EP2529821A1 - Système d'entraînement hydraulique pour une scène de théâtre avec une pompe hydraulique à réglage de vitesse comme élément de commande - Google Patents

Système d'entraînement hydraulique pour une scène de théâtre avec une pompe hydraulique à réglage de vitesse comme élément de commande Download PDF

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Publication number
EP2529821A1
EP2529821A1 EP12169701A EP12169701A EP2529821A1 EP 2529821 A1 EP2529821 A1 EP 2529821A1 EP 12169701 A EP12169701 A EP 12169701A EP 12169701 A EP12169701 A EP 12169701A EP 2529821 A1 EP2529821 A1 EP 2529821A1
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EP
European Patent Office
Prior art keywords
hydraulic
drive system
check valve
actuator
pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12169701A
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German (de)
English (en)
Other versions
EP2529821B1 (fr
Inventor
Johannes Thomas Grobe
Juergen Stanzel
Volker Kirsch
Gunther Weiglein
Siegmund Kaiser
Martin Pawlik
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of EP2529821A1 publication Critical patent/EP2529821A1/fr
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Publication of EP2529821B1 publication Critical patent/EP2529821B1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
    • A63J1/00—Stage arrangements
    • A63J1/02—Scenery; Curtains; Other decorations; Means for moving same
    • A63J1/028—Means for moving hanging scenery

