CN204595622U - A kind of double freedom rotating control assembly and be provided with the application system of this device - Google Patents
A kind of double freedom rotating control assembly and be provided with the application system of this device Download PDFInfo
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- CN204595622U CN204595622U CN201520353879.8U CN201520353879U CN204595622U CN 204595622 U CN204595622 U CN 204595622U CN 201520353879 U CN201520353879 U CN 201520353879U CN 204595622 U CN204595622 U CN 204595622U
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Abstract
The utility model discloses a kind of double freedom rotating control assembly and application system, comprising: rotor (1), has friction sphere, and its top or inside are provided with load mounting platform; Fixed support structure, keeps described rotor (1), makes it only have rotary freedom; Drive motor (7), for standing wave type piezoelectric ceramic motor, each described drive motor (7) is longitudinally arranged in described rotor (1) around, its drive end directly contacts with the friction sphere of described rotor (1), forms the transmission that to rub with the tangent longitudinal direction of described friction sphere; Control module, according to the attitude data that detecting unit is measured, carries out controlling and adjustment to the rotation of described rotor (1) on two rotary freedoms.This apparatus structure is simple, cost is low, stable performance, and be easy to miniaturization, dynamic response is wider, power consumption is less, can be widely used in various dynamic stability platform and AUTOMATIC STATIC orientation/levelling device.
Description
Technical field
The utility model relates to whirligig technical field, particularly double freedom rotating control assembly.The utility model also relates to the application system being provided with this device.
Background technology
The device that double freedom rotates and application system, be usually used in realizing stable platform, self-level(l)ing device etc., is to realize that three rotary freedoms drive, the core of stabilising arrangement and method.
At present, double freedom whirligig mostly adopts two mutually orthogonal rotating frames to realize, and realize driving and rotation angle measurement at the two ends mounted motor of each framework turning axle and sensor, the outside framework that adopts carries out supporting and fixing.
Please refer to Fig. 1, Fig. 1 is the structural representation of frame-type double freedom rotating control assembly.
As shown in the figure, two rectangle rotating frame 1'(also can adopt spherical frame) mutually orthogonal, drive motor 2' and angular transducer 3' is installed at the two ends of two rotating driveshafts of each rotating frame 1' respectively, measurement data according to angular transducer 3' carries out controlling and adjustment to two turning axles, thus realizing the stability contorting of stable platform 4', drive motor 2' is conventional electromagnetic induction motor.
This double freedom rotating control assembly, because two turning axles require mutual perpendicular quadrature, and drive motor needs to be arranged on two axle heads.Therefore, have the following disadvantages:
First, frame form and THE NEST STRUCTURE can cause whole device volume excessive, are unfavorable for, to miniaturization development, taking excessive space, arranging with the difficulty of assembling larger.
Secondly, although from schematic diagram, its structure is comparatively simple, and in actual manufacture process, for ensureing two turning axles accurately perpendicular quadrature mutually, its physical construction can be very complicated, and processing, to debug accuracy requirement very high, causes equipment cost higher.
Moreover tower structure causes whole device rigidity poor, and performance is stable not.
Utility model content
First object of the present utility model is to provide a kind of double freedom rotating control assembly.This apparatus structure is simple, cost is low, stable performance, and be easy to miniaturization, dynamic response is wider, power consumption is less, can be widely used in various dynamic stability platform and AUTOMATIC STATIC orientation/levelling device.
Second object of the present utility model is to provide a kind of application system being provided with this device.
For realizing above-mentioned first object, the utility model provides a kind of double freedom rotating control assembly, comprising:
Rotor, has friction sphere, and its top or inside are provided with load mounting platform;
Fixed support structure, keeps described rotor, makes it only have rotary freedom;
Drive motor, its drive end directly contacts with the friction sphere of described rotor, forms the friction transmission tangent with described friction sphere.
Preferably, the quantity of described drive motor is four, and be uniformly distributed in described rotor with 90 degree of phasing degree peripheral, the flywheel moment direction of the friction transmission of two wherein relative described drive motor is contrary.
Preferably, the quantity of described drive motor is two, and both phasing degree are 90 degree, and each described drive motor is equipped with rotatable support on the other side at the opposite side of described rotor.
Preferably, described drive motor is standing wave type piezoelectric ceramic motor.
Preferably, each described drive motor is longitudinally arranged in around described rotor.
