CN207397076U - The certainly used group servo-control system of one kind three - Google Patents
The certainly used group servo-control system of one kind three Download PDFInfo
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- CN207397076U CN207397076U CN201721488027.5U CN201721488027U CN207397076U CN 207397076 U CN207397076 U CN 207397076U CN 201721488027 U CN201721488027 U CN 201721488027U CN 207397076 U CN207397076 U CN 207397076U
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Abstract
The utility model is related to one kind three from used group servo-control system, including inside casing, inside casing control circuit board, inside casing position rotaring motor, the combination of the gap that disappears helical gear, the first Circular gratings and the first reading head；When wherein inside casing control circuit board receives indexing instruction, control inside casing electric rotating machine combines internal frame by the gap helical gear that disappears and carries out transposition control, Circular gratings on inside casing can carry out high-acruracy survey to indexable angle, and pass through the first reading head and angle acquisition is carried out to the first Circular gratings, Real-time Feedback has higher control stationarity and control accuracy to inside casing control circuit board.
Description
Technical field
The utility model is related to inertial survey technique, observation and control technology and technical field of inertial, specifically, are related to
The certainly used group servo-control system of one kind three.
Background technology
Modern war proposes the performance of weapon system quick response, long-time stability, high-precision etc. with resisting
Higher and higher demand, precision strike weapon already become the mainstream development direction in military issue weapons field.Inertial measurement system is made
One of kernel subsystems for precision strike weapon, precision property have been largely fixed the performance of precision strike weapon.
At present there are two types of the mainstream schemes of inertial measurement system：First, strap down inertial navigation assembled scheme；Second is that three from inertia combination scheme.
Three from inertia combination scheme, and compared to strap down inertial navigation assembled scheme, difference lies in be integrated with indexable SERVO CONTROL system
System, so as to fulfill the self-calibration of three certainly used groups, autoregistration, self-checking function.
But in the prior art, three have very big defect from inertia combination scheme, from configuration aspects discussion, SERVO CONTROL master
To include two schemes, first, direct driving, i.e., carry out SERVO CONTROL using direct driving motor, second is that fluted disc transfers driving side
Case carries out SERVO CONTROL using the motor with fluted disc, for such motor, motor production firm can carry out good electromagnetism
Shielding design.Direct driving can obtain good SERVO CONTROL stationarity, and shortcoming is that there is very big electromagnetism to do
It disturbs.For a three certainly used this kind of high-precision products of group, the anti-electricity of the design of Electromagnetic Shielding of motor or impacted electronic equipment
Magnetic disturbance design will become key points and difficulties.Fluted disc transfers drive scheme and can be good at carrying out motor electromagnetic shielding design, but
Be due to processing, install, factors, the control stationarity such as gear gap it is poor.
Therefore, how in given small space, twin shaft indexing SERVO CONTROL and locking SERVO CONTROL is realized, and makes control
Fixture has comparable stationarity and control accuracy, the problem of being those skilled in the art's urgent need to resolve.
Utility model content
In view of the above problems, it is proposed that the utility model overcomes the above problem in order to provide one kind or solves at least partly
The certainly certainly used group servo-control system of one kind three of the above problem.
As the one side of the utility model embodiment, provide one kind three a certainly used group servo-control system, including：It is interior
Frame, inside casing control circuit board, inside casing position rotaring motor, the combination of the gap that disappears helical gear, the first Circular gratings and the first reading head；
The inside casing control circuit board is connected with inside casing position rotaring motor control；
The inside casing is tetragonal body, and the inside casing position rotaring motor combines same mounted on the inside casing with the gap helical gear that disappears
One side, the output shaft of the inside casing position rotaring motor be sequentially connected described in disappear the combination of gap helical gear；
First Circular gratings are mounted on the opposite flank away from the gap helical gear combination that disappears on the inside casing, and first reads
The several one sides for being mounted on first Circular gratings；
First reading head connects the inside casing control circuit board.
