FR2906558A1 - Opening frame`s angular position controlling method for e.g. garden shed, involves utilizing parameter representing angular position of frame for forming feedback to control position, and utilizing inclinometer for generating parameter - Google Patents

Opening frame`s angular position controlling method for e.g. garden shed, involves utilizing parameter representing angular position of frame for forming feedback to control position, and utilizing inclinometer for generating parameter Download PDF

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Publication number
FR2906558A1
FR2906558A1 FR0608512A FR0608512A FR2906558A1 FR 2906558 A1 FR2906558 A1 FR 2906558A1 FR 0608512 A FR0608512 A FR 0608512A FR 0608512 A FR0608512 A FR 0608512A FR 2906558 A1 FR2906558 A1 FR 2906558A1
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France
Prior art keywords
opening
angular position
inclinometer
parameter
frame
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Granted
Application number
FR0608512A
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French (fr)
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FR2906558B1 (en
Inventor
Alain Durand
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Innovation du Batiment SAS
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INNOVATION DU BATIMENT SOCIETE PAR ACTIONS SIMPLIFIEE Ste
Innovation du Batiment SAS
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Priority to FR0608512A priority Critical patent/FR2906558B1/en
Publication of FR2906558A1 publication Critical patent/FR2906558A1/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04D—ROOF COVERINGS; SKY-LIGHTS; GUTTERS; ROOF-WORKING TOOLS
    • E04D13/00—Special arrangements or devices in connection with roof coverings; Protection against birds; Roof drainage ; Sky-lights
    • E04D13/03—Sky-lights; Domes; Ventilating sky-lights
    • E04D13/035—Sky-lights; Domes; Ventilating sky-lights characterised by having movable parts
    • E04D13/0351—Sky-lights; Domes; Ventilating sky-lights characterised by having movable parts the parts pivoting about a fixed axis
    • E04D13/0354—Sky-lights; Domes; Ventilating sky-lights characterised by having movable parts the parts pivoting about a fixed axis the parts being flat
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/71—Power-operated mechanisms for wings with automatic actuation responsive to temperature changes, rain, wind or noise
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04D—ROOF COVERINGS; SKY-LIGHTS; GUTTERS; ROOF-WORKING TOOLS
    • E04D13/00—Special arrangements or devices in connection with roof coverings; Protection against birds; Roof drainage ; Sky-lights
    • E04D13/04—Roof drainage; Drainage fittings in flat roofs, balconies or the like
    • E04D13/08—Down pipes; Special clamping means therefor
    • E04D2013/082—Down pipe branches
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/322—Position control, detection or monitoring by using absolute position sensors
    • E05Y2400/326—Position control, detection or monitoring by using absolute position sensors of the angular type
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/148—Windows
    • E05Y2900/152—Roof windows

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The method involves utilizing a parameter such as inner temperature and humidity of a building e.g. garden shed, and external meteorological conditions, representing an angular position of an opening frame (1) of the building for forming a feedback for controlling the position of the opening frame. An inclinometer i.e. ADXL inclinometer, arranged directly on the opening frame, is utilized for generating the parameter. An angular position set point of the opening frame is generated for controlling the position of the opening frame based on the parameter. Independent claims are also included for the following: (1) an opening controlling device comprising electrical connecting unit (2) an opening comprising an inclinometer.

Description

1 L'invention concerne un procédé de commande d'un ouvrant à axe1 The invention relates to a method of controlling an axle opening