Definitions

  • the invention relates to a hydraulic drive system according to the preamble of claim 1 and an acting stage with such a drive system.
  • the stage set of an acting stage often has a variety of movable stage elements.
  • the background images for various acts of a play are called, which can be lowered on ropes either from above into the field of view of the stage.
  • the movable stage element may, for example, also be a lifting table with which, for example, actors can be transported from a space below the stage into the viewing area of the stage.
  • the movable stage element can also perform horizontal or on any tracks running movements.
  • a hydraulic drive system offers a high level of accident safety in the event of unplanned failure of system components. So that these same requirements can be met, usually a memory unit is provided which is filled with pressurized hydraulic fluid. The hydraulic fluid is delivered to the storage unit with a first hydraulic pump. The movable stage element is in drive connection with an actuator.
  • the actuator may optionally be a hydraulic cylinder or a hydraulic motor. Since usually very many moving stage elements are present, accordingly many actuators are present. These are usually collected mounted on one or more frames in the Edge area of the stage are placed. It is desired that as many actuators can be mounted in a single compact frame.
  • the actuators are connected to a check valve unit so that they can be reliably shut down or locked. In case of a fault in the hydraulic drive system is thereby prevented that the movable stage element crashes. Further, by the check valve unit, the slow sinking of said movable member due to leakage oil flows can be prevented.
  • the check valve unit therefore comprises at least one seat valve as a check valve, which is free of leakage oil flows.
  • the fluid flow from the storage unit to the actuator is controlled by a control.
  • a control So far, it is customary to use a preferably electrically controlled proportional valve as a control.
  • a preferably electrically controlled proportional valve as a control.
  • Such a valve comprises a throttle whose opening cross-section is infinitely variable.
  • the size of the opening cross-section determines the size of the fluid flow to the actuator.
  • a pressure compensator may be provided which keeps the pressure drop at the aforementioned throttle constant, so that there is a total of a current control.
  • the object of the invention is to save at least part of this energy.
  • the high requirements in terms of noise, freedom from accident and accident safety must be considered.
  • control comprises a second hydraulic pump, which can also be operated as a hydraulic motor, wherein the second hydraulic pump is in rotary drive connection with an electric motor, wherein the electric motor is connected to a speed control device, which can set the speed of the electric motor to a predefinable setpoint.
  • the actuator By means of the speed control device, the actuator can be moved as in the known hydraulic drive system in the desired position. It is exploited that the traversing speed of the actuator is proportional to the speed of the electric motor.
  • the speed control device may be a frequency converter, wherein the electric motor is preferably a synchronous motor. But it can also be provided a speed controller, wherein the electric motor can also be an asynchronous motor.
  • the speed control device can be connectable to a power supply, wherein it can feed back electrical energy into the power supply when the second hydraulic pump operates as a motor.
  • the pressure surplus in the storage unit which is not required for moving the movable stage element, can be converted into electrical energy. On a throttling of this pressure surplus can be dispensed with.
  • the power supply can be the public AC grid.
  • the DC link is usually a DC voltage supply. From the corresponding DC voltage required for driving the electric motor AC voltages is generated by means of power semiconductors. at corresponding polarity of voltages and currents results in a return of electrical energy in the DC link.
  • the second hydraulic pump may be associated with a second check valve unit which can selectively block a fluid flow from the storage unit to the second hydraulic pump. It is known that hydraulic pumps regularly leak leaks in hydraulic fluid which is returned to the tank. These leakages would cause the memory unit to slowly empty. This is prevented by the second check valve unit.
  • first and a second pressure sensor wherein the first pressure sensor may determine the fluid pressure between the actuator and the associated first check valve unit, wherein the second pressure sensor may determine the fluid pressure between the first check valve unit and the associated second hydraulic pump, wherein a pressure control device provided which is connected to the first and the second pressure sensor and the rotational speed control device, wherein the pressure regulating means can regulate the pressure difference between the first and the second pressure sensor by presetting a rotational speed target value to the rotational speed control means.
  • the first check valve unit may include first and second check valve subunits connected in parallel with each other, the second check valve subunit having a smaller free flow area than the first check valve subunit.
  • the second check valve subunit With the second check valve subunit, positional changes of the actuator caused by thermal expansion of the hydraulic fluid can be compensated. When such a change in position is detected, the second check valve unit is opened so that hydraulic fluid can slowly escape from the actuator.
  • the second check valve subunit preferably upstream or downstream of a throttle, which further reduces the fluid flow. Due to the small free flow cross section and the throttle, a particularly sensitive compensation of the thermal expansion of the hydraulic fluid is possible.