In one embodiment, the gap helical gear combination that disappears includes：Inside casing driving gear, the gap that disappears Double-gear and the gap bullet that disappears
Spring；
The output shaft of the inside casing position rotaring motor and the inside casing driving gear are drivingly connected, the inside casing driving gear with
Gap Double-gear one end engagement that disappears；
The gap Double-gear that disappears includes：Fixed gear and the gap helical gear that disappears；
The fixed gear is mounted on the one side of the inside casing, and the gap helical gear that disappears is sleeved on the wheel hub of the fixed gear
On, with being respectively provided with lug and fixing screws on the fixed gear, the described gap tension spring one end that disappears is hooked in convex the gap helical gear that disappears
On ear, the other end is hooked in fixing screws.
In one embodiment, the inside casing position rotaring motor is direct current torque motor.
In one embodiment, further include：Outline border, at least two clutch shaft bearings and outline border locking device；
The nested outside for being mounted on the inside casing of the outline border, the outline border and the inside casing pass through at least two first axles
Hold connection；
The outline border is equipped with outline border control circuit board；
Outline border locking device is equipped between the outline border and the inside casing；
The outline border locking device is connected with the outline border control circuit board.
In one embodiment, the outline border locking device includes：Outline border locking motor, locking worm gear, locking worm screw, the
One locking fluted disc, second bearing and angular encoder and the second locking fluted disc on the inside casing；
The driving output shaft of the outline border locking motor wears the locking worm gear, and is connected with the second bearing 8, the
The one side of two bearings connects the angular encoder；
The locking worm gear is engaged with the locking worm tooth-surface, and the locking worm screw is connected with the first locking fluted disc；
The locking worm screw is mounted on by fixed frame on the outline border；
The second locking fluted disc is mounted on the side on the inside casing, is combined with the gap helical gear that disappears mounted on described
Inside casing one side is adjacent, and the second locking fluted disc is corresponding with the described first locking fluted disc；
The outline border locking motor and the angular encoder are connected respectively with the outline border control circuit board.
In one embodiment, the outline border locking motor is direct current torque motor.
In one embodiment, the one side of the locking device in the outline border is installed, is also equipped with outline border indexing electricity
Machine and outline border indexing fluted disc；
The outline border position rotaring motor output shaft is drivingly connected the outline border indexing fluted disc；
The second reading head and the second Circular gratings are installed in the opposite side opposite with the outline border locking device；
Second reading head connects the outline border control circuit board.
In one embodiment, the outline border position rotaring motor is direct current torque motor.
The advantageous effect for the above-mentioned technical proposal that the utility model embodiment provides includes at least：
The utility model embodiment provide three from a used group servo-control systems, including inside casing, inside casing control circuit board, interior
Frame position rotaring motor, the combination of the gap that disappears helical gear, the first Circular gratings and the first reading head；The inside casing control circuit board and the inside casing
Position rotaring motor control connection；The inside casing is tetragonal body, and the inside casing position rotaring motor is combined with the gap helical gear that disappears and is mounted on
The inside casing same side, the output shaft of the inside casing position rotaring motor be sequentially connected described in disappear the combination of gap helical gear；Described first
Circular gratings are mounted on the opposite flank away from the gap helical gear combination that disappears on the inside casing, and the first reading head is mounted on described the
The one side of one Circular gratings；First reading head connects the inside casing control circuit board.Wherein inside casing control circuit board, which receives, turns
During bit instruction, control inside casing electric rotating machine combines internal frame by the gap helical gear that disappears and carries out transposition control, on inside casing
Circular gratings can carry out high-acruracy survey to indexable angle, and pass through the first reading head and carry out angle acquisition to the first Circular gratings,
Real-time Feedback has higher control stationarity and control accuracy to inside casing control circuit board.
Other features and advantages of the utility model will illustrate in the following description, also, partly from specification
In become apparent or understood by implementing the utility model.The purpose of this utility model and other advantages can pass through
Specifically noted structure is realized and obtained in the specification, claims and attached drawing write.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Description of the drawings
Attached drawing is used to provide a further understanding of the present invention, and a part for constitution instruction, with this practicality
New embodiment for explaining the utility model, does not form the limitation to the utility model together.In the accompanying drawings：
Fig. 1 is a provided by the utility model three certainly used group servo-control system structure diagrams；
Fig. 2 is inside casing control structure schematic diagram provided by the utility model；
Fig. 3 is outline border locking mechanism schematic diagram provided by the utility model.
