CN210052417U - Multi-axis synchronous control unit - Google Patents
Multi-axis synchronous control unit Download PDFInfo
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- CN210052417U CN210052417U CN201920439368.6U CN201920439368U CN210052417U CN 210052417 U CN210052417 U CN 210052417U CN 201920439368 U CN201920439368 U CN 201920439368U CN 210052417 U CN210052417 U CN 210052417U
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 238000002474 experimental method Methods 0.000 claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 52
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000000429 assembly Methods 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 14
- 238000004804 winding Methods 0.000 claims description 11
- 238000010008 shearing Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The application provides a multiaxis synchro control unit, including base, motion control unit and electrical control cabinet, the motion control unit sets up on the base, still includes: the electronic gear motion unit is arranged on the base and used for completing an electronic gear motion control experiment when being used independently, and completing an interpolation or synchronous motion control experiment when being matched with the motion control unit; tension control unit, tension control unit set up on the base, and tension control unit is located between two support guide rails, accomplishes the tension control experiment when tension control unit independently uses, accomplishes chasing after and cuts the motion control experiment of strap when tension control unit and motion control unit cooperation. The multi-axis synchronous control unit provided by the application can be combined, installed and debugged differently according to practical training requirements or different working tasks, and the purposes of simulating a productive function and integrating a learning function are achieved.
Description
Technical Field
The utility model relates to a real teaching equipment technical field that instructs especially relates to a multiaxis synchronization control unit.
Background
Currently, teaching manners combining practical teaching and theoretical teaching are mostly adopted in teaching of all schools, the practical teaching combines theories and practices by simulating actual working environments and adopting actual cases from real working projects, so that professional skills, practical experiences and the awareness of team cooperation of students are improved in the shortest time. But the teaching equipment that can carry out the real standard of motion control in the existing market function is fairly simple, generally can only realize a kind of content of instructing in fact, and then, school often need purchase the multiple teaching equipment of outfit to richen real standard teaching, not only the expense is high, and occupation space is great moreover.
In conclusion, how to improve the teaching function singleness of the existing practical teaching equipment is a problem that technicians in the field are in urgent need to solve.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a multiaxis synchro control unit has solved the problem of the teaching function singleness of the current real teaching equipment of instructing.
In order to solve the technical problem, the utility model provides a following technical scheme: a multiaxis synchro control unit, includes base, motion control unit and electrical control cabinet, the motion control unit sets up on the base, still includes: the electronic gear motion unit is arranged on the base and positioned below the motion control unit, the electronic gear motion unit is used for completing an electronic gear motion control experiment when being used independently, and the electronic gear motion unit is matched with the motion control unit to complete an interpolation or synchronous motion control experiment, wherein the electronic gear motion unit comprises two parallel support guide rails, two side clamping assemblies and a fourth driving mechanism, and the fourth driving mechanism is used for driving the side clamping assemblies to reciprocate along the corresponding support guide rails; tension control unit, tension control unit sets up on the base, tension control unit is located between two support guide rails, accomplish the tension control experiment when tension control unit uses independently, tension control unit with accomplish chasing and shearing motion control experiment of strap during the motion control unit cooperation, wherein, tension control unit includes the second support, sets up a plurality of support deflector roll, belt and a pair of receipts on the second support and receive and release the book subassembly, the both ends of belt link to each other with the receipts that correspond respectively and unreel the subassembly, and a plurality of support deflector roll supports and presses on the bottom surface of belt.
Further, the tension control unit still includes two sets of tensioning subassemblies, the tensioning subassembly sets up receive and release one side of rolling up the subassembly, the tensioning subassembly includes three tensioning roller and tension sensor, tension sensor sets up on the tensioning roller that is located the intermediate position, and the tensioning roller that is located both sides is used in a side of belt, and the tensioning roller that is located the intermediate position is used in another side of belt.
