CN209177523U - A kind of placement rotating mechanism based on electromagnetism ferropexy - Google Patents
A kind of placement rotating mechanism based on electromagnetism ferropexy Download PDFInfo
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- CN209177523U CN209177523U CN201821558904.6U CN201821558904U CN209177523U CN 209177523 U CN209177523 U CN 209177523U CN 201821558904 U CN201821558904 U CN 201821558904U CN 209177523 U CN209177523 U CN 209177523U
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- rack
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- rotating disc
- electric machine
- mechanism based
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Abstract
The utility model discloses a kind of placement rotating mechanisms based on electromagnetism ferropexy, belong to one of small-sized irony workpiece solid manufacture field workpiece and places clamping mechanism, its purpose is to provide a kind of handling for realizing workpiece, it is fixed, the mechanism of rotation, its technical solution be include rack, one end of the rack is provided with electric machine assembly, the electric machine assembly is provided with driving gear, the central rack is provided with multi-stage gear unit, the other end of the rack is provided with workpiece runner assembly, the workpiece runner assembly is provided with the rotating disc with groove, electromagnet is provided on the rotating disc, the driving gear, multi-stage gear unit, rotating disc is successively engaged.The utility model provides a kind of placement rotating mechanism based on electromagnetism ferropexy, has convenient for placing and taking out workpieces processing, and high-efficient effect.
Description
Technical field
The utility model belongs to small-sized irony workpiece solid manufacture field, and in particular to a kind of putting based on electromagnetism ferropexy
Set rotating mechanism.
Background technique
It is gradually automated, under intelligentized trend in modern industry, to be realized in factory and 360 are carried out to workpiece on assembly line
Three-dimension process automation is spent, just has to solve the angular accuracy of rotation placement mechanism and the stability of placement and rapidity etc.
Problem.It is to be processed automatically to workpiece on a moving belt mostly however on modern industrial production assembly line, can not achieve pair
Workpiece carries out three dimension full-automatic processings.In addition, for the existing rotation holding structure for work pieces process, rotating mechanism
Cost it is excessively high, and limited by screw rod, rotation speed is slow, adjusts holding structure to be easy to damage workpiece surface, and load and unload multiple
It is miscellaneous, on modern industry automatic assembly line, used rotating platform, be mostly by step motor control worm and gear or
Person's ball screw etc. comes in control the rotation of workpiece and accurate positioning.However this mechanism cost is excessively high, uneconomical, response speed
Slowly, such as traditional chuck mode fixed structure, it is the mechanical device for being used to clamp workpiece on lathe.Using being evenly arranged on chuck body
Movable jaw move radially, the machine tool accessories of Workpiece clamping and positioning.Chuck is generally by chuck body, movable jaw and card
3 part of pawl driving mechanism composition.But its flexibility is low, fixed difficult, secondly it is also possible to disfiguring workpiece.Thus one kind is directed to
The fixed mechanism of small-sized irony work pieces process is badly in need of research and development.
Utility model content
The purpose of this utility model is that: to solve to rotate holding structure pair in the prior art in irony work pieces process
The clamping work of irony workpiece exists and is limited by screw rod so that rotation speed is slow, holding structure is adjusted to be easy to cause workpiece surface
It destroys, the problem that the cost of rotating mechanism is excessively high and handling are complicated provides a kind of placement rotating mechanism based on electromagnetism ferropexy,
Fixed workpiece is adsorbed by electromagnet, avoids the complexity that can be manually rotated screw rod or the fixed workpiece of chuck, while also avoiding
Because to fix broken ring that clamping of workpieces needs to provide pretightning force to workpiece surface, and by multi-stage gear avoid workpiece with it is electric
The interference of machine has and loads and unloads well to irony workpiece, fixed, the work of rotation.
The technical solution adopted in the utility model is as follows:
A kind of placement rotating mechanism based on electromagnetism ferropexy, including rack, one end of the rack are provided with motor group
Part, the electric machine assembly are provided with driving gear, and the central rack is provided with multi-stage gear unit, the other end of the rack
It is provided with workpiece runner assembly, the workpiece runner assembly is provided with the rotating disc with groove, is provided on the rotating disc
Electromagnet, the driving gear, multi-stage gear unit, rotating disc are successively engaged.
