kind of structural representations of the correcting unit in the utility model;
Accompanying drawing 5 is a kind of structural representations of the discharging parts in the utility model;
Accompanying drawing 6 is a kind of structural representations of the parts up and down in the utility model;
Accompanying drawing 7 is a kind of structural representations of the liftout parts in the utility model;
Accompanying drawing 8 is a kind of structural representations of the spindle unit in the utility model.
Accompanying drawing 9 is another kind of structural representations of the measurement component among the present invention;
Accompanying drawing 10 is a kind of vertical views of accompanying drawing 9.
Description of reference numerals:
Spindle unit 4, liftout parts 1, main shaft 42, crank and chain-wheel 3, location side's awl 41, bearing 44, main shaft supporting 49, shaft coupling 46, servomotor 47, positioning sleeve 45, motor cabinet 48, ejector beam 12, liftout head 11, linear bearing 13, liftout supporting 16, liftout cylinder 15, liftout cylinder block 14, encoder 69, meter wheel 61, measuring stick 62, be with 66 synchronously, lever assembly 65 is measured cylinder 63, synchronous pulley 70, spring 67, slide block 84 up and down, measure cylinder 64, cylinder block 63, measuring seat 68, joint cover 265, grating chi sensing head 268, grating chi body 267, grating mount pad 266, pulley 269, holder 270, Calibration Head 72, proofread and correct slide block assembly 73, correcting block 71, feed screw nut's assembly 74, shaft coupling 77, servomotor 79, axial restraint assembly 76, parts 8 up and down, circle rail support 82, upper and lower air cylinders 81, circle rail supporting 82, circle rail 85, handwheel 86, rotary joint assembly 83, discharging circle 51, discharging coil support 52, discharge arm 54, linear bearing 53, discharging cylinder 55, cylinder block 56.
The specific embodiment
Embodiment:
Present embodiment is a kind of crank sprocket processing device that can detect automatically and proofread and correct, as shown in Figure 1, comprise spindle unit 4, the liftout parts 1 relative with spindle unit, spindle unit comprises main shaft 42 as shown in Figure 8, location side's awl 41 of fixed crank sprocket wheel 3, location side's awl is located at the end of main shaft, the bearing 44 that the logical outside of main shaft is with is installed in the main shaft supporting 49, the main shaft other end is connected with servomotor 47 by shaft coupling 46, the main shaft outside also is with positioning sleeve 45, this positioning sleeve is positioned main shaft supporting, and described servomotor is fixed on the main shaft supporting by motor cabinet 48.As shown in Figure 7, the liftout parts comprise ejector beam 12, the liftout head 11 relative with spindle unit, the liftout head is located at the end of ejector beam, ejector beam is connected with liftout supporting 16 by the linear bearing 13 that the outside is with, the other end of ejector beam is connected with liftout cylinder 15, and the liftout cylinder is fixed in the liftout supporting by liftout cylinder block 14.
The spindle unit top is provided with measurement component and correcting unit, as shown in Figure 2, measurement component transmits measuring-signal and gives correcting unit, measurement component comprises encoder 69, meter wheel 61, the measuring stick 62 that is connected with meter wheel, the other end of measuring stick connects is with 66 and lever assembly 65 synchronously, the lever assembly other end connects measures cylinder 63, synchronously synchronous pulley 70 backs walked around on the encoder of band are fixed on up and down on the slide block 84 by spring 67, lever assembly is connected with measuring stick with the measurement cylinder by hinge, and rotate by bearing pin, measure cylinder 64 and be fixed on the lever assembly by cylinder block 63, encoder is fixed on up and down on the slide block by measuring seat 68.
As shown in Figure 3, the another kind of embodiment of measurement component is: measurement component comprises the measuring stick that is connected with described meter wheel, the other end of measuring stick is connected with the measurement cylinder by cylinder block, measure the cylinder other end and connect joint cover 265, fixed grating chi sensing head 268 on the joint cover, grating chi sensing head connects the grating chi body 267 of top, and grating chi body is fixed on up and down on the slide block by grating mount pad 266.Grating also can adopt and hold grid, the replacement of magnetic grid isoline measurement mechanism.
As shown in Figure 9, the another kind of embodiment of measurement component is: measurement component comprises encoder 69, the measuring stick 62 that is connected with described meter wheel, encoder and measuring stick are by being with 66 to be connected synchronously, the other end of measuring stick is provided with pulley 269, and connection lever assembly 65, the lever assembly other end connects measures cylinder 63, described synchronous pulley 70 back of walking around on the encoder with an end synchronously is fixed on the described slide block up and down by spring 67, and the other end is walked around pulley and is fixed on the holder 270 that is located on the slide block up and down.