horizontal, ainsi qu'un dispositif faisant application. ARRIERE-PLAN DE L'INVENTION On connaît des bâtiments, par exemple des serres, des hangars ou des étables, comportant des ouvrants à axes horizontaux disposés notamment sur le toit, et qui sont commandés pour s'ouvrir ou se fermer en fonction de paramètres tels que la chaleur ou l'humidité régnant à l'intérieur du bâtiment, ou en fonction des conditions météorologiques. La manoeuvre de ces ouvrants est par exemple effectuée à l'aide de moteurs électriques. Dans un premier mode de mise en oeuvre, les moteurs sont contrôlés en boucle ouverte, et l'angle d'ou- verture d'un ouvrant dépend d'un temps d'alimentation du moteur correspondant. Dans une telle mise en oeuvre, il est impossible de vérifier si l'ouvrant a effectivement atteint la position désirée. Un blocage du moteur ou de la transmission entre le moteur et l'ouvrant est ainsi indétectable, ce qui peut poser des problèmes importants. Par exemple, si une serre reste close du fait d'un blocage de l'ouvrant en position fermée, la température intérieure peut monter rapidement et provoquer la perte de la culture. Si au contraire l'ouvrant reste ouvert, la température intérieure peut descendre et provoquer la perte des cultures. En cas de vent violent, l'ouvrant resté ouvert peut être détérioré, voire arraché. Dans un deuxième mode de mise en oeuvre plus perfectionné, les moteurs sont contrôlés par un asservisse-ment à boucle de rétroaction portant sur la position angulaire de l'ouvrant. Le signal utilisé pour la rétroaction est par exemple généré par un potentiomètre disposé en bout de l'arbre de sortie du réducteur du moteur. Ce-pendant, en cas de casse dans la chaîne de transmission mécanique en aval du potentiomètre, cet asservissement ne 2906558 2 permet pas de garantir que l'ouvrant ait atteint la position désirée. En outre, le potentiomètre est sujet à usure, ce qui rend l'asservissement moins précis. OBJET DE L'INVENTION 5 L'invention a pour objet un procédé de contrôle de l'ouvrant à axe horizontal ne présentant pas les inconvénients précités. BREVE DESCRIPTION DE L'INVENTION En vue de la réalisation de ce but, on propose un 10 procédé de commande de la position angulaire d'un ouvrant monté pivotant autour d'un axe horizontal sous l'action d'un organe d'actionnement, le procédé comportant l'utilisation d'un paramètre représentatif de la position angulaire de l'ouvrant, dans lequel l'on utilise au moins 15 un inclinomètre disposé directement sur l'ouvrant pour générer ledit paramètre. Ainsi, quelque soit l'état de la transmission mécanique, il est possible de connaître, à tout moment, la position angulaire exacte de l'ouvrant, et on peut ainsi 20 détecter une défaillance dans la chaîne de transmission ou l'organe d'actionnement si la position ainsi déterminée ne correspond pas à la position désirée. En outre, l'inclinomètre n'est pas susceptible d'usure, ce qui garantir la performance de l'asservissement.  horizontal, as well as an application device. BACKGROUND OF THE INVENTION Buildings, for example greenhouses, hangars or barns, have openings with horizontal axes arranged in particular on the roof and which are controlled to open or close according to parameters. such as heat or humidity inside the building, or depending on weather conditions. Maneuvering these openings is for example performed using electric motors. In a first mode of implementation, the motors are controlled in an open loop, and the opening angle of an opening depends on a corresponding motor supply time. In such an implementation, it is impossible to verify whether the opening has actually reached the desired position. A blockage of the engine or transmission between the engine and the sash is undetectable, which can cause significant problems. For example, if a greenhouse remains closed due to a blockage of the opening in the closed position, the indoor temperature can rise quickly and cause the loss of culture. If, on the other hand, the opening remains open, the internal temperature can go down and cause the loss of crops. In case of strong wind, the opening left open may be damaged or ripped off. In a second and more advanced embodiment, the motors are controlled by a servo-feedback feedback loop on the angular position of the opening. The signal used for the feedback is for example generated by a potentiometer disposed at the end of the output shaft of the motor gearbox. However, in case of breakage in the mechanical transmission chain downstream of the potentiometer, this servocontrol does not guarantee that the opening has reached the desired position. In addition, the potentiometer is subject to wear, which makes the servo less accurate. OBJECT OF THE INVENTION The subject of the invention is a method of controlling the horizontal-axis sash which does not have the abovementioned disadvantages. BRIEF DESCRIPTION OF THE INVENTION In order to achieve this object, a method for controlling the angular position of an opening pivotally mounted around a horizontal axis under the action of an actuating member is proposed. the method comprising the use of a parameter representative of the angular position of the sash, in which at least one inclinometer is used arranged directly on the sash to generate said parameter. Thus, whatever the state of the mechanical transmission, it is possible to know, at any moment, the exact angular position of the opening, and it is thus possible to detect a failure in the transmission chain or the transmission member. actuation if the position thus determined does not correspond to the desired position. In addition, the inclinometer is not subject to wear, which guarantees the performance of the servo.