In figure：1- outline borders, 2- outline border locking motors, 3- locking worm gears, 4- locking worm screws, 5- first lock fluted disc, 6- the
Two locking fluted discs, 7- angular encoders, 8- second bearings, 9- 3rd bearings, 10- outline border position rotaring motors, 11- outline border indexing teeth
Disk, 12- inside casings, 13- inside casing position rotaring motors, 14- disappear gap helical gear combination, the first Circular gratings of 15-, the first reading heads of 16-, 17-
Outline border control circuit board, 18- inside casing control circuit boards, 19- clutch shaft bearings, the second reading heads of 20-, the second Circular gratings of 21-, 141-
Inside casing driving gear, 142- fixed gears, 143- disappear gap helical gear, 144- anti-backlash.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
The utility model embodiment provides one kind three from used group servo-control system, illustrates below in conjunction with the accompanying drawings.
With reference to Fig. 1, shown in 2, be related to one kind three from a used group servo-control systems, three from used group servo-control systems generally
It realizes three to control with locking from the indexable SERVO CONTROL of used group, is to realize three from inertia combination self-calibration, autoregistration, self-test measurement of power
The important composition of energy.
With reference to shown in Fig. 2, including：Inside casing 12, inside casing control circuit board 18, inside casing position rotaring motor 13, the gap that disappears bevel gear set
Close the 14, first Circular gratings 15 and the first reading head 16；The inside casing control circuit board 18 is controlled with the inside casing position rotaring motor 13
Connection；The inside casing 12 is tetragonal body, and the inside casing position rotaring motor 13 combines 14 with the gap helical gear that disappears and is mounted in described
12 same side of frame, the output shaft of the inside casing position rotaring motor 13 be sequentially connected described in disappear gap helical gear combination 14；Described first
Circular gratings 15 are mounted on the opposite flank away from the gap helical gear combination 14 that disappears on the inside casing 12, and the first reading head 16 is installed
In the one side of first Circular gratings 15；First reading head 16 connects the inside casing control circuit board 18.
When in use, after outline border unclamps, inside casing control circuit board 18 receives indexable instruction, such as host computer or other controls
The indexing instruction that equipment is sent；Control inside casing electric rotating machine 13 combines 14 pairs of inside casings 12 by the gap helical gear that disappears and carries out indexable control
System, the first Circular gratings 15 on inside casing 12 can carry out high-acruracy survey to indexable angle, pass through the first reading head 16
Angle acquisition is carried out to the first Circular gratings 15, using Circular gratings as transposition control angular surveying element, there is very high angle
Measurement accuracy, so as to ensure to control in-placing precision, the first reading head 16 by data Real-time Feedback to inside casing control circuit board 18, from
And it can realize the high-precision control of 12 indexing of inside casing.
Further, with reference to shown in Fig. 2, the above-mentioned gap helical gear combination 14 that disappears includes：Inside casing driving gear 141, the gap that disappears are double
Gear and anti-backlash 144；The output shaft of inside casing position rotaring motor 13 is drivingly connected with inside casing driving gear 141, inside casing driving tooth
Wheel 141 is engaged with the gap Double-gear one end that disappears；
The gap that wherein disappears Double-gear includes：Fixed gear 142 and the gap helical gear 143 that disappears；Fixed gear 142 is mounted on the one of inside casing 12
Side, the gap that disappears helical gear 143 can be sleeved on the wheel hub of fixed gear 142, such as can on disappear gap helical gear 143 and fixed gear 142
To be respectively provided with lug and fixing screws, 144 one end of the gap that disappears tension spring is hooked on lug, and the other end is hooked in fixing screws.
In the present embodiment, inside casing driving gear 141 is helical gears, and common spur gear enters simultaneously along the facewidth to be nibbled
It closes, thus generates impact vibration noise, transmission is unstable.And use cylindrical helical gear drive then better than straight-tooth, and can gather tight
Centre-to-centre spacing is used for high-speed overload.The gap that disappears Double-gear one end is engaged with inside casing driving gear 141, is also helical teeth.