Further, the electric machine assembly include the electric machine support being connect with rack, the electricity that is fixedly connected with electric machine support
Machine fixing seat is fixedly installed driving motor, the output shaft and horizontal plane of frame of the driving motor in the motor fixing seat
Vertically, the output shaft of the driving motor is fixedly connected and the driving gear.
Further, the multi-stage gear unit includes multiple gears, is cut with scissors with the rack in the middle part of multiple gears
It connects, multiple gears are successively engaged.
Further, it is provided with adjustment structure in the middle part of the rotating disc, the edge of rotating disc is arranged in the electromagnet.
Further, the rack lower end is provided with closed slide, and the rack can be slided along closed slide length direction.
Further, pneumatic device, the output shaft of the pneumatic device and institute are fixedly installed in the middle part of the closed slide
Rack is stated to be fixedly connected.
Further, the driving motor is provided with encoder, and the motor is additionally provided with pid adjusting position ring.
Further, the gear in the multi-stage gear unit, rotating disc offer circular hole.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are:
1, in the utility model, electric machine assembly drives the multi-stage gear machine of central rack setting by the driving gear of setting
Structure rotation delivers torque to workpiece runner assembly, is provided with electricity in the rotating disc with groove in the workpiece runner assembly
Magnet, the electromagnet carry out absorption fixation to irony workpiece, it is thus achieved that the handling of irony workpiece, fixed, rotation；This reality
With novel proposition and a kind of fixed form that one kind for irony workpiece is new is had devised, regular worker is adsorbed by electromagnet
Part avoids the complexity that can be manually rotated screw rod or the fixed workpiece of chuck, while also avoiding because to fix clamping of workpieces needs
Pretightning force is provided to the broken ring of workpiece surface, ensure that the integrality and bright and clean degree of workpiece surface.Meanwhile the utility model is set
A kind of new rotating mechanism has been counted to avoid using the mode of multi-stage gear and direct current generator with encoder by multi-stage gear
The interference of workpiece and motor, meanwhile, the efficiency of rotation is improved compared with screw rod, when ensure that processing when some special processing
The response of mechanism.
2, in the utility model, the electric machine assembly includes the electric machine support connecting with rack and the fixed company of electric machine support
The motor fixing seat connect is fixedly installed driving motor, the output shaft and rack of the driving motor in the motor fixing seat
Horizontal plane, the output shaft of the driving motor are fixedly connected and the driving gear；By being fixed to electric machine support, motor
The stability fixed to driving motor is reinforced in the setting of frame, so that the transmitting by motor transfers out stable rotating torque.
3, in the utility model, the multi-stage gear unit includes multiple gears, in the middle part of multiple gears with it is described
Rack is hinged, and multiple gears are successively engaged, and the setting of multi-stage gear group realizes the regulation to driving motor revolving speed,
So that in the workpiece runner assembly engaged with the multi-stage gear unit rotating disc have suitable revolving speed.
4, in the utility model, it is provided with adjustment structure in the middle part of the rotating disc, rotating disc is arranged in the electromagnet
Edge；The center for the irony workpiece being seated on rotating disc is adjusted in adjustment structure, and then passes through electromagnetism
Iron carries out absorption fixation to irony workpiece, effectively realizes the quick despatch of workpiece and stablizes and fixes.
5, in the utility model, the rack lower end is provided with closed slide, and the rack can be along closed slide length side
To sliding；Entire rack can be moved along closed slide to the left side, and workpiece runner assembly puts irony workpiece from process tool
Set on workpiece runner assembly, the center of workpiece regulated using regulating device, after with electromagnet absorption fix workpiece,
Rack is driven to move along guide rail to the right, workpiece runner assembly rotates to finger by the demand of processing close to process tool, workpiece
Determine angle to be processed, the setting of closed slide provides the working environment that workpiece is installed safely on workpiece runner assembly, in work
Part avoids the case where generation and cutter when installing.