25 Selon un mode préféré de réalisation, le paramètre représentatif de la position angulaire de l'ouvrant issu de l'inclinomètre est utilisé pour former une rétroaction pour un asservissement de la position angulaire de l'ouvrant.According to a preferred embodiment, the parameter representative of the angular position of the opening stem from the inclinometer is used to form a feedback for servocontrol of the angular position of the opening.

30 BREVE DESCRIPTION DES DESSINS L'invention sera mieux comprise à la lumière de la description qui suit en référence aux figures des dessins annexés, parmi lesquelles -la figure 1 est une vue en perspective d'un ou- 35 orant équipé d'un inclinomètre selon l'invention; 2906558 3 - la figure 2 est un schémabloc d'un asservisse-ment mis en oeuvre pour commander la position angulaire de l'ouvrant de la figure 1. DESCRIPTION DETAILLEE DE L'INVENTION 5 En référence à la figure 1, un ouvrant 1 est ici monté pivotant selon un axe horizontal X sur le toit d'un bâtiment, par exemple une serre. Un organe d'actionnement, ici un motoréducteur 2 muni d'un moteur électrique 3, est disposé sur le toit, à proximité de l'ouvrant 1 10 pour commander le pivotement de celui-ci. Le motoréducteur 2 est ici commandé par un logiciel de contrôle du bâtiment implanté dans un dispositif de contrôle des ouvrants du bâtiment, par exemple un au-tomate ou un ordinateur. Comme représenté schématiquement 15 à la figure 2, le logiciel génère une consigne de position angulaire â de l'ouvrant 1 à partir d'informations telles que la température ou l'humidité régnant à l'intérieur du bâtiment, les conditions météorologiques extérieures, provenant de capteurs spécifiques reliés au dis- 20 positif de contrôle (soit directement, soit via un réseau de communication). Le logiciel est adapté à mettre en oeuvre un asservissement à boucle de rétroaction portant sur la position angulaire a de l'ouvrant 1. A cet effet, et de façon classique, le logiciel 25 calcule une différence s entre la consigne de position angulaire â et une position angulaire mesurée cime, de l'ouvrant 1. La différence est fournie à un contrôleur 5 qui génère une commande d'actionnement du motoréducteur 2 de façon que ce dernier fasse pivoter l'ouvrant 1 jus- 30 qu'à ce que sa position angulaire mesurée amer soit égale à la consigne de position angulaire U. Selon un aspect essentiel de l'invention, la position angulaire de l'ouvrant 1 est mesurée à l'aide d'un inclinomètre monté directement sur l'ouvrant 1. Ainsi que 35 cela est visible à la figure 1, l'inclinomètre est ici 2906558 4 inclus dans un boîtier 5 surmoulé étanche, rapporté sur le châssis de l'ouvrant 1 au moyen de vis. L'utilisation d'un inclinomètre présente plu-sieurs avantages: 5 - l'inclinomètre fournit une information représentative de la position angulaire de l'ouvrant en mesurant une accélération dans le champ de gravité terrestre, ce qui rend l'information complètement indépendante de la position angulaire du moteur ou des éléments de réduction 10 du motoréducteur 2. Ainsi, il est toujours possible de connaître la position réelle de l'ouvrant, même si le motoréducteur ou la transmission entre le motoréducteur et l'ouvrant sont défaillants; - l'inclinomètre est un composant très simple et 15 peu onéreux et insusceptible d'usure; on pourra par exemple utiliser l'inclinomètre ADXL 103 de la société ANALOG DEVICE ; - on peut, dans une installation existante, équiper les ouvrants avec des inclinomètres disposés directe- 20 ment sur les ouvrants, et se servir de l'information générée par les inclinomètres en lieu et place de l'information générée par les potentiomètres équipant les groupes motoréducteurs. On peut ainsi moderniser le contrôle des ouvrants d'un bâtiment à moindre frais; 25 - la mise en œuvre des inclinomètres ne nécessite aucun réglage. Le logiciel de contrôle peut être prévu pour étalonner automatiquement les signaux issus des in-clinomètres. En pratique, les boîtiers incluant les inclinomè- 30 tres comportent avantageusement une sortie à deux fils permettant de ramener le signal de position angulaire à un contrôleur point à point (4-20 mA), ou une sortie ré-seau, par exemple de type RS485. L'invention n'est pas limitée à ce qui vient 35 d'être décrit, mais bien au contraire englobe toute va- 2906558 5 riante entrant dans le cadre défini par les revendications. En particulier, bien que l'on ait indiqué que l'on