Furthermore, the winding and unwinding assembly comprises a winding roller and a fourth driving motor for driving the winding roller to rotate.
Furthermore, the tension control unit further comprises a conveying roller, a cushion roller and a fifth driving motor, wherein the conveying roller and the cushion roller are arranged on two sides of the belt respectively, and the fifth driving motor is used for driving the conveying roller to rotate.
Further, the support guide rail comprises a third support fixed on the base and a second X-axis linear module fixed on the third support.
Furthermore, the two symmetrically arranged side clamping assemblies are respectively arranged on the corresponding second X-axis linear module, and each side clamping assembly comprises a sixth driving motor fixed on the X-axis sliding block of the second X-axis linear module and a clamping plate connected to the output shaft of the sixth driving motor.
Furthermore, the motion control unit comprises two parallel first supports, two first X-axis linear modules arranged on the two first supports, a Y-axis linear module erected between the two first X-axis linear modules, a vertical moving mechanism arranged on the Y-axis linear module, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used for driving the Y-axis linear module to reciprocate along the first X-axis linear module, and the second driving mechanism is used for driving the vertical moving mechanism to reciprocate along the Y-axis linear module.
Furthermore, the first X-axis linear module comprises an X-axis slide rail, an X-axis sliding table arranged on the X-axis slide rail in a sliding mode and an X-axis belt transmission mechanism arranged on the X-axis slide rail, an X-axis synchronous belt of the X-axis belt transmission mechanism is connected with the X-axis sliding table, and the first driving mechanism drives the pair of X-axis sliding tables to move synchronously.
Furthermore, the vertical movement mechanism comprises a sliding frame and a third driving mechanism arranged on the sliding frame, a screw rod positioned on the sliding frame is in threaded connection with a Y-axis sliding table of the Y-axis linear module, and the third driving mechanism drives the sliding frame to move up and down by driving the screw rod to rotate.
Furthermore, the bottom of the sliding frame is provided with a laser pen.
According to the above technical scheme, the utility model discloses following beneficial effect has:
the utility model discloses in, be used for accomplishing the electronic gear motion control experiment when the electronic gear motion unit uses independently, accomplish interpolation or synchronous motion control experiment when electronic gear motion unit and motion control unit cooperate, tension control experiment is accomplished when tension control unit uses independently, accomplish chasing and cutting the motion control experiment of strap when tension control unit and motion control unit cooperate, each work unit is relatively independent can the intercombination again, when using, can carry out different combinations according to the difference of real standard needs or work task, installation and debugging, reach the purpose of simulation productivity function and integration learning function, be fit for teaching and instruct in addition to the reality, also be suitable for the professional training of enterprise.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic perspective view of the present invention.
Fig. 3 is a schematic perspective view of the motion control unit of the present invention.
Fig. 4 is a schematic structural diagram of the motion control unit of the present invention.
Fig. 5 is a schematic structural diagram of the tension control unit according to the present invention.
Fig. 6 is a schematic perspective view of the tension control unit according to the present invention.
Fig. 7 is a schematic perspective view of the electronic gear movement unit of the present invention.