  • the first and / or the second check valve subunit may each comprise at least two separate, substantially identical check valves which are connected in series. As a result, the reliability of the check valve subunit is increased. If a check valve no longer or no longer completely blocks due to a defect, then the other check valve is still available to completely shut off the fluid flow.
  • the check valves are preferably those which can cause a blockage of the fluid flow in both directions of flow.
  • the first and / or the second check valve unit may be electromagnetically actuated, wherein they are locked in the de-energized state. Because of the electromagnetic operation, the check valve unit can be easily switched by an electronic control device. In the event of a malfunction of the hydraulic drive system, it is sufficient to switch this completely de-energized, in order to bring it into a safe state in which the actuators remain immobile in the current position.
  • the locked state is preferably switched with a return spring.
  • the actuator may be associated with a position sensor and a position control device, which are connected to the speed control device, wherein the position control device can regulate the position of the actuator by specifying a target speed to the speed control device. With this embodiment, any intermediate position of the actuator can be approached.
  • a speed control of the actuator may be provided.
  • the position transmitters are preferably a cable or tape tension transmitter.
  • the second hydraulic pump may be associated with an electromagnetically adjustable throttle, which is connected to at least one pressure port of the second hydraulic pump and a tank of the first hydraulic pump, wherein the speed control device may open the throttle instead of lowering the target speed.
  • the second hydraulic pump is preferably a particularly cost-effective embodiment, for example an internal gear pump.
  • Such hydraulic pumps use the hydraulic fluid to lubricate their moving parts, so that the hydraulic pump must always run at a certain minimum speed. Due to the proposed adjustable throttle, this minimum speed can be maintained even if the actuator is to be moved particularly slowly. The excess fluid flow is discharged via the throttle into the tank.
  • the pump pressure can be regulated via the opening cross-section of the throttle.
  • each separate throttle can be provided in front of and behind the hydraulic pump depending on a separate throttle so that each separate throttle is available for both directions of rotation of the hydraulic pump.
  • a throttle which is connectable via a directional control valve with one of the two pressure ports of the second hydraulic pump.
  • the position transmitter may comprise at least two mutually independent position detecting means, wherein the position control means may set the hydraulic drive system in a safe, preferably de-energized state, when the independent position detection means report different positions of the actuator.
  • the position control means may set the hydraulic drive system in a safe, preferably de-energized state, when the independent position detection means report different positions of the actuator.
  • At least one pump pressure limiting valve may be provided, which is connected to a pressure connection of the second hydraulic pump, wherein no hydraulic fluid can escape from the hydraulic drive system between the first check valve unit and the actuator.
  • the pump pressure relief valve ensures that a predetermined Maximum pressure in the system is not exceeded, so that no element of the hydraulic drive system bursts due to overpressure.
  • no such pressure relief valve may be present between the actuator and the first check valve unit, so that the hydraulic drive system can be reliably shut down in the event of a malfunction. In such a fault case, it prefers to claim the hydraulic drive system to the limits of its capacity to avoid damage in the environment of the system.
  • Fig. 1 shows an overview plan to see how the in the Fig. 2 to 5 shown subunits of the hydraulic drive system according to the invention are interconnected. These are the pump line P, the tank line T, the leak oil line L, the sub tank line T ', the working pressure line A and the accumulator pressure line B to hydraulic connecting lines, while the pressure sensor line C, the first position sensor line D and the second position sensor line E electrical connection lines ,
  • Fig. 2 shows a rough schematic representation of the actuator 20 and the spectacle stage 10.
  • the actuator 25 is formed by a hydraulic cylinder whose piston rod side cylinder chamber 27 via the working pressure line A with the first check valve unit (No. 90; Fig. 5 ) connected is.
  • a first pressure sensor 29 is connected, which via the pressure sensor line C with the pressure control device (No. 84; Fig. 5 ) connected is.
  • the opposite cylinder chamber 28 is connected to the ambient pressure, one speaks therefore of a pull cylinder.
  • the piston rod 26 of the actuator 25 is connected via a pulley 15 with a wire comb 13 to which the movable stage element 11 of the drama stage 10 depends.
  • the movable stage element 11 may, for example, be a background image of the stage image, wherein a different background image is provided for each act of a play.
  • the cable comb 13 comprises a plurality of deflection rollers 14 for separate cables 12, which are arranged distributed over the width of the movable stage element 11, so that it is suspended substantially uniformly over the entire width.
  • the pulley 15 translates a relatively small movement of the actuator 25 in a larger movement of the movable stage element 11, wherein a hydraulic actuator can easily apply the large actuating forces caused thereby.
  • the external load of the cylinder 25 is designed for half the maximum allowable load.
  • the first roller 16 of the pulley 15 is rotatably connected to the piston rod 26, wherein the second roller 17 is rotatably connected to a (not shown) steel frame of the drama stage 10.
  • the piston rod 26 of the actuator 25 is further connected to a position sensor 22 which is equipped with two redundant position detection means 23.
  • One of the position detecting means 23 outputs a digital incremental signal, the other outputting an absolute signal.