utilisait un seul inclinomètre, on pourra utiliser 5 plusieurs inclinomètres disposés directement sur l'ouvrant pour rendre l'asservissement encore plus fiable. En outre, bien que sur la figure 1, l'ouvrant comporte un axe horizontal X médian, l'invention peut s'appliquer à tout autre ouvrant à axe horizontal, par 10 exemple un ouvrant dont l'axe horizontal se trouve en partie haute.BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood in the light of the following description with reference to the figures of the accompanying drawings, in which: FIG. 1 is a perspective view of an ounter equipped with an inclinometer according to the invention; FIG. 2 is a schemablock of a servo-control implemented to control the angular position of the opening of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION With reference to FIG. 1, an opening 1 is here pivotally mounted along a horizontal axis X on the roof of a building, for example a greenhouse. An actuator, here a geared motor 2 provided with an electric motor 3, is disposed on the roof, near the opening 1 10 to control the pivoting thereof. The geared motor 2 is here controlled by a building control software installed in a control device of the building openings, for example an au-tomate or a computer. As shown diagrammatically in FIG. 2, the software generates an angular position command of the opening 1 from information such as the temperature or the humidity prevailing inside the building, the outside weather conditions coming from specific sensors connected to the control device (either directly or via a communication network). The software is adapted to implement a feedback loop feedback on the angular position a of the opening 1. For this purpose, and in a conventional manner, the software 25 calculates a difference s between the angular position setpoint and An angular measured position of the aperture 1. The difference is supplied to a controller 5 which generates an actuation command of the geared motor 2 so that the latter rotates the opening 1 until its angular position measured bitter is equal to the angular position setpoint U. According to an essential aspect of the invention, the angular position of the opening 1 is measured with an inclinometer mounted directly on the opening 1. Thus As can be seen in FIG. 1, the inclinometer is here included in a sealed molded housing 5, attached to the frame of the opening 1 by means of screws. The use of an inclinometer has several advantages: the inclinometer provides information representative of the angular position of the opening by measuring an acceleration in the earth's gravity field, which makes the information completely independent of the angular position of the motor or the reduction elements 10 of the geared motor 2. Thus, it is still possible to know the actual position of the opening, even if the geared motor or transmission between the gear motor and the leaf is faulty; the inclinometer is a very simple and inexpensive component and insusceptible to wear; it is possible for example to use the inclinometer ADXL 103 of the company ANALOG DEVICE; in an existing installation, it is possible to equip the doors with inclinometers arranged directly on the doors, and to make use of the information generated by the inclinometers instead of the information generated by the potentiometers fitted to the groups. gearmotors. It is thus possible to modernize the control of the opening of a building at lower cost; The implementation of the inclinometers does not require any adjustment. The control software can be provided to automatically calibrate the signals from the clinometer. In practice, the housings including the inclinomers advantageously comprise a two-wire output for returning the angular position signal to a point-to-point controller (4-20 mA), or a network output, for example of the type 485. The invention is not limited to what has just been described, but on the contrary encompasses any variation within the scope defined by the claims. In particular, although it has been indicated that a single inclinometer is used, several inclinometers arranged directly on the sash can be used to make servo control even more reliable. In addition, although in Figure 1, the opening comprises a horizontal axis X median, the invention can be applied to any other opening to horizontal axis, for example an opening whose horizontal axis is in the upper part .