Preferably, also comprise:
Detecting unit, for obtaining and transmitting the attitude data of described rotor to control module;
Control module, for receiving the attitude data that described detecting unit is measured, and carries out controlling and adjustment according to the data comprising described attitude data to the rotation of described rotor on two rotary freedoms.
Preferably, described rotor be complete spherical rotor, Part-spherical rotor or there is the virtual spherical rotor of multiple partial sphere.
Preferably, described rotor is pottery or metal rotor.
Preferably, described fixed support structure comprises:
Base, which is provided with the spherical receptacle holding described rotor;
Lower support element, is located at the bottom of described spherical receptacle diameter of Spherical Volume, and it supports described rotor and has rotary freedom;
Upper holder block, be distributed in described spherical receptacle top, described rotor holds down on described lower support element by it.
Preferably, described lower support element is lower support ring, and it supports described rotor by endless belt shape Internal Spherical Surface; Or described lower support element is some back-up blocks of annular spread, it supports described rotor by local Internal Spherical Surface.
Preferably, described lower support ring or back-up block are the support ring or back-up block that adopt solid lubricant to make.
Preferably, described upper holder block is the upper holder block adopting solid lubricant to make.
Preferably, described spherical receptacle is the hollow hemispheric of opening upwards, is provided with part plan outside it, and notch is offered on part plan, form drive motor installation position, form special-shaped pillar between adjacent described notch, described upper holder block is installed on described special-shaped post top portion.
Preferably, face or any level sectional position directly contact the friction sphere of drive end and the described rotor of described drive motor under the line.
For realizing above-mentioned second object, the utility model provides a kind of application system, comprise whirligig and on working cell, described whirligig is for being located at the load mounting platform of described rotor in the double freedom rotating control assembly described in above-mentioned any one, described working cell.
The utility model adopts standing wave type piezoelectric ceramic motor as drive motor, and make its drive end and the rotor sphere that rubs directly contact transmission force and moment, during work, power can be directly delivered to rotor with the amplitude of ultrasound works frequency and nanometer with the form of friction by the drive end of standing wave type piezoelectric ceramic motor, thus form the driving moment that rotor is rotated in different directions, rotary freedom on each or each corresponding direction of group drive motor, by angle detection unit and control module, finally can realize the orientation of rotor on two rotary freedoms, stablize and carry out controlling and adjustment.
Based on technique scheme, the utility model has following beneficial effect:
1) use a rotor can realize the rotation of two degree of freedom, structure is simple, and realize the orthogonal of two turning axles easily via the adjustment of piezoelectric ceramic motor installation site, cost will significantly reduce.
2) by the Surface Finishing of rotor friction sphere, lower cost can ensure the roughness (Nano grade) on good sphericity and rotor surface, and the ultrasonic action frequency of piezoelectric ceramic motor, nanoscale amplitude, can all obtain very high running accuracy on two rotary freedoms.
3) driving moment is directly acted on rotor surface by piezoelectric ceramic motor, spherical structure or the class spherical structure of rotor have high rigidity, therefore high dynamic property can be obtained, when not needing to drive rotor to rotate, the latching characteristics of standing wave type piezoelectric ceramic motor, the attitude of rotor can be made to keep stable and not require the expenditure of energy, thus make package unit have high efficiency.
4) rotor easily realizes the precision coupling processing with the component such as base, the position that fixed support structure contacts with rotor uses solid lubricant, its quality of fit can ensure within 0.5um, add the nanoscale high frequency small step feed motion of piezoelectric ceramic motor, the accurate rotary motion of high speed of rotor can be realized.
5) adopt the double freedom rotating control assembly of piezoelectric ceramic motor, rotor, small size can be realized when meeting high precision, heavy load requirement, being conducive to final products and developing to miniaturization.
Application system provided by the utility model is provided with above-mentioned double freedom rotating control assembly, because described double freedom rotating control assembly has above-mentioned technique effect, the application system being provided with this double freedom rotating control assembly also should have corresponding technique effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of prior art center posture double freedom rotating control assembly;
Fig. 2 is the structural representation of a kind of embodiment of double freedom rotating control assembly provided by the utility model;
Fig. 3 is the structural representation of the rotor of ceramic spherical shown in Fig. 2;
The structural representation that Fig. 4 is base shown in Fig. 2 and spherical receptacle;
Fig. 5 is a kind of exemplary plot of virtual spherical rotor.