  • the position detection means 23 are designed as rope or Bandzuggeber, wherein the traction means 24 is fixedly connected to the free end of the piston rod 26.
  • the two position detection means 23 are via the first and the second position sensor line D; E with the positioner (No. 81; Fig. 5 ) connected.
  • the two position detection means 23 may be a single position detection means be provided, the traction means is monitored for tearing and / or sagging.
  • Fig. 3 shows a hydraulic circuit diagram of the storage loading unit 30.
  • the storage loading unit 30 includes a first hydraulic pump 31 which is in rotary drive connection with an electric motor 32. These can be equipped with a (not shown) electrically or hydraulically switchable brake, which is held closed by a spring.
  • the electric motor 32 is preferably an asynchronous motor with a fixed operating speed and direction of rotation.
  • the first hydraulic pump 31 has a continuously variable displacement volume and is preferably designed as a swash plate or oblique axis machine.
  • the first hydraulic pump 31 is equipped with a hydraulic adjusting device 33 for adjusting the displacement volume, which is biased in the direction of a small displacement volume with a spring.
  • the adjusting device 33 is connected to a hydraulically operating pressure regulator 34, to which the desired value of the pump delivery pressure is manually adjustable.
  • the suction side of the first hydraulic pump 31 is connected to a tank 40, which is equipped with a manually operable drain valve 41 and a level monitor 42, wherein the tank 40 is filled in operation with hydraulic fluid, preferably hydraulic oil.
  • the tank 40 is in the form of a closed container which is connected to the ambient air via a two-stage air filter 43 for ventilation, so that the pressure in the tank 40 is substantially equal to the ambient pressure.
  • the tank line T is equipped with a return oil filter 44.
  • the return oil filter 44 in turn has a highly biased check valve 45, which opens when the return oil filter 44 is heavily contaminated because of late filter change, so that the hydraulic drive system can then still be operated on in makeshift.
  • the drain line L and the sub tank line T ' are not provided with a filter.
  • the main pressure relief valve 50 To the pressure side of the first hydraulic pump 31, the main pressure relief valve 50 is connected, the drain line leads directly into the tank 40.
  • the main pressure limiting valve 50 is closed during normal operation of the hydraulic drive system, since the set at the pressure control valve 34 operating pressure is significantly smaller than the triggering pressure of the main pressure relief valve 50.
  • a check valve 51 is arranged in the pump line P, which prevents a return flow of hydraulic fluid from the drive system, in particular the storage unit in the first hydraulic pump, when it is not driven.
  • a pressure gauge 53 is provided for indicating the pump delivery pressure.
  • a manually operable drain valve 52 is provided, which is opened when the hydraulic drive system is to be emptied of hydraulic fluid.
  • a manually operable shut-off valve 54 is provided, which is closed when the storage loading unit is separated from the storage loading unit 30 so that no hydraulic fluid escapes from the storage loading unit 30.
  • a feed oil filter 55 is provided in the pump line P, which is equipped with a contamination monitor 56. Once this indicates excessive fouling of the feed oil filter 55, the flow and return oil filters 55; 44 to change.
  • the second hydraulic pump can also be used to charge the memory unit, with a correspondingly adapted wiring.
  • Fig. 4 shows a hydraulic circuit diagram of the storage unit 60.
  • the present storage unit 60 comprises four separate, identical storage chamber units 63 which are connected in parallel to each other, wherein, depending on the storage volume requirement, any number of storage chamber units 63 may be provided.
  • the storage volume requirement results from the maximum volume of fluid that flows back and forth between the storage unit 60 and the actuators during operation. It depends on how many actuators are operated simultaneously.
  • Each storage chamber unit 63 comprises a storage chamber 64, which may be in the form of a bubble or a piston accumulator. It can also piston accumulator be provided with downstream gas storage to minimize energy losses by heating the storage chambers 64.
  • movable partition 68 On the one side of the defined by the rubber bladder or the piston, movable partition 68 is a compressible gas, in particular nitrogen, arranged in a closed gas space.
  • hydraulic fluid is introduced via the pump line P until the closed pressure accumulator 64 (see FIG. Fig. 3 ) set the pressure. Because of the parallel connection of the storage chamber units 61, the same filling pressure arises in all storage chambers 64.
  • a two-point pressure control for the storage device 60 may also be provided.
  • Each storage chamber unit 63 is equipped with a storage pressure limiting valve 67 which ensures that the storage chamber 64 does not burst, in particular when hydraulic fluid is conveyed from the actuator into the storage unit 60 via the control unit.
  • the accumulator pressure limiting valve 67 is connected to the tank line T, so that the excess hydraulic fluid is filtered in the tank Tank flows back.
  • each storage chamber unit 63 is equipped with a manually operable Speicherabsperrventil 65, which is closed, for example, when the storage chamber 64 is changed in case of maintenance.
  • each storage chamber unit is equipped with a manually operable drain valve 66, which is opened when the storage chamber is to be completely emptied of hydraulic fluid, especially when the hydraulic drive system is shut down. The hydraulic fluid then flows through tank line T filtered into the tank.
  • the check valve 61 in the pump line P which prevents hydraulic fluid from flowing back from the storage unit 60 in the direction of the storage loading unit, in particular when the storage unit 60 is separated from the storage loading unit.
  • the entire storage unit 60 is provided with a manually operable shut-off valve 62 which is closed, for example, when the storage unit 60 is disconnected from the control unit.