Clearance elimination gear transmission can eliminate the backlash in gear drive, and wherein fixed gear 142 is fixed on the side of inside casing
Face, the gap that disappears helical gear 143 are sleeved on the wheel hub of the fixed gear, and lug is respectively provided in two panels thickness engaging, with the gap tension spring 144 1 that disappears
On lug, the other end is hooked in fixing screws end hook, and nut can be used for extension elongation and the locking of adjusting screw, this structure
The tension of tension spring is make use of, makes to be close to inside casing driving tooth respectively on the right side of the tooth for the gap helical gear 143 that disappears on the left of the tooth of fixed gear
The tooth socket arranged on left and right sides of wheel 141, backlash is eliminated the need for by this side set structure, and idle running mistake would not be generated when reversed
Difference.
The effect of the gap that disappears tension spring is generated Zhang Jinli after being deformed using tension spring so that driving and driven gear is in rotating
Shi Douneng is mutually adjacent to.Due to the gap tension spring that disappears, location is limited in an annular region in the structure, and the gap that disappears
The part of tension spring is also to be in this annular region, therefore must is fulfilled for above-mentioned requirements in the design.In addition, the intensity of tension spring
And it can ensure that mechanism is able to one of essential condition run steadily in the long term.
In the present embodiment, the design for the gap helical teeth fluted disc that disappear, in the specific implementation, such as can be according to actual feelings
Condition optimizes fluted disc parameter.The transmission that inside casing is moved using the gap helical gear combination that disappears, it is ensured that the stationarity of transposition control.
Further, above-mentioned inside casing position rotaring motor 13 is direct current torque motor, is conducive to the correlations such as motor electromagnetic shielding
The realization of energy；Direct current torque motor is one kind of torque motor, using direct current as the torque motor of power supply.It is a kind of tool
There is the specific type of electric machine of soft mechanical characteristic and wide speed regulating range.The axis of this motor is not with constant power output power but with constant force
Square exports power.Direct current torque motor can be with smaller output torque, and has higher output speed, and rotating speed and outputting torsion are only
It is vertical to be adjusted, it is easy to use, it is easy to operate, have than general alternating current torque motor higher handling.
In one embodiment, with reference to shown in Fig. 1,3, the nested outside for being mounted on inside casing 12 of outline border 1 of the system, outline border
1 and inside casing 12 connected by least two clutch shaft bearings 19；Wherein：Outline border 1 is equipped with outline border control circuit board 17, in outline border 1
Outline border locking device is equipped between inside casing 12, outline border locking device is connected with outline border control circuit board 17.
In the present embodiment, outline border control circuit board 17 receives the locking that host computer or other control devices send or release refers to
Order, control outline border locking motor 2 are installed by outline border locking, realize high-accuracy stable reliably locking or the release control of outline border 1
System.
Further, above-mentioned outline border locking device, with reference to shown in Fig. 3, including：Outline border locking motor 2, locking worm gear 3, lock
Tight worm screw 4, first locks fluted disc 5, second bearing 8 and angular encoder 7 and the second locking teeth on the inside casing
Disk 6；
Wherein, the driving output shaft of outline border locking motor 2 wears locking worm screw 4, and is connected with second bearing 8, the second axis
Hold 8 one side connection angular encoder 7；Worm gear 3 and locking 4 flank engagement of worm screw are locked, locking worm screw 4 and first locks fluted disc
5 connections；Worm screw 4 is locked to be mounted on outline border 1 by fixed frame；
Two 3rd bearings 9 are separately mounted to above and below locking worm gear 3, and are connected respectively with locking worm gear 3.The
Two locking fluted discs 6 are mounted on the side on inside casing 12, and it is adjacent combine 14 sides on the inside casing with the above-mentioned gap helical gear that disappears,
And second locking fluted disc 6 with first lock fluted disc 5 it is corresponding；Outline border locking motor 2 and angular encoder 7 control respectively with outline border
Circuit board 17 connects.