6, in the utility model, the driving motor is provided with encoder, and the motor is additionally provided with pid adjusting position
Ring；By PID adjusting position ring, it ensure that mechanism can be fixed on the angle of some fixation, improve the registration of mechanism
Property.
7, in the utility model, gear, rotating disc in the multi-stage gear unit offer circular hole, reduce multistage tooth
Take turns the gear in mechanism, the quality of rotating disc is reduced while the fast reaction of support organization transmission to driving motor energy
Loss.
Detailed description of the invention
Fig. 1 is the placement rotating mechanism overall structure diagram of the utility model electromagnetism ferropexy.
Fig. 2 is the utility model motor component structure schematic diagram.
Fig. 3 is the utility model driving gear position, speed double-closed-loop control schematic diagram.
Fig. 4 is the utility model pid algorithm program flow diagram.
Marked in the figure: 1- rack, 2- electric machine assembly, 3- driving gear, 4- multi-stage gear unit, 5- workpiece runner assembly,
6- rotating disc, 7- electromagnet, 8- electric machine support, 9- motor fixing seat, 10- driving motor, 11- adjustment structure, 12- parallel conductive
Rail, 13- pneumatic device.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.
A kind of placement rotating mechanism based on electromagnetism ferropexy, including rack 1, one end of the rack 1 are provided with motor
Component 2, the electric machine assembly 2 are provided with driving gear 3, and multi-stage gear unit 4, the rack 1 are provided in the middle part of the rack 1
The other end be provided with workpiece runner assembly 5, the workpiece runner assembly 5 is provided with the rotating disc 6 with groove, the rotation
Electromagnet 7 is provided on disk 6, the driving gear 3, multi-stage gear unit 4, rotating disc 6 are successively engaged；Electric machine assembly 2
It drives the multi-stage gear unit 4 being arranged in the middle part of rack 1 to rotate by the driving gear 3 of setting, delivers torque to workpiece rotation
Component 5 is provided with electromagnet 7 in the rotating disc 6 in the workpiece runner assembly 5 with groove, and the electromagnet 7 is to irony work
Part carries out absorption fixation, it is thus achieved that the handling of irony workpiece, fixed, rotation；A kind of new fixed form is provided, electricity is passed through
Magnet 7 avoids the complexity that can be manually rotated the fixed workpiece of screw rod or chuck to adsorb fixed workpiece, at the same also avoid because
The broken ring that clamping of workpieces needs to provide pretightning force to workpiece surface is fixed, ensure that the integrality and bright and clean degree of workpiece surface.
Meanwhile using the mode of multi-stage gear unit 4 and direct current generator with encoder, workpiece and driving are avoided by multi-stage gear
The interference of motor 10, meanwhile, the efficiency of rotation is improved compared with screw rod, mechanism when some special processing when ensure that processing
Response, wherein electromagnet can be substituted with electromagnet and tabletting structure, equally achieved the effect that quick despatch and stablized fixed.
Preferably, the electric machine assembly 2 includes the electric machine support 8 connecting with rack 1, is fixedly connected with electric machine support 8
Motor fixing seat 9, be fixedly installed driving motor 10 in the motor fixing seat 9, the output shaft of the driving motor 10 with
1 horizontal plane of rack, the output shaft of the driving motor 10 are fixedly connected with the main shaft with the driving gear 3.
Preferably, the multi-stage gear unit 4 includes multiple gears, cut with scissors with the rack in the middle part of multiple gears
It connects, multiple gears are successively engaged.
Preferably, being provided with adjustment structure 11 in the middle part of the rotating disc 6, the side of rotating disc 6 is arranged in the electromagnet 7
Edge.
Preferably, 1 lower end of rack is provided with closed slide 12, the rack 1 can be along 12 length side of closed slide
To sliding.
Preferably, pneumatic device 13 is fixedly installed in the middle part of the closed slide 12, the output of the pneumatic device 13
Axis is fixedly connected with the rack 1；Wherein pneumatic device can be replaced with push-rod electric machine, and push-rod electric machine is fixed on closed slide
12 middle parts, the output main shaft of the push-rod electric machine are fixedly connected with the rack 1.