  • the shut-off valve 62 the accumulator pressure line B and the pump line P are interconnected.
  • Fig. 5 shows a hydraulic circuit diagram of the control unit 70.
  • the control unit 70 includes the second hydraulic pump 75, which is formed for example in the form of an internal gear pump, as a control element.
  • the second hydraulic pump 75 is connected to an electric motor 76 in rotary drive connection, which is designed for example as a synchronous or asynchronous motor.
  • the electric motor 76 is supplied with electrical energy via a speed control device 80.
  • the speed control device 80 may be a frequency converter in the case of a synchronous motor.
  • a speed controller is used which adjusts the detected by a rotary encoder 77 on the electric motor 76 actual speed to a predetermined target speed.
  • the speed control device 80 can adjust the rotational speed of the electric motor 76 and thus of the second hydraulic pump 76 continuously between the two directions of rotation.
  • the speed control device 80 can transmit electrical energy from the (not shown) power supply, for example the public power grid, to the electric motor 76, so that the second Hydraulic pump 75 operates in pump mode.
  • the speed control device 80 can also transmit electrical energy from the electric motor 76, which then works as a generator, to the power supply.
  • the second hydraulic pump 75 operates as a motor in this case. Whether there is engine or pump operation depends on the flow direction of the hydraulic fluid and on the sign of the pressure difference across the second hydraulic pump 75.
  • Both pressure ports of the second hydraulic pump 76 are each secured by a separate pump pressure relief valve 85 against overpressure.
  • the pump pressure limiting valves 85 are connected to the tank via the sub tank line T ', in which no filter is arranged.
  • the pump pressure limiting valves 85 are closed during normal operation of the hydraulic drive system.
  • Parallel to the pump pressure limiting valves 85 each a Nachsaugventil 86 is installed in the form of a check valve, which allows fluid flow from the tank to the second hydraulic pump 75, but not vice versa. Such a fluid flow takes place when the pressure at a pressure port of the second hydraulic pump falls below the ambient pressure. In such a condition, the second hydraulic pump 75 could be damaged by cavitation, such a condition occurring only in exceptional circumstances and not in normal operation of the hydraulic drive system.
  • a manually actuated drain valve 73 is provided, which is opened when the control unit 70 is to be emptied of hydraulic fluid, wherein the hydraulic fluid via the sub tank line T 'flows unfiltered into the tank.
  • the second hydraulic pump 75 is connected via the working pressure line A to the actuator (No. 25; Fig. 2 ) connected.
  • a manually operable shut-off valve 71 is installed, which is closed when the control unit 70 is to be separated from the actuator.
  • a first shut-off valve unit 90 which includes first and second shut-off valve subunits 91 connected in parallel; 92 includes.
  • the two check valve subunits 91; 92 are each composed of two series-connected shut-off valves 94, wherein the check valves 94 of the second Lock valve subunit 92 have a smaller free flow cross-section than that of the first check valve subunit 91.
  • a fixed throttle 93 is installed before the check valves 94 of the second check valve subunit 92 a fixed throttle 93 is installed. All check valves 94 of the check valve unit 90 are electromagnetically actuated, being kept closed at rest by a return spring, blocking the fluid flow in both directions.
  • the actuator can be shut down with high safety. It should be noted that there is no possibility between the first check valve unit 90 and the actuator for the hydraulic fluid to escape from the hydraulic drive system.
  • the second check valve subunit 92 is only opened when a position change of the actuator is to be compensated due to a thermal expansion of the hydraulic fluid. Incidentally, the second check valve subunit 92 is always closed.
  • the check valves 94 of the first check valve unit 90 are preferably provided with a shift monitor to further increase the safety of the hydraulic drive system.
  • a second pressure sensor 82 which, together with the first pressure sensor (No. 29; Fig. 2 ) is connected to a pressure control device 84.
  • the pressure control device 84 may specify a time-variable speed setpoint to the speed control device 80 to control the pressure difference across the second check valve unit 90. This happens in particular when the first check valve unit 90 is to be opened. For this to happen smoothly, said pressure difference must be zero before opening. This state can be adjusted by the pressure control device 84.
  • the second hydraulic pump 75 is connected to the storage unit via the storage line B.
  • a manually operable shut-off valve 72 is arranged, which is closed when the control device 70 is to be separated from the storage unit.
  • a second shut-off valve unit 95 is installed, which consists of a single shut-off valve.
  • This check valve is electromagnetically actuated, wherein it is kept closed by a return spring, so that it blocks the fluid flow in both flow directions.
  • the second check valve unit 95 prevents the storage unit from emptying due to leakage oil flows in the second hydraulic pump 75. Accordingly, the second shut-off valve unit 95 is closed when the actuator stops.
  • the mentioned leakage oil flows through the drain line L unfiltered into the tank.
  • the leak oil line is provided with a check valve 74, which prevents the second hydraulic pump 75 from drawing in hydraulic fluid via the leak oil line L from the tank.
  • the attitude controller may provide speed control means 80 with a time varying speed setpoint to control the position and travel speed of the actuator.
  • the pressure control device 84 and the position control device 81 are preferably designed in the form of a digital computer, which also controls the other devices of the hydraulic drive system. Preferably, at least two redundant digital computers are provided.