In the present embodiment, using angular encoder, realize that angular displacement to the conversion of displacement of the lines, realizes accurate lock wire position
Control is moved, utilizes the latching characteristics of worm and gear, it is ensured that reliable lock.Outline border locks operation principle：Outline border control circuit board 17
It receives the locking of host computer or other control devices or unclamps instruction, control outline border locking motor 2 is by locking worm screw 4 and locking
Worm gear 3 drives the first locking fluted disc 5 to be engaged with the second locking fluted disc 6, and rotational travel can be converted into directly by worm and gear system
Lineal travel gathers rotation angle by angular encoder 7, and Real-time Feedback to outline border control circuit board 17 realizes the high-precision of outline border 1
It spends reliable and stable locking or unclamps control.After outline border locking, outline border, inside casing are stablized locked, it is impossible to carry out transposition control.
Further, above-mentioned outline border locking motor 2 or direct current torque motor.
In one embodiment, with reference to shown in Fig. 1, the one side of outline border locking device is installed in outline border 1, outline border is also installed
Position rotaring motor 10 and outline border indexing fluted disc 11；10 output shaft of outline border position rotaring motor is drivingly connected outline border indexing fluted disc 11；With it is outer
The opposite opposite side of frame locking device is equipped with the second reading head 20 and the second Circular gratings 21；Second reading head 20 connects outline border control
Circuit board 17 processed.
In the present embodiment, outline border indexing operation principle：After outline border unclamps, outline border control circuit board 17 receives host computer or control
The indexing instruction that control equipment is sent, drives outline border indexing fluted disc 11 to rotate, on outline border 1 by outline border position rotaring motor 10
Second Circular gratings 21 can carry out high-acruracy survey to indexable angle, and angle is carried out to the second Circular gratings 21 by the second reading head 20
Degree acquisition, Real-time Feedback to outline border control circuit board 17 can realize the high-precision control of 1 indexing of outline border.
Provided in this embodiment three from used group servo-control system, and the utility model realizes three from the indexable servo control of used group
System is controlled with locking, is to realize three from inertia combination self-calibration, autoregistration, the important composition of self-checking function, is substantially increased
The stationarity and control accuracy of measurement.
Three only need control inside casing to rotate from used group automatic aligning function, to more demanding, the self-calibration of transposition control performance
Function needs to rotate internal and external frames, and the requirement to transposition control performance is relatively low, and three certainly used groups are to retaining mechanism reliable lock
Property is more demanding.The direct current torque motor of global design is selected, capability of electromagnetic shielding is good.Devise the gap helical teeth fluted disc transmission that disappears
Mechanism, indexable stationarity are improved, and select high accuracy circular grating, realize the accurate measurement and control of angle.The snail of locking
Worm and gear structure design, is conducive to reliable lock.Three be can be achieved from servo controls such as used set product release, locking, locking, stalls
System, and with enough reliabilities.
Further, can also to unclamping, locking, locking, stall design segmentation algorithm scheme, transposition control is divided into speed
PID sections and position PID sections, speed by PID section ensures the stationarity of control, and position PID sections (low-angle) ensures the precision of control.
When pid parameter is adjusted, each control section has respective control parameter, avoids double-closed-loop control parameter difficulty and adjusts, is non-intuitive
Shortcoming.Locking control is divided into speed by PID section and open loop deferent segment.Using Discrete control mode, control method is simplified.
Obviously, those skilled in the art can carry out the utility model various modification and variations without departing from this practicality
New spirit and scope.If in this way, these modifications and variations of the utility model belong to the utility model claims and
Within the scope of its equivalent technologies, then the utility model is also intended to comprising including these modification and variations.
Claims (8)
1. the certainly used group servo-control system of one kind three, which is characterized in that including：It is inside casing (12), inside casing control circuit board (18), interior
Frame position rotaring motor (13), the gap that disappears helical gear combination (14), the first Circular gratings (15) and the first reading head (16)；
The inside casing control circuit board (18) connects with the inside casing position rotaring motor (13) control；
The inside casing (12) is tetragonal body, and the inside casing position rotaring motor (13) combines (14) with the gap helical gear that disappears mounted on institute
Inside casing (12) same side is stated, disappear the combination of gap helical gear described in the output shaft drive connection of the inside casing position rotaring motor (13)
(14)；
First Circular gratings (15) are mounted on the opposite side away from the gap helical gear combination (14) that disappears on the inside casing (12)
Face, the first reading head (16) are mounted on the one side of first Circular gratings (15)；
First reading head (16) connects the inside casing control circuit board (18).