Preferably, the driving motor 10 is provided with encoder, the driving motor 10 is additionally provided with pid adjusting position
Ring；By PID adjusting position ring, it ensure that mechanism can be fixed on the angle of some fixation, improve the registration of mechanism
Property, it is required the target position that corresponding rotating disc 6 is arranged, to calculate according further to stage-geared principle according to work pieces process
Target position to be achieved needed for driving gear 3, and PID controller starting driving electricity is passed to using the target position as input quantity
Machine 10 drives driving gear 3.The rotational angle of driving gear 3 is passed to rotating disc via the transmission of multi-stage gear unit 4
6, so drive thereon workpiece do the rotary motions of respective angles.Set encoder is driving gear 3 on driving motor 10
The deviation Real-time Feedback of physical location and target position gives PID adjusting position ring.Wherein, the output of position ring is the defeated of speed ring
Enter, in this way according to the size of gained position deviation, PID controller automatically adjusts the velocity of rotation of driving motor 10, that is, driving
10 startup stage of motor is converted to and is run slowly when driving motor 10 will reach target position using Accelerating running, thus
So that the physical location of driving gear 3 is gradually intended to target position.
This system controls the speed and angle of the rotation of driving motor 10 using pid algorithm.After motor is started to work, coding
The constantly current motion state of acquisition rotary shaft of device 8, and with epidemic situation comparison before so that the actual motion shape of driving gear 3
State gradually tends to target state.Pid algorithm controller is by 3 velocity of rotation of driving gear and rotational angle proportional component P, mistake
Proportional component P: difference ring section I and differentiation element D composition carries out ratio adjustment to 10 rotational angle of driving motor, i.e., to driving tooth
Take turns rotational angle adjustment.Ratio is bigger, and adjustment speed is faster.But cannot be excessive, the excessive driving motor 10 that may cause is because of work
State mutation and keep driving gears unstable, integral element I: make system eliminate steady-state error, improve without margin.Product is added
Divide and adjust and system stability can be made to decline, dynamic response is slack-off, differentiation element D: the differential action reflects that driving gear rotates angle
Change rate, i.e. angular speed.With foresight, the trend of change of error can be predicted therefore advanced control action can be generated,
Before deviation is formed not yet, it is differentiated adjustment effect elimination.
During the position control of driving motor, host computer sends position command to slave computer by serial ports.Slave computer
The acquisition of encoder speed and position is carried out by timer expiry interruption, and is calculated by PID controller and determined that control is defeated
Output.When receiving position control instruction, current location is obtained by encoder, obtains the inclined of physical location and target position
It is self-locking (position control completion) to control stepper motor if deviation is less than steady-state error (deviation≤0.3 °) for difference；If deviation is greater than
Steady-state error, in-position control ring, the PID control device output quantity of position control ring are converted into speed and input to speed ring, speed
Pulse frequency of the control output quantity of ring as 10 speed of service of driving motor.
Preferably, the gear, rotating disc 6 in the multi-stage gear unit 4 offer circular hole.
Embodiment 1
A kind of placement rotating mechanism based on electromagnetism ferropexy, including rack 1, one end of the rack 1 are provided with motor
Component 2, the electric machine assembly 2 are provided with driving gear 3, and multi-stage gear unit 4, the rack 1 are provided in the middle part of the rack 1
The other end be provided with workpiece runner assembly 5, the workpiece runner assembly 5 is provided with the rotating disc 6 with groove, the rotation
Electromagnet 7 is provided on disk 6, the driving gear 3, multi-stage gear unit 4, rotating disc 6 are successively engaged；Electric machine assembly 2
It drives the multi-stage gear unit 4 being arranged in the middle part of rack 1 to rotate by the driving gear 3 of setting, delivers torque to workpiece rotation
Component 5 is provided with electromagnet 7 in the rotating disc 6 in the workpiece runner assembly 5 with groove, and the electromagnet 7 is to irony work
Part carries out absorption fixation, it is thus achieved that the handling of irony workpiece, fixed, rotation；A kind of new fixed form is provided, electricity is passed through
Magnet 7 avoids the complexity that can be manually rotated the fixed workpiece of screw rod or chuck to adsorb fixed workpiece, at the same also avoid because
The broken ring that clamping of workpieces needs to provide pretightning force to workpiece surface is fixed, ensure that the integrality and bright and clean degree of workpiece surface.