Description of reference numerals: the device comprises a base 1, a motion control unit 2, a first bracket 21, a first X-axis linear module 22, a Y-axis linear module 23, a first beam frame 231, a vertical movement mechanism 24, a sliding frame 241, a screw rod 242, a screw rod nut 243, a sliding rod 244, a first driving mechanism 25, a first driving motor 251, a first transmission shaft 252, a second driving mechanism 26, a second driving motor 261, a third driving mechanism 27, a third driving motor 271, a laser pen 28, a tension control unit 3, a second bracket 31, a supporting guide roller 32, a winding and unwinding assembly 33, a fourth driving motor 331, a winding roller 332, a tensioning assembly 34, a tensioning roller 341, a tension sensor 342, a fifth driving motor 35, a transmission roller 36, a cushion roller 37, a belt 38, an electronic gear motion unit 4, a supporting guide rail 41, a third bracket 411, a second X-axis linear module 412, a side clamping assembly 42, a sixth driving motor 421, a clamping plate 422, a clamping plate 38, The device comprises a clamping groove 4221, a frame 423, a fourth driving mechanism 43, a seventh driving motor 431, a second transmission shaft 432, a drawing board 44, a second beam frame 45, an electrical control cabinet 5 and a practical training platform 6.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The utility model discloses a further explanation is made below with reference to fig. 1 to 7, as a multiaxis synchro control unit shown in fig. 1, including base 1, motion control unit 2, tension control unit 3, electronic gear motion unit 4 and electrical control cabinet 5, motion control unit 2, tension control unit 3 and electronic gear motion unit 4 all set up on base 1, electronic gear motion unit 4 is located the below of motion control unit 2, tension control unit 3 is located between two parallel arrangement's of electronic gear motion unit 4 support rail 41, electrical control cabinet 5 is used for controlling motion control unit 2, tension control unit 3 and electronic gear motion unit 4 do not the independent work respectively or cooperate the work to accomplish corresponding function show, when using, this multiaxis synchro control unit places on real standard platform 6.
In this embodiment, as shown in fig. 3 and 4, the motion control unit 2 includes two parallel first supports 21, two first X-axis linear modules 22 disposed on the two first supports 21, a Y-axis linear module 23 disposed between the two first X-axis linear modules 22, a vertical moving mechanism 24 disposed on the Y-axis linear module 23, a first driving mechanism 25, and a second driving mechanism 26, where the first driving mechanism 25 is configured to drive the Y-axis linear module 23 to reciprocate along the first X-axis linear module 22, and the second driving mechanism 26 is configured to drive the vertical moving mechanism 24 to reciprocate along the Y-axis linear module 23.
In this embodiment, as shown in fig. 3 and 4, the first X-axis linear module 22 includes an X-axis slide rail, an X-axis slide table slidably disposed on the X-axis slide rail, and an X-axis belt transmission mechanism disposed on the X-axis slide rail, the X-axis slide rail is fixed on the top of the first bracket 21, the X-axis belt transmission mechanism includes an X-axis driving pulley disposed at one end of the X-axis slide rail, an X-axis synchronous belt, and an X-axis driven pulley disposed at the other end of the X-axis slide rail, the X-axis synchronous belt is disposed between the X-axis driving pulley and the X-axis driven pulley, and the X-axis synchronous belt is connected to the X-axis slide table, the first driving mechanism 25 includes a first driving motor 251 and a first transmission shaft 252, two ends of the first transmission shaft 252 are respectively connected to the two X-axis driving pulleys, the first driving motor 251 is fixedly connected to one end of the first transmission shaft 252, the first driving mechanism 25 drives the pair of X-axis sliding tables to move synchronously, and the first driving motor 251 is a servo motor.
In this embodiment, as shown in fig. 3 and fig. 4, the Y-axis linear module 23 includes a Y-axis slide rail, a Y-axis sliding table slidably disposed on the Y-axis slide rail and a Y-axis belt transmission mechanism disposed on the Y-axis slide rail, two ends of the Y-axis slide rail are respectively fixed on two X-axis sliding tables, the Y-axis belt transmission mechanism includes a Y-axis driving pulley disposed at one end of the Y-axis slide rail, a Y-axis synchronous belt and a Y-axis driven pulley disposed at the other end of the Y-axis slide rail, the Y-axis synchronous belt is disposed between the Y-axis driving pulley and the Y-axis driven pulley, and the Y-axis synchronous belt is connected to the Y-axis sliding table, the second driving mechanism 26 includes a second driving motor 261, an output shaft of the second driving motor 261 is connected to the Y-axis driving.