Claims (6)

REVENDICATIONS 1. Procédé de commande de la position angulaire d'un ouvrant (1) monté pivotant autour d'un axe horizon- tal sous l'action d'un organe d'actionnement (2), le pro-cédé comportant l'utilisation d'un paramètre représenta-tif de la position angulaire de l'ouvrant, caractérisé en ce que l'on utilise au moins un inclinomètre (5) disposé directement sur l'ouvrant pour générer ledit paramètre.  1. A method of controlling the angular position of an opening (1) pivotally mounted about a horizontal axis under the action of an actuating member (2), the pro-ceded involving the use of a parameter represents-tif the angular position of the opening, characterized in that at least one inclinometer (5) disposed directly on the sash is used to generate said parameter. 2. Procédé selon la revendication 1, dans lequel le paramètre représentatif de la position angulaire de l'ouvrant issu de l'inclinomètre est utilisé pour former une rétroaction pour un asservissement de la position angulaire de l'ouvrant.  2. The method of claim 1, wherein the parameter representative of the angular position of the opening from the inclinometer is used to form a feedback for a servo of the angular position of the opening. 3. Procédé selon la revendication 2, dans lequel on génère pour l'asservissement une consigne de position angulaire de l'ouvrant en fonction d'au moins l'un des paramètres suivants: - température interne du bâtiment sur lequel l'ouvrant est monté; - humidité interne dudit bâtiment; - conditions météorologiques extérieures.  3. Method according to claim 2, wherein is generated for the servo a set angular position of the opening according to at least one of the following parameters: - internal temperature of the building on which the opening is mounted ; - internal humidity of said building; - outdoor weather conditions. 4. Dispositif de contrôle d'un ouvrant monté pi-votant autour d'axe horizontal, comportant des moyens de liaison électrique à un inclinomètre (5) disposé directe-ment sur l'ouvrant (1), des moyens de liaison électrique à un organe d'actionnement (2) de l'ouvrant, le dispositif étant adapté à commander l'organe d'actionnement en fonction d'un signal issu de l'inclinomètre.  4. Device for controlling an aperture mounted pi-voting around horizontal axis, comprising means of electrical connection to an inclinometer (5) arranged directly on the opening (1), means of electrical connection to a actuating member (2) of the opening, the device being adapted to control the actuating member according to a signal from the inclinometer. 5. Ouvrant destiné à être monté pivotant sur un bâtiment selon un axe horizontal, caractérisé en ce qu'il est équipé d'au moins un inclinomètre (5).  5. Opening intended to be pivotally mounted on a building along a horizontal axis, characterized in that it is equipped with at least one inclinometer (5). 6. Ouvrant selon la revendication 5, dans lequel l'inclinomètre est intégré dans un boîtier (5) rapporté sur l'ouvrant (1).  6. Opening according to claim 5, wherein the inclinometer is integrated in a housing (5) attached to the opening (1).
FR0608512A 2006-09-28 2006-09-28 METHOD FOR CONTROLLING A HORIZONTAL AXIS OPENING Active FR2906558B1 (en)

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FR0608512A FR2906558B1 (en) 2006-09-28 2006-09-28 METHOD FOR CONTROLLING A HORIZONTAL AXIS OPENING

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FR2906558B1 FR2906558B1 (en) 2011-04-22

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010047606A1 (en) * 2008-10-21 2010-04-29 Fakro Pp Spolka Z O.O. Roof window, in particular a smoke extraction window, with a pivot sash
FR2943089A1 (en) * 2009-03-10 2010-09-17 Innovation Du Batiment Soc Control module for opening frame of roof of building i.e. glasshouse, has controller connected to sensor and magnet, where states of sensor and magnet correspond to application of frame on fixed frame and positions of frames, respectively
CN108590421A (en) * 2018-04-04 2018-09-28 西北工业大学 A kind of modular automatic switch window system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0599809A2 (en) * 1989-05-12 1994-06-01 Aug. Winkhaus GmbH & Co. KG Window system for a building
DE29922778U1 (en) * 1999-12-20 2000-04-20 Brockhage Werner Device for solar energy-assisted installation, which is based on e.g. 12 volt base can automatically open and close all windows and doors with a tilt function
WO2002087912A1 (en) * 2001-04-26 2002-11-07 Litens Automotive Powered liftgate opening mechanism and control system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0599809A2 (en) * 1989-05-12 1994-06-01 Aug. Winkhaus GmbH & Co. KG Window system for a building
DE29922778U1 (en) * 1999-12-20 2000-04-20 Brockhage Werner Device for solar energy-assisted installation, which is based on e.g. 12 volt base can automatically open and close all windows and doors with a tilt function
WO2002087912A1 (en) * 2001-04-26 2002-11-07 Litens Automotive Powered liftgate opening mechanism and control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010047606A1 (en) * 2008-10-21 2010-04-29 Fakro Pp Spolka Z O.O. Roof window, in particular a smoke extraction window, with a pivot sash
FR2943089A1 (en) * 2009-03-10 2010-09-17 Innovation Du Batiment Soc Control module for opening frame of roof of building i.e. glasshouse, has controller connected to sensor and magnet, where states of sensor and magnet correspond to application of frame on fixed frame and positions of frames, respectively
CN108590421A (en) * 2018-04-04 2018-09-28 西北工业大学 A kind of modular automatic switch window system

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