Meanwhile using the mode of multi-stage gear unit 4 and direct current generator with encoder, workpiece and driving are avoided by multi-stage gear
The interference of motor 10, meanwhile, the efficiency of rotation is improved compared with screw rod, mechanism when some special processing when ensure that processing
Response, wherein electromagnet can be substituted with electromagnet and tabletting structure, equally achieved the effect that quick despatch and stablized fixed.
Embodiment 2
On the basis of embodiment 1, the electric machine assembly 2 includes the electric machine support 8 connecting with rack 1 and electric machine support 8
The motor fixing seat 9 being fixedly connected is fixedly installed driving motor 10 in the motor fixing seat 9, the driving motor 10
Output shaft and 1 horizontal plane of rack, the output shaft of the driving motor 10 are fixedly connected with the main shaft with the driving gear 3.
Embodiment 3
On the basis of embodiment 2, the multi-stage gear unit 4 includes multiple gears, in the middle part of multiple gears with
The rack is hinged, and multiple gears are successively engaged.
Embodiment 4
On the basis of embodiment 3, adjustment structure 11 is provided in the middle part of the rotating disc 6, the setting of electromagnet 7 is turning
The edge of Moving plate 6.
Embodiment 5
On the basis of embodiment 4,1 lower end of rack is provided with closed slide 12, and the rack 1 can be along closed slide
The sliding of 12 length directions.
Embodiment 6
On the basis of embodiment 5, the driving motor 10 is provided with encoder, and the driving motor 10 is additionally provided with
Pid adjusting position ring；By PID adjusting position ring, it ensure that mechanism can be fixed on the angle of some fixation, improve mechanism
Location accuracy, the target position that corresponding rotating disc 6 is set is required according to work pieces process, according further to stage-geared
Principle calculates target position to be achieved needed for driving gear 3, and is passed to PID controller using the target position as input quantity
Start driving motor 10 to drive driving gear 3.The rotational angle of driving gear 3 is passed via the transmission of multi-stage gear unit 4
It passs rotating disc 6, and then workpiece thereon is driven to do the rotary motions of respective angles.Set encoder handle on driving motor 10
The deviation Real-time Feedback of 3 physical location of driving gear and target position gives PID adjusting position ring.Wherein, the output of position ring is
The input of speed ring, in this way according to the size of gained position deviation, PID controller automatically adjusts the rotation speed of driving motor 10
Degree is converted to and is subtracted when driving motor 10 will reach target position using Accelerating running in 10 startup stage of driving motor
Speed operation, so that the physical location of driving gear 3 is gradually intended to target position.
This system controls the speed and angle of the rotation of driving motor 10 using pid algorithm.After motor is started to work, coding
The constantly current motion state of acquisition rotary shaft of device 8, and with epidemic situation comparison before so that the actual motion shape of driving gear 3
State gradually tends to target state.Pid algorithm controller is by 3 velocity of rotation of driving gear and rotational angle proportional component P, mistake
Proportional component P: difference ring section I and differentiation element D composition carries out ratio adjustment to 10 rotational angle of driving motor, i.e., to driving tooth
Take turns rotational angle adjustment.Ratio is bigger, and adjustment speed is faster.But cannot be excessive, the excessive driving motor 10 that may cause is because of work
State mutation and keep driving gears unstable, integral element I: make system eliminate steady-state error, improve without margin.Product is added
Divide and adjust and system stability can be made to decline, dynamic response is slack-off, differentiation element D: the differential action reflects that driving gear rotates angle
Change rate, i.e. angular speed.With foresight, the trend of change of error can be predicted therefore advanced control action can be generated,
Before deviation is formed not yet, it is differentiated adjustment effect elimination.
During the position control of driving motor, host computer sends position command to slave computer by serial ports.Slave computer
The acquisition of encoder speed and position is carried out by timer expiry interruption, and is calculated by PID controller and determined that control is defeated
Output.When receiving position control instruction, current location is obtained by encoder, obtains the inclined of physical location and target position
It is self-locking (position control completion) to control stepper motor if deviation is less than steady-state error (deviation≤0.3 °) for difference；If deviation is greater than
Steady-state error, in-position control ring, the PID control device output quantity of position control ring are converted into speed and input to speed ring, speed
Pulse frequency of the control output quantity of ring as 10 speed of service of driving motor.