As shown in Figure 4, described correcting unit comprises Calibration Head 72, proofreaies and correct slide block assembly 73, latch closure is at the correcting block 71 of crank and chain-wheel both sides, correcting block is positioned at the end of Calibration Head, Calibration Head is fixed on to be proofreaied and correct on the slide block assembly, proofread and correct anchoring filament stem nut assembly 74 in the slide block assembly inner chamber, feed screw nut's assembly is connected with servomotor 79 by shaft coupling 77, and the shaft coupling outside is with axial restraint assembly 76.
As shown in Figure 6, at spindle unit, the side of measurement component and correcting unit is provided with parts 8 up and down, parts comprise round rail support 82 and the slide block up and down 84 of being located at round rail support top up and down, wherein round rail support and spindle unit are fixed, slide block and measurement component and correcting unit are fixed up and down, parts comprise the supporting of lifting circle rail and the servomotor or the upper and lower air cylinders 81 of slide block up and down up and down, also comprise run through slide block up and down and with the fixing round rails 85 of circle rail supporting 82, slide block is provided with handwheel 86 up and down, and slide block was connected with circle rail supporting 82 by rotary joint assembly 83 about this handwheel penetrated.
As shown in Figure 5, the spindle unit below also is provided with the discharging parts, the discharging parts comprise the discharging circle 51 that is looped around the main shaft outside, the discharging circle is fixed on the discharging coil support 52, the discharging coil support connects discharge arm 54, the discharge arm outside is connected with main shaft supporting by the linear bearing 53 that is with, and the discharge arm other end connects discharging cylinder 55, and the discharging cylinder is fixed on the main shaft supporting 49 by cylinder block 56.
Described measurement component is by obtaining measuring-signal with the contacted meter wheel in crank and chain-wheel side, measuring-signal passes to encoder or grating chi by measuring stick, coding by measurement component is treated as correction signal with measuring-signal and passes to correcting unit, correcting unit is regulated the position of correcting block by feed screw nut's horizontal displacement, thereby proofreaies and correct crank and chain-wheel.
In process, at first liftout parts running retracts ejector beam by the liftout cylinder, positioning sleeve at liftout head and spindle unit forms the space then, and crank and chain-wheel is put into this space, and is installed on location side's awl, the liftout cylinder is pushed ahead ejector beam then, fixes crank and chain-wheel.Main shaft rotates slowly, and rotating speed is approximately per minute 60-240 circle, in rotary course, measure cylinder and remain the suitable pressure of meter wheel crank and chain-wheel, after the about 5-20 of each crank and chain-wheel measurement and correction of second, spindle unit stops, and parts carry out lifting up and down, can be according to dissimilar crank and chain-wheels, handwheel is adjusted, and simultaneously the liftout parts break away from spindle unit, more finish changing crank and chain-wheel after, again close up, and parts carry out second processing about putting down.
Claims (9)
1. crank sprocket processing device that can detect automatically and proofread and correct, comprise spindle unit (4), the liftout parts (1) relative with spindle unit, it is characterized in that: described spindle unit top is provided with measurement component (6) and correcting unit (7), measurement component transmits measuring-signal and gives correcting unit, at spindle unit, the side of measurement component and correcting unit is provided with parts (8) up and down, parts comprise round rail support (82) and are located at the slide block up and down (84) of round rail support top up and down, wherein round rail support and spindle unit are fixed, slide block and measurement component and correcting unit are fixed up and down, and described measurement component is by obtaining measuring-signal with the contacted meter wheel in crank and chain-wheel (3) side (61); The measuring stick (62) that described measurement component comprises encoder (69), is connected with described meter wheel, the other end of measuring stick connects band (66) and lever assembly (65) synchronously, the lever assembly other end connects measures cylinder (63), is with synchronous pulley (70) back of walking around on the encoder to be fixed on the described slide block up and down by spring (67) synchronously; Described correcting unit comprises Calibration Head (72), proofreaies and correct slide block assembly (73), latch closure is at the correcting block (71) of crank and chain-wheel both sides, correcting block is positioned at the end of Calibration Head, Calibration Head is fixed on to be proofreaied and correct on the slide block assembly, proofread and correct anchoring filament stem nut assembly (74) in the slide block assembly inner chamber, feed screw nut's assembly is connected with servomotor (79) by shaft coupling (77), and the shaft coupling outside is with axial restraint assembly (76).
2. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described encoder is connected by being with (66) synchronously with measuring stick, the other end of measuring stick is provided with pulley (269), and connection lever assembly (65), the lever assembly other end connects measures cylinder (63), described synchronous pulley (70) back of walking around on the encoder with an end synchronously is fixed on the described slide block up and down by spring (67), the other end walk around pulley be fixed on be located at about on the holder (270) on the slide block.
3. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described lever assembly is connected with measuring stick with the measurement cylinder by hinge, and rotate by bearing pin, measure cylinder and be fixed on the lever assembly, about encoder is fixed on by measuring seat (68) on the slide block by cylinder block (64).
4. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described measurement component comprises the measuring stick that is connected with described meter wheel, the other end of measuring stick is connected with the measurement cylinder by cylinder block, measure the cylinder other end and connect joint cover (265), fixed grating chi sensing head (268) on the joint cover, grating chi sensing head connects the grating chi body (267) of top, and grating chi body is fixed on the described slide block up and down by grating mount pad (266).
5. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described spindle unit comprises location side's awl (41) of main shaft (42), fixed crank sprocket wheel, location side's awl is located at the end of main shaft, the bearing (44) that the logical outside of main shaft is with is installed in the main shaft supporting (49), and the main shaft other end is connected with servomotor (47) by shaft coupling (46).
6. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 5, the described main shaft outside also is with positioning sleeve (45), this positioning sleeve is positioned on the main shaft, and described servomotor is fixed on the main shaft supporting by motor cabinet (48).
7. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described up and down parts comprise the supporting of lifting compasses and the servomotor or the upper and lower air cylinders (81) of slide block up and down, also comprise run through up and down slide block and with the fixing round rail (85) of circle rail supporting, slide block is provided with handwheel (86) up and down, and slide block (84) was connected with circle rail supporting (82) by rotary joint assembly (83) about this handwheel penetrated.
8. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described liftout parts comprise ejector beam (12), the liftout head (11) relative with spindle unit, the liftout head is installed in the end of ejector beam by bearing, the linear bearing that ejector beam is with by the outside (13) is connected with liftout supporting (16), the other end of ejector beam is connected with liftout cylinder (15), and the liftout cylinder is fixed in the liftout supporting by liftout cylinder block (14).
9. a kind of crank sprocket processing device that can detect automatically and proofread and correct according to claim 1, described spindle unit below also is provided with discharging parts (5), spindle unit comprises main shaft, main shaft supporting, described discharging parts comprise the discharging circle (51) that is looped around the main shaft outside, the discharging circle is fixed on the discharging coil support (52), the discharging coil support connects discharge arm (54), the discharge arm outside is connected with main shaft supporting by the linear bearing (53) that is with, the discharge arm other end connects discharging cylinder (55), and the discharging cylinder is fixed on the main shaft supporting by cylinder block (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202156362U CN201618960U (en) | 2009-12-31 | 2009-12-31 | Crank chain-wheel processing device capable of being automatically detected and corrected |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202156362U CN201618960U (en) | 2009-12-31 | 2009-12-31 | Crank chain-wheel processing device capable of being automatically detected and corrected |
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| Publication Number | Publication Date |
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| CN201618960U true CN201618960U (en) | 2010-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202156362U Expired - Lifetime CN201618960U (en) | 2009-12-31 | 2009-12-31 | Crank chain-wheel processing device capable of being automatically detected and corrected |
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| CN (1) | CN201618960U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513965A (en) * | 2011-12-03 | 2012-06-27 | 锐展(铜陵)科技有限公司 | Assembling fixture for camshaft sprocket of engine |
| CN101774121B (en) * | 2009-12-31 | 2012-06-27 | 金华金锐科技发展有限公司 | Crank sprocket processing device capable of automatically detecting and correcting |
| CN102756271A (en) * | 2012-07-19 | 2012-10-31 | 清华大学 | Four-freedom-degree precision platform using electromagnetic support |
-
2009
- 2009-12-31 CN CN2009202156362U patent/CN201618960U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774121B (en) * | 2009-12-31 | 2012-06-27 | 金华金锐科技发展有限公司 | Crank sprocket processing device capable of automatically detecting and correcting |
| CN102513965A (en) * | 2011-12-03 | 2012-06-27 | 锐展(铜陵)科技有限公司 | Assembling fixture for camshaft sprocket of engine |
| CN102513965B (en) * | 2011-12-03 | 2014-01-01 | 锐展(铜陵)科技有限公司 | Assembling fixture for camshaft sprocket of engine |
| CN102756271A (en) * | 2012-07-19 | 2012-10-31 | 清华大学 | Four-freedom-degree precision platform using electromagnetic support |
| CN102756271B (en) * | 2012-07-19 | 2014-10-22 | 清华大学 | Four-freedom-degree precision platform using electromagnetic support |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20101103 Effective date of abandoning: 20091231 |