In Fig. 1:
Rotating frame 1' drive motor 2' angular transducer 3' stable platform 4'
In Fig. 2 to Fig. 5:
1. rotor 1-1. partial sphere 2. spherical receptacle 3. base 4. lower support ring 5. upper holder block 6. angular transducer 7. drive motor 8. motor mounting plate 9. sensor connection plate
Embodiment
In order to make those skilled in the art person understand the utility model scheme better, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Please refer to Fig. 2, Fig. 2 is the structural representation of a kind of embodiment of double freedom rotating control assembly provided by the utility model.
In a kind of specific embodiment of the double freedom rotating control assembly that the utility model provides, primarily of formations such as rotor 1, the base 3 being provided with spherical receptacle 2, lower support ring 4, upper holder block 5, angular transducer 6, drive motor 7 and control modules.
Rotor 1 is the Part-spherical rotor (see Fig. 3) of pottery or metal material, process plane by a complete spheroid at top to be formed, its inside can be hollow structure, and other building blocks can be installed in top or inside, and it is inner that load mounting platform both can be positioned at rotor 1, also rotor 1 top can be positioned at, except end face, the remainder of rotor 1 is sphere, and namely rub sphere, by Surface Finishing, friction sphere can be made to reach the roughness of Nano grade.
Please also refer to the structural representation that Fig. 4, Fig. 4 are base shown in Fig. 2 and spherical receptacle.
Base 3 is in disc, its centre is provided with the spherical receptacle 2 for holding rotor, the hollow hemispheric of spherical receptacle 2 in opening upwards, its end face is positioned at the position of below the equatorial plane, so that rotor 1 can put into spherical receptacle 2 smoothly, its lateral surface cuts out four equally distributed part plans of circumference along the longitudinal direction, and on part plan, offer " U " shape notch, form drive motor installation position, between adjacent " U " shape notch, form special-shaped pillar.
Spherical receptacle 2 is monomer structure, can disposablely accurately shape, and compared with assembled structure, its structure is simple, stable performance, be easy to debug, and can ensure two turning axle exact quadrature, thus significantly reduces costs.
Lower support ring 4 is arranged on bottom the diameter of Spherical Volume of spherical receptacle 2, it is rotated by three turning axles of endless belt shape Internal Spherical Surface support rotating body 1 around solid space, X-axis namely shown in Fig. 3, Y-axis and Z axis, any rotary motion of rotor 1, the rotation around X-axis, Y-axis and Z axis can be decomposed into, although rotor 1 can rotate arbitrarily in spherical receptacle 2, can not be subjected to displacement along X-axis, Y-axis and Z axis, namely rotor 1 only has rotary freedom relative to spherical receptacle 2.
The shape of upper holder block 5 matches with the top surface shape of special-shaped pillar substantially, four upper holder blocks 5 are separately fixed at the top of four special-shaped pillars, rotor 1 is held down on lower support ring 4, the contact site of itself and rotor 1 is in the position of more than rotor 1 equatorial plane, to be remained on lower support ring 4 by rotor 1, prevent it from deviating from from spherical receptacle 2.
Lower support ring 4, upper holder block 5 adopt solid lubricant to make, and can use PTFE (teflon) or PEEK (polyetheretherketone) material, and the present embodiment uses polytetrafluoroethylmaterial material.
If upper holder block 5 does not adopt solid lubricant, then affect rotor 1 to prevent from producing larger friction force between upper holder block 5 and rotor 1 to rotate, the position that can contact with rotor 1 at upper holder block 5 installs antifriction pad or antifriction layer additional, and antifriction pad or antifriction layer is fixed on upper holder block 5.
Drive motor 7 adopts standing wave type piezoelectric ceramic motor, its quantity is four, wherein two are symmetrically arranged in rotor 1 both sides in an opposing fashion in the X direction, two other is symmetrically arranged in rotor 1 both sides in an opposing fashion in the Y direction, four drive motor 7 are uniformly distributed around rotor 1 and longitudinally arrange, the phasing degree formed is 90 degree, the drive end of each drive motor 7 is linear drives end, namely be merely able to carry out linear drives, its linear drives end directly contacts with the friction sphere of rotor 1, form the friction transmission tangent with friction sphere, the flywheel moment direction of the friction transmission of two drive motor 7 on same direction is contrary, two drive motor 7 in X-direction rotate around Y-axis for driving rotor 1 simultaneously, two drive motor 7 in Y direction rotate around X-axis for driving rotor 1 simultaneously.