In this embodiment, as shown in fig. 3 and 4, the vertical moving mechanism 24 includes a carriage 241 and a third driving mechanism 27 disposed on the carriage 241, a lead screw 242 disposed on the carriage 241 is in threaded connection with a lead screw nut 243 disposed on the Y-axis sliding table, a pair of slide bars 244 disposed on the carriage 241 is in sliding fit with a slide hole on the lead screw nut 243, a third driving motor 271 of the third driving mechanism 27 is mounted on the top of the carriage 241 and is in transmission connection with the lead screw 242, the third driving motor 271 drives the carriage 241 to move up and down by driving the lead screw 242 to rotate, a laser pen 28 is disposed at the bottom of the carriage 241, and the third driving motor 271 adopts a stepping motor.
In the embodiment, as shown in fig. 5 and 6, the tension control unit 3 includes a second bracket 31, three supporting guide rollers 32 disposed on the second bracket 31, a belt 38, a pair of reeling and unreeling assemblies 33, two sets of tensioning assemblies 34, a conveying roller 36, a cushion roller 37, a fifth driving motor 35 and an encoder, the second bracket 31 is fixed on the base 1, two ends of the belt 38 are respectively connected to the corresponding reeling and unreeling assemblies 33, one supporting guide roller 32 is disposed in the middle of the top of the second bracket 31, the remaining two supporting guide rollers 32 are respectively disposed at two ends of the top of the second bracket 31, the three supporting guide rollers 32 are located at the same horizontal position, and the three supporting guide rollers 32 are pressed against the bottom surface of the belt, in addition, the number of the supporting guide rollers 32 can be four or five, the reeling and unreeling assemblies 33 include a reeling roller 332 and a fourth driving motor 331 for driving the reeling roller 332 to rotate, the fourth driving motor 331 adopts a speed reduction motor, the encoder is installed to fourth driving motor 331's axle head, in operation, a winding up roller 332 rolling, a winding up roller 332 unreels, tensioning assembly 34 sets up in the one side that corresponds winding up and down subassembly 33, tensioning assembly 34 includes three tensioning roller 341 and tension sensor 342, tension sensor 342 sets up on the tensioning roller 341 that is located the intermediate position, the tensioning roller that is located both sides is used in a side of belt, the tensioning roller 341 that is located the intermediate position is used in another side of belt, conveying roller 36 and backing roller 37 all set up the one end at second support 31 top, and conveying roller 36 and backing roller 37 set up the both sides at the belt respectively, fifth driving motor 35 is used for driving conveying roller 36 to rotate, supplementary realization tension control through conveying roller 36 and backing roller 37.
In this embodiment, as shown in fig. 1, 2, 5, and 6, the tension control unit 3 may perform PID control of the tension by using a speed reduction motor, and independently complete a tension control experiment; gear motor carries out moment control through the analog quantity to realize just reversing, during motion control unit 2 and the cooperation of tension control unit 3, laser pen 28 can realize tracking the material and reacing synchronous back shearing strap, thereby tension control unit 3 accomplishes chasing after the strap with the cooperation of motion control unit 2 and cuts the motion control experiment, realizes the motion control demand that the polycell combines.
In this embodiment, as shown in fig. 7, the electronic gear moving unit 4 further includes two side clamping assemblies 42 and a fourth driving mechanism 43, the supporting rail 41 includes a third bracket 411 fixed on the base 1 and a second X-axis linear module 412 fixed on the third bracket 411, the structure of the second X-axis linear module 412 is the same as that of the first X-axis linear module 22, the fourth driving mechanism 43 is used for driving the side clamping assemblies 42 to reciprocate along the corresponding supporting rail 41, the fourth driving mechanism 43 includes a seventh driving motor 431 and a second transmission shaft 432, two ends of the second transmission shaft 432 are respectively connected with the driving pulleys of the two second X-axis linear modules 412, the seventh driving motor 431 is connected with one end of the second transmission shaft 432 through a transmission structure, where the transmission structure may be a gear transmission structure and a belt transmission structure, the seventh driving motor 431 is a servo motor, a second beam frame 45 is fixedly connected between the X-axis sliding tables of the two second X-axis linear modules 412, and the two symmetrically arranged side clamping assemblies 42 are respectively arranged on the X-axis sliding tables of the corresponding second X-axis linear modules 412.