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EP12169701.5A 2011-06-03 2012-05-29 Système d'entraînement hydraulique pour une scène de théâtre avec une pompe hydraulique à réglage de vitesse comme élément de commande Active EP2529821B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011103515A DE102011103515A1 (de) 2011-06-03 2011-06-03 Hydraulisches Antriebssystem für eine Schauspielbühne mit drehzahlverstellbarer Hydraulikpumpe als Steuerelement

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EP2529821A1 true EP2529821A1 (fr) 2012-12-05
EP2529821B1 EP2529821B1 (fr) 2017-04-26

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EP12169701.5A Active EP2529821B1 (fr) 2011-06-03 2012-05-29 Système d'entraînement hydraulique pour une scène de théâtre avec une pompe hydraulique à réglage de vitesse comme élément de commande

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EP (1) EP2529821B1 (fr)
DE (1) DE102011103515A1 (fr)
PL (1) PL2529821T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018080958A2 (fr) 2016-10-26 2018-05-03 National Oilwell Varco, L.P. Vérin hydraulique de mesure de charge
CN108386417A (zh) * 2018-02-08 2018-08-10 宁波德昂纳机械有限公司 一种多工位试验台及其检测方法

Citations (3)

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Publication number Priority date Publication date Assignee Title
GB1312976A (en) * 1970-05-29 1973-04-11 Hydrafloat Stage Systems Inc Apparatus for controlling the movement and positioning of stage scenery
DE19642163A1 (de) * 1996-01-10 1997-07-24 Trinova Gmbh Verlustarmer Antrieb für mehrere hydraulische Aktuatoren
US20090057636A1 (en) * 2007-08-31 2009-03-05 Tait Towers Inc. Portable lift device and system

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
DE1434751A1 (de) * 1964-12-22 1968-11-28 Maschf Augsburg Nuernberg Ag Fernbetaetigung zur stufenlosen Geschwindigkeitsregelung hydraulisch bewegter Buehneneinrichtungen
DE3723845A1 (de) * 1987-07-18 1989-01-26 Krupp Gmbh Hydrostatischer antrieb fuer buehneneinrichtungen
US8186154B2 (en) * 2008-10-31 2012-05-29 Caterpillar Inc. Rotary flow control valve with energy recovery

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1312976A (en) * 1970-05-29 1973-04-11 Hydrafloat Stage Systems Inc Apparatus for controlling the movement and positioning of stage scenery
DE19642163A1 (de) * 1996-01-10 1997-07-24 Trinova Gmbh Verlustarmer Antrieb für mehrere hydraulische Aktuatoren
US20090057636A1 (en) * 2007-08-31 2009-03-05 Tait Towers Inc. Portable lift device and system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018080958A2 (fr) 2016-10-26 2018-05-03 National Oilwell Varco, L.P. Vérin hydraulique de mesure de charge
WO2018080958A3 (fr) * 2016-10-26 2019-05-31 National Oilwell Varco, L.P. Vérin hydraulique de mesure de charge
CN108386417A (zh) * 2018-02-08 2018-08-10 宁波德昂纳机械有限公司 一种多工位试验台及其检测方法
CN108386417B (zh) * 2018-02-08 2023-12-29 宁波德昂纳机械有限公司 一种多工位试验台及其检测方法

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DE102011103515A1 (de) 2012-12-06
EP2529821B1 (fr) 2017-04-26
PL2529821T3 (pl) 2017-09-29

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