Particularly, drive motor 7 is fixed on the drive motor installation position of spherical receptacle 2 by the motor mounting plate 8 shown in Fig. 2.
Linear drives end due to drive motor 7 is ceramic head, therefore rotor 1 also preferably ceramic rotor, so that both form ideal friction operation pair.
Angular transducer 6 is MEMS angular transducer, specifically can use MEMS gyro or mems accelerometer, it is arranged in the plane at rotor 1 top by sensor connection plate 9, for detecting the attitude data of rotor 1 in good time, and send data to control module, and then by control module according to measured attitude data, to the orientation of rotor 1 on two rotary freedoms (rotate around X-axis and rotate around Y-axis), stablize and carry out controlling and adjustment.
Here orientation refer to rotor 1 and on load point to all the time or aim at a certain specific direction or specific objective, stable refer to rotor 1 and on load remain the attitude of setting, such as the end face of rotor 1 remains level etc.
Certainly, it is inner that angular transducer 6 also can be positioned over spherical rotor 1, no matter angular transducer is built-in or external, all adopts wireless mode to power and wireless way for transmitting measurement data.
During work, drive motor 7 is by the friction transmitting force on piezoelectric motor ceramic head and ceramic spherical rotor 1 surface or moment, power is directly delivered to ceramic spherical rotor 1 surface with the amplitude of ultrasound works frequency and nanometer with the form of friction by the ceramic head of drive motor 7, forms the driving moment rotated around X, Y-axis.
Reverse energization is carried out to two drive motor 7 that Y-axis two ends are longitudinally installed, one will be applied around the pivotal moment of X-axis to ceramic spherical rotor 1; Reverse energization is carried out to other a pair drive motor 7, one will be applied around the pivotal moment of Y-axis to ceramic spherical rotor 1, thus realize the driving around X, Y-axis two rotary freedoms.
Just a kind of embodiment of the present utility model given here, this kind of mode can realize X, the driving of Y-axis two rotary freedoms, but because rotor 1 is part sphere, therefore continuous rotation can not be carried out, to this, rotor 1 can be designed to complete ceramic spherical rotor, angular transducer 6 etc. is positioned over ceramic spherical rotor 1 inner simultaneously, wirelessly power, transmission measurement data, thus realize around X, driving without restricted stability of Y-axis continuous rotation, and for the less application of rotating range, rotor 1 can be designed to the virtual spherical rotor with multiple partial sphere.
As shown in Figure 5, virtual spherical rotor refers to that multiple partial sphere 1-1 is positioned in same complete sphere, and profile is not rendered as the rotor of conventional ball.
Four drive motor 7 of above-described embodiment are longitudinally arranged on the equatorial plane of spherical rotor 1, be distributed in the two ends of X, Y-axis, lower application is required for stable, leveling response speed, only respectively can install a drive motor 7 in the X of spherical rotor 1, Y-axis, the other end installs rotatable support on the other side.
In addition, for special applications, drive motor 7 longitudinally can not be installed on the equatorial plane of spherical rotor 1, but is longitudinally arranged on the tangency location on any level cross section of spherical rotor 1.
Foregoing be only the utility model the preferred version of double freedom rotating control assembly is provided, be specifically not limited thereto, pointed adjustment can be made according to actual needs on this basis, thus obtain different embodiments.Such as, lower support ring 4 is replaced with some back-up blocks of annular spread, by back-up block by local Internal Spherical Surface support rotating body 1; Or the quantity of drive motor 7 increases further or reduces, arrange three, five, six even more, and according to decile or not the phasing degree of decile carry out distributing etc.Because mode in the cards is more, just illustrate no longer one by one here.
The utility model uses piezoelectric ceramic motor friction gearing characteristic to combine with the rotor with friction sphere, realize double freedom spin stabilization by MEMS sensor to drive, load all-the-time stable is can be used for remain on horizontal level or other particular orientation, on the basis of double freedom rotating control assembly, its base 3 is fixed on Z-direction turning axle, or in its ball shape rotary body 1, increase a Z-direction turning axle, single ball three shaft rotating device can be formed, thus realize three rotary freedoms controls, range of application can be expanded further.