2. the certainly used group servo-control system of one kind three as described in claim 1, which is characterized in that the gap helical gear combination that disappears
(14) include：Inside casing driving gear (141), the gap that disappears Double-gear and anti-backlash (144)；
The output shaft of the inside casing position rotaring motor (13) is drivingly connected with the inside casing driving gear (141), and the inside casing is actively
Gear (141) is engaged with the described gap Double-gear one end that disappears；
The gap Double-gear that disappears includes：Fixed gear (142) and the gap helical gear (143) that disappears；
The fixed gear (142) is mounted on the one side of the inside casing (12), and the gap helical gear (143) that disappears is sleeved on the fixed tooth
On the wheel hub for taking turns (142), lug and fixing screws are respectively provided on disappear gap helical gear (143) and the fixed gear (142),
Described anti-backlash (144) one end is hooked on lug, and the other end is hooked in fixing screws.
3. the certainly used group servo-control system of one kind three as described in claim 1, which is characterized in that the inside casing position rotaring motor
(13) it is direct current torque motor.
4. the certainly used group servo-control system of one kind three as described in claim 1, which is characterized in that further include：Outline border (1), extremely
Few two clutch shaft bearings (19) and outline border locking device；
The nested outside for being mounted on the inside casing (12) of the outline border (1), the outline border (1) and the inside casing (12) are by least
Two clutch shaft bearing (19) connections；
The outline border (1) is equipped with outline border control circuit board (17)；
Outline border locking device is equipped between the outline border (1) and the inside casing (12)；
The outline border locking device is connected with the outline border control circuit board (17).
5. the certainly used group servo-control system of one kind three as claimed in claim 4, which is characterized in that the outline border locking device bag
It includes：Outline border locking motor (2), locking worm gear (3), locking worm screw (4), the first locking fluted disc (5), second bearing (8) and angle
Encoder (7) and the second locking fluted disc (6) on the inside casing；
The driving output shaft of the outline border locking motor (2) wears the locking worm gear (3), and with the second bearing (8) even
It connects, the one side of second bearing (8) connects the angular encoder (7)；
The locking worm gear (3) and described locking worm screw (4) flank engagement, the locking worm screw (4) and the first locking fluted disc (5)
Connection；
The locking worm screw (4) is mounted on by fixed frame on the outline border (1)；
The second locking fluted disc (6) is mounted on the side on the inside casing (12), and (14) peace is combined with the gap helical gear that disappears
Mounted in the inside casing (12), one side is adjacent, and the second locking fluted disc (6) is corresponding with the described first locking fluted disc (5)；
The outline border locking motor (2) and the angular encoder (7) are connected respectively with the outline border control circuit board (17).
6. the certainly used group servo-control system of one kind three as claimed in claim 5, which is characterized in that the outline border locking motor
(2) it is direct current torque motor.
7. the certainly used group servo-control system of one kind three as claimed in claim 4, which is characterized in that in the outline border (1) and institute
On the side for stating the adjacent outline border (1) of outline border locking device, outline border position rotaring motor (10) and outline border indexing tooth are also equipped with
Disk (11)；
Outline border position rotaring motor (10) output shaft is drivingly connected the outline border indexing fluted disc (11)；
The second reading head (20) and the second Circular gratings (21) are installed in the opposite side opposite with the outline border locking device；
Second reading head (20) connects the outline border control circuit board (17).
8. the certainly used group servo-control system of one kind three as claimed in claim 7, which is characterized in that the outline border position rotaring motor
(10) it is direct current torque motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721488027.5U CN207397076U (en) | 2017-11-09 | 2017-11-09 | The certainly used group servo-control system of one kind three |
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| CN201721488027.5U CN207397076U (en) | 2017-11-09 | 2017-11-09 | The certainly used group servo-control system of one kind three |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113091734A (en) * | 2021-03-15 | 2021-07-09 | 武汉大学 | Be applied to high accuracy transposition locking mechanism of aircraft inertial measurement unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113091734A (en) * | 2021-03-15 | 2021-07-09 | 武汉大学 | Be applied to high accuracy transposition locking mechanism of aircraft inertial measurement unit |
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