In this embodiment, as shown in fig. 7, the side clamping assembly 42 includes a sixth driving motor 421 and a clamping plate 422 connected to an output shaft of the sixth driving motor 421, the sixth driving motor 421 is fixed to the X-axis slider of the second X-axis linear module 412 through a frame 423, a clamping groove 4221 is provided on the clamping plate 422, an end of the drawing board 44 can be clamped in the clamping groove 4221, so that the drawing board 44 is connected between the pair of clamping plates 422, and the sixth driving motor 421 is a stepping motor.
In this embodiment, as shown in fig. 1, 2, and 7, the electronic gear motion unit 4 may complete simulated electronic gear control, and combine the electronic gear ratio with the pulse, thereby implementing precision motion control and independently completing an electronic gear motion control experiment; the electronic gear motion unit 4 is matched with the motion control unit 2 to complete interpolation or synchronous motion control experiments, linear interpolation and circular interpolation can be realized in two axes in a two-dimensional plane, and three-axis linear interpolation motion can be realized in three axes.
In this embodiment, as shown in fig. 1, the electrical control cabinet 5 integrates important components such as a servo drive system, a step drive system, a bus slave station, an NJ controller, and the like, and the electrical control cabinet 5 and the mechanical part are designed in a combined manner, and can be separated separately or combined with a single module to complete a corresponding practical training task.
Therefore, the multi-axis synchronous control unit can be used for training static control of a motion control system, and more importantly for training a dynamic control technology, a unit combined structure is adopted, all the working units are relatively independent and can be combined with one another, and different combination, installation and debugging can be carried out according to the training requirements or different working tasks when the multi-axis synchronous control unit is used, so that the purposes of simulating a productive function and integrating a learning function are achieved, and the multi-axis synchronous control unit is suitable for teaching training and is also suitable for professional training of enterprises.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multiaxis synchronization control unit, includes base (1), motion control unit (2) and electrical control cabinet (5), motion control unit (2) set up on base (1), its characterized in that still includes:
the electronic gear movement unit (4) is arranged on the base (1), the electronic gear movement unit (4) is located below the movement control unit (2), the electronic gear movement unit (4) is used for completing an electronic gear movement control experiment when being used independently, the electronic gear movement unit (4) is matched with the movement control unit (2) to complete an interpolation or synchronous movement control experiment, wherein the electronic gear movement unit (4) comprises two parallel support guide rails (41), two side clamping assemblies (42) and a fourth driving mechanism (43), and the fourth driving mechanism (43) is used for driving the side clamping assemblies (42) to reciprocate along the corresponding support guide rails (41);
tension control unit (3), tension control unit (3) set up on base (1), tension control unit (3) are located between two support guide rails (41), tension control experiment is accomplished when tension control unit (3) independent utility, tension control unit (3) with accomplish chasing and shearing motion control experiment of strap during motion control unit (2) cooperation, wherein, tension control unit (3) include second support (31), set up a plurality of on second support (31) and support deflector roll (32), belt (38) and a pair of receipts and receive and release a roll subassembly (33), the both ends of belt (38) link to each other with the receipts that correspond respectively and unreel subassembly (33), and a plurality of supports deflector roll (32) and supports and press on the bottom surface of belt.
2. Multiaxial synchronous control unit according to claim 1, where the tension control unit (3) further comprises two sets of tension modules (34), where the tension modules (34) are arranged on one side of the wind-up and wind-down module (33), where the tension modules (34) comprise three tension rollers (341) and a tension sensor (342), where the tension sensor (342) is arranged on the centrally located tension roller (341), the tension rollers on both sides acting on one side of the belt and the tension roller (341) in the central position acting on the other side of the belt.