Except above-mentioned double freedom rotating control assembly, the utility model also provides a kind of application system, comprise drive unit and on working cell, drive unit is double freedom rotating control assembly mentioned above, and the load mounting platform of rotor is located in working cell.Such as, navigational system on high-speed flight, the operational outfits such as aircraft, high ferro, motor vehicle, or the accurate operational system in equipment such as measuring, test, shoot with video-corder, to realize the functions such as directed appointment, aligning, correction, tracking, all the other structures please refer to prior art, repeat no more herein.
Above double freedom rotating control assembly provided by the utility model and application system are described in detail.Apply specific case herein to set forth principle of the present utility model and embodiment, the explanation of above embodiment just understands core concept of the present utility model for helping.Should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model principle, can also carry out some improvement and modification to the utility model, these improve and modify and also fall in the protection domain of the utility model claim.
Claims (15)
1. a double freedom rotating control assembly, is characterized in that, comprising:
Rotor (1), has friction sphere, and its top or inside are provided with load mounting platform;
Fixed support structure, keeps described rotor (1), makes it only have rotary freedom;
Drive motor (7), its drive end directly contacts with the friction sphere of described rotor (1), forms the friction transmission tangent with described friction sphere.
2. double freedom rotating control assembly according to claim 1, it is characterized in that, the quantity of described drive motor (7) is four, be uniformly distributed in described rotor (1) with 90 degree of phasing degree peripheral, the flywheel moment direction of the friction transmission of two wherein relative described drive motor (7) is contrary.
3. double freedom rotating control assembly according to claim 1, it is characterized in that, the quantity of described drive motor (7) is two, both phasing degree are 90 degree, and each described drive motor (7) is equipped with rotatable support on the other side at the opposite side of described rotor (1).
4. double freedom rotating control assembly according to claim 1, is characterized in that, described drive motor (7) is standing wave type piezoelectric ceramic motor.
5. double freedom rotating control assembly according to claim 1, is characterized in that, each described drive motor (7) is longitudinally arranged in described rotor (1) around.
6. double freedom rotating control assembly according to claim 1, is characterized in that, also comprise:
Detecting unit, for obtaining and transmitting the attitude data of described rotor (1) to control module;
Control module, for receiving the attitude data that described detecting unit is measured, and carries out controlling and adjustment according to the data comprising described attitude data to the rotation of described rotor (1) on two rotary freedoms.
7. double freedom rotating control assembly according to claim 1, is characterized in that, described rotor (1) is complete spherical rotor, Part-spherical rotor or have the virtual spherical rotor of multiple partial sphere.
8. double freedom rotating control assembly according to claim 7, is characterized in that, described rotor (1) is pottery or metal rotor.
9. double freedom rotating control assembly according to claim 1, is characterized in that, described fixed support structure comprises:
Base (3), which is provided with the spherical receptacle (2) holding described rotor;
Lower support element, is located at the bottom of described spherical receptacle (2) diameter of Spherical Volume, and it supports described rotor (1) and has rotary freedom;
Upper holder block (5), is distributed in described spherical receptacle (2) top, and described rotor (1) holds down on described lower support element by it.
10. double freedom rotating control assembly according to claim 9, is characterized in that, described lower support element is lower support ring (4), and it supports described rotor (1) by endless belt shape Internal Spherical Surface; Or described lower support element is some back-up blocks of annular spread, it supports described rotor (1) by local Internal Spherical Surface.
11. double freedom rotating control assemblies according to claim 10, is characterized in that, described lower support ring (4) or back-up block are the support ring or back-up block that adopt solid lubricant to make.
12. double freedom rotating control assemblies according to claim 9, is characterized in that, described upper holder block is the upper holder block adopting solid lubricant to make.
13. double freedom rotating control assemblies according to claim 9, it is characterized in that, described spherical receptacle (2) hollow hemispheric in opening upwards, part plan is provided with outside it, and notch is offered on part plan, form drive motor installation position, form special-shaped pillar between adjacent described notch, described upper holder block (5) is installed on described special-shaped post top portion.
14. double freedom rotating control assemblies according to any one of claim 1 to 13, it is characterized in that, face or any level sectional position directly contact under the line for the drive end of described drive motor (7) and the friction sphere of described rotor (1).