Embodiment 7
On the basis of the above embodiments, the gear in the multi-stage gear unit 4, rotating disc 6 offer circular hole.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (8)
1. a kind of placement rotating mechanism based on electromagnetism ferropexy, it is characterised in that: including rack (1), the one of the rack (1)
End is provided with electric machine assembly (2), and the electric machine assembly (2) is provided with driving gear (3), the other end setting of the rack (1)
Have workpiece runner assembly (5), the workpiece runner assembly (5) is provided with the rotating disc (6) with groove, the driving gear
(3) it is engaged with the rotating disc (6), is provided with electromagnet (7) on the rotating disc (6).
2. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the motor group
Part (2) includes the electric machine support (8) connecting with rack (1), the motor fixing seat (9) being fixedly connected with electric machine support (8), described
It is fixedly installed in motor fixing seat (9) driving motor (10), the output shaft and rack (1) working face of the driving motor (10)
Vertically, the output shaft of the driving motor (10) is fixedly connected with the main shaft of the driving gear (3).
3. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the rack
(1) it is additionally provided with multi-stage gear unit (4), the multi-stage gear unit (4) is placed in the electric machine assembly (2), workpiece rotating group
Between part (5), the driving gear (3) in the electric machine assembly (2) is engaged with the input terminal of multi-stage gear unit (4), described more
The output end of grade gear mechanism (4) is engaged with the rotating disc (6) in the workpiece runner assembly (5).
4. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the rotating disc
(6) middle part is provided with adjustment structure (11), edge of electromagnet (7) setting in rotating disc (6).
5. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the rack
(1) lower end is provided with closed slide (12), and the rack (1) can be slided along closed slide (12) length direction.
6. a kind of placement rotating mechanism based on electromagnetism ferropexy as claimed in claim 5, it is characterised in that: the parallel conductive
It is fixedly installed pneumatic device (13) in the middle part of rail (12), the output shaft of the pneumatic device (13) and the rack (1) fixed company
It connects.
7. a kind of placement rotating mechanism based on electromagnetism ferropexy as claimed in claim 2, it is characterised in that: the driving electricity
Machine (10) is provided with encoder, and the driving motor (10) is additionally provided with pid adjusting position ring, the encoder, driving motor
(10), pid adjusting position ring is electrically connected.
8. a kind of placement rotating mechanism based on electromagnetism ferropexy as claimed in claim 3, it is characterised in that: the multistage tooth
Gear, rotating disc (6) in wheel mechanism (4) offer circular hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821558904.6U CN209177523U (en) | 2018-09-25 | 2018-09-25 | A kind of placement rotating mechanism based on electromagnetism ferropexy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821558904.6U CN209177523U (en) | 2018-09-25 | 2018-09-25 | A kind of placement rotating mechanism based on electromagnetism ferropexy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209177523U true CN209177523U (en) | 2019-07-30 |
Family
ID=67360226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821558904.6U Expired - Fee Related CN209177523U (en) | 2018-09-25 | 2018-09-25 | A kind of placement rotating mechanism based on electromagnetism ferropexy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209177523U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110578601A (en) * | 2019-09-06 | 2019-12-17 | 燕山大学 | Variable compression ratio mechanism with movable connecting rod journal |
| CN113726234A (en) * | 2021-07-27 | 2021-11-30 | 山东师范大学 | PID control-based stepping motor double-closed-loop control method and system |
-
2018
- 2018-09-25 CN CN201821558904.6U patent/CN209177523U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110578601A (en) * | 2019-09-06 | 2019-12-17 | 燕山大学 | Variable compression ratio mechanism with movable connecting rod journal |
| CN113726234A (en) * | 2021-07-27 | 2021-11-30 | 山东师范大学 | PID control-based stepping motor double-closed-loop control method and system |
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Granted publication date: 20190730 Termination date: 20200925 |