3. The multi-axis synchronous control unit according to claim 2, wherein the winding and unwinding assembly (33) comprises a winding roller (332) and a fourth driving motor (331) for driving the winding roller (332) to rotate.
4. The multi-axis synchronous control unit according to claim 3, wherein the tension control unit (3) further comprises a conveying roller (36), a pad roller (37), and a fifth driving motor (35), the conveying roller (36) and the pad roller (37) being respectively provided on both sides of the belt, the fifth driving motor (35) being for driving the conveying roller (36) to rotate.
5. The multi-axis synchronous control unit according to claim 1, characterized in that the support rail (41) comprises a third bracket (411) fixed on the base (1) and a second X-axis linear module (412) fixed on the third bracket (411).
6. The multi-axis synchronous control unit according to claim 5, characterized in that two symmetrically arranged side clamping assemblies (42) are respectively arranged on the corresponding second X-axis linear module (412), the side clamping assemblies (42) comprise a sixth driving motor (421) fixed on the X-axis slide block of the second X-axis linear module (412) and a clamping plate (422) connected on the output shaft of the sixth driving motor (421).
7. The multi-axis synchronous control unit according to claim 1, wherein the motion control unit (2) comprises two parallel first supports (21), two first X-axis linear modules (22) arranged on the two first supports (21), a Y-axis linear module (23) arranged between the two first X-axis linear modules (22), a vertical movement mechanism (24) arranged on the Y-axis linear module (23), a first driving mechanism (25) and a second driving mechanism (26), wherein the first driving mechanism (25) is used for driving the Y-axis linear module (23) to reciprocate along the first X-axis linear module (22), and the second driving mechanism (26) is used for driving the vertical movement mechanism (24) to reciprocate along the Y-axis linear module (23).
8. The multi-axis synchronous control unit according to claim 7, wherein the first X-axis linear module (22) comprises an X-axis slide rail, an X-axis sliding table slidably disposed on the X-axis slide rail, and an X-axis belt transmission mechanism disposed on the X-axis slide rail, wherein an X-axis synchronous belt of the X-axis belt transmission mechanism is connected with the X-axis sliding table, and the first driving mechanism (25) drives a pair of X-axis sliding tables to move synchronously.
9. The multi-axis synchronous control unit according to claim 7, wherein the vertical moving mechanism (24) comprises a carriage (241) and a third driving mechanism (27) arranged on the carriage (241), a screw rod (242) on the carriage (241) is in threaded connection with a Y-axis sliding table of the Y-axis linear module (23), and the third driving mechanism (27) drives the carriage (241) to move up and down by driving the screw rod (242) to rotate.
10. The multi-axis synchronous control unit according to claim 9, characterized in that the bottom of the carriage (241) is provided with a laser pointer (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920439368.6U CN210052417U (en) | 2019-04-02 | 2019-04-02 | Multi-axis synchronous control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920439368.6U CN210052417U (en) | 2019-04-02 | 2019-04-02 | Multi-axis synchronous control unit |
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| CN210052417U true CN210052417U (en) | 2020-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920439368.6U Withdrawn - After Issue CN210052417U (en) | 2019-04-02 | 2019-04-02 | Multi-axis synchronous control unit |
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| CN (1) | CN210052417U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109949687A (en) * | 2019-04-02 | 2019-06-28 | 亚龙智能装备集团股份有限公司 | A kind of multi-axis synchronized control unit |
-
2019
- 2019-04-02 CN CN201920439368.6U patent/CN210052417U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109949687A (en) * | 2019-04-02 | 2019-06-28 | 亚龙智能装备集团股份有限公司 | A kind of multi-axis synchronized control unit |
| CN109949687B (en) * | 2019-04-02 | 2024-04-30 | 亚龙智能装备集团股份有限公司 | Multi-axis synchronous control unit |
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