15. 1 kinds of application systems, comprise whirligig and on working cell, it is characterized in that, described whirligig is the double freedom rotating control assembly described in any one of the claims 1 to 14, and the load mounting platform of described rotor (1) is located in described working cell.
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| CN201520353879.8U CN204595622U (en) | 2015-05-27 | 2015-05-27 | A kind of double freedom rotating control assembly and be provided with the application system of this device |
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| CN201520353879.8U CN204595622U (en) | 2015-05-27 | 2015-05-27 | A kind of double freedom rotating control assembly and be provided with the application system of this device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104850140A (en) * | 2015-05-27 | 2015-08-19 | 北京合众思壮科技股份有限公司 | Two-degree-of-freedom rotation control device and application system with device |
| WO2016187837A1 (en) * | 2015-05-27 | 2016-12-01 | 北京合众思壮科技股份有限公司 | Two-degree-of-freedom rotation control device and application system therewith |
| CN107196037A (en) * | 2017-06-27 | 2017-09-22 | 张地 | Two-freedom ball-type structure satellite earth antenna adjusts platform |
| CN108270369A (en) * | 2018-02-28 | 2018-07-10 | 华侨大学 | A kind of differential rotary piezoelectric stepper motor and electric excitation mode |
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| CN110375642A (en) * | 2019-07-31 | 2019-10-25 | 北京航空航天大学 | A kind of interferometer piezoelectric ceramic control device and its control method |
| CN110948023A (en) * | 2019-12-26 | 2020-04-03 | 无锡市创新低温环模设备科技有限公司 | Large-scale vacuum sphere porous opening device |
| CN113060280A (en) * | 2021-05-13 | 2021-07-02 | 哈尔滨学院 | Multi freedom remote sensing unmanned aerial vehicle |
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- 2015-05-27 CN CN201520353879.8U patent/CN204595622U/en not_active Expired - Fee Related
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| WO2016187837A1 (en) * | 2015-05-27 | 2016-12-01 | 北京合众思壮科技股份有限公司 | Two-degree-of-freedom rotation control device and application system therewith |
| CN104850140A (en) * | 2015-05-27 | 2015-08-19 | 北京合众思壮科技股份有限公司 | Two-degree-of-freedom rotation control device and application system with device |
| CN104850140B (en) * | 2015-05-27 | 2018-09-14 | 北京合众思壮科技股份有限公司 | A kind of double freedom rotating control assembly and the application system equipped with the device |
| US10337663B2 (en) | 2015-05-27 | 2019-07-02 | Beijing Unistrong Science & Technology Co., Ltd. | Two-degree-of-freedom rotation control device and application system |
| CN110087950A (en) * | 2017-01-10 | 2019-08-02 | 金泰克斯公司 | Ball-collecting rack component for vehicle |
| CN110087950B (en) * | 2017-01-10 | 2023-01-31 | 金泰克斯公司 | Ball rack assembly for vehicle |
| CN107196037B (en) * | 2017-06-27 | 2023-01-31 | 张地 | Two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform |
| CN107196037A (en) * | 2017-06-27 | 2017-09-22 | 张地 | Two-freedom ball-type structure satellite earth antenna adjusts platform |
| CN108270369A (en) * | 2018-02-28 | 2018-07-10 | 华侨大学 | A kind of differential rotary piezoelectric stepper motor and electric excitation mode |
| CN108270369B (en) * | 2018-02-28 | 2023-06-20 | 华侨大学 | Differential rotation piezoelectric stepping motor and electric excitation mode |
| CN110375642B (en) * | 2019-07-31 | 2020-12-08 | 北京航空航天大学 | Piezoelectric ceramic control device for interferometer and control method thereof |
| CN110375642A (en) * | 2019-07-31 | 2019-10-25 | 北京航空航天大学 | A kind of interferometer piezoelectric ceramic control device and its control method |
| CN110948023A (en) * | 2019-12-26 | 2020-04-03 | 无锡市创新低温环模设备科技有限公司 | Large-scale vacuum sphere porous opening device |
| CN113060280A (en) * | 2021-05-13 | 2021-07-02 | 哈尔滨学院 | Multi freedom remote sensing unmanned aerial vehicle |
| CN113060280B (en) * | 2021-05-13 | 2021-11-02 | 哈尔滨学院 | Multi freedom remote sensing unmanned aerial vehicle |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20190527 |