CN101081506A - Air suspension flexibility space buttjunction platform - Google Patents
Air suspension flexibility space buttjunction platform Download PDFInfo
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- CN101081506A CN101081506A CN 200710078635 CN200710078635A CN101081506A CN 101081506 A CN101081506 A CN 101081506A CN 200710078635 CN200710078635 CN 200710078635 CN 200710078635 A CN200710078635 A CN 200710078635A CN 101081506 A CN101081506 A CN 101081506A
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Abstract
The present invention discloses one kind of air floated flexible spatial butt-jointing platform including one self-regulating mechanical butt-jointing platform, and features that the self-regulating mechanical butt-jointing platform has one air floated flexible assembling platform comprising one pedestal, one air bag, one floating body set on the pedestal, one locating pin and one locating spring. The pedestal has in the upper end one circular groove to hold the air bag and locating hole to hold the locating spring and the locating pin, which stretches beyond the locating hole and into the position-limiting hole in the lower end of the floating body. The present invention has the obvious effects of the flexible contact between the pedestal and the floating body and the self-adaptive regulating function of the butt-jointing platform to ensure successful spatial butt-jointing with high quality and small torsional force.
Description
Technical field
The invention belongs to the space articulation technical field, specifically, relate to a kind of Mechanical Flexible Space Docking Platform that is adapted to space articulation.
Background technology
Existing industry is more and more higher to the requirement of space articulation technology, pipeline butt joint in workpiece alignment during industry is made as high accuracy, space station contraposition, the medical chemical industry, circuit connection in the network electronic technology etc., and a key factor that influences merging precision is exactly the opposing parallel problem between the two articles approaching face.Assembling, processing or object self wedgewise all can cause not parallel.The problem that at first will consider in assembling process is exactly the contraposition between the two articles that assembles.As shown in Figure 1, usually need workpiece is fixed on the docking platform in engineering, advanced by docking platform, workpiece is installed in the chute of butt joint body, chute a and b are vertically and are parallel to each other that there are two slide rails parallel to each other the workpiece left and right sides.The problem that at first will solve in assembling is exactly the accurate contraposition of vertical chute that makes workpiece and butt joint body so.The problem that at first will solve in assembling is exactly the accurate contraposition that makes between the butt joint workpiece so.
But, list is considered from the accurate contraposition aspect of workpiece and chute or is incomplete, after workpiece has been finished accurate contraposition, be in the stroke of rising, because various operating modes, as vibration, power etc., or human factor acts on workpiece, thereby cause workpiece that the skew of trace takes place in upward stroke, slide rail does not overlap with the geometric center of chute, and this has just directly influenced assembly precision.Simultaneously, have the generation of side direction active force and act on the chute, make the frictional force of slide rail between chute increase, finally cause workpiece and butt joint body to damage.
Its shortcoming is: docking platform does not possess flexibility, does not have self adaptation or self-regulating function, and the torsion when the trace skew takes place in the contraposition stroke workpiece is excessive, can cause workpiece injury or contraposition failure.
Summary of the invention
The purpose of this invention is to provide a kind of gas suspension flexible space docking platform, have flexible self adaptation and self-regulating function, can prevent the excessive torsion that workpiece occurs when the trace skew takes place in the contraposition stroke, avoid workpiece is damaged, make the contraposition success.
For achieving the above object, the present invention is a kind of gas suspension flexible space docking platform, comprise mechanical type self-regulated docking platform, its key is: on the described mechanical type self-regulated docking platform gas suspension flexible assembly platform is installed, described gas suspension flexible assembly platform is by pedestal, air bag, buoyancy body, alignment pin and retainer spring are formed, wherein buoyancy body is placed on the described pedestal, the upper center of pedestal has circular groove, adorn described air bag in this circular groove, the air inlet of air bag passes described pedestal lower end, end periphery has at least two locating holes on the described pedestal, adorn described retainer spring in this locating hole, this places described alignment pin above retainer spring, and this alignment pin stretches out locating hole, and stretch in the spacing hole of described buoyancy body lower surface, make this spacing hole corresponding with described locating hole.
Air bag is at interval between pedestal and buoyancy body, realize flexible contact, make docking platform have adaptive function, when between workpiece and the butt joint body extruding taking place, occur torsion when the trace skew takes place in the contraposition stroke, buoyancy body can be slided on air bag by force direction and tilt with workpiece.Prevent from excessive torsion to occur when workpiece from the trace skew taking place in the contraposition stroke, avoid workpiece is damaged, make the contraposition success.
Described pedestal upper surface is evenly distributed with at least three range sensors.
According to the signal data of different distance sensor, can detect the distance between buoyancy body and the pedestal, thus the gas pressure intensity in the control air bag; Can judge air bag whether jack-up buoyancy body and top workpiece on the other hand, only all be in suspended state and just can be implemented in the self adaptation that rises in forming at buoyancy body and workpiece, thereby adjust the go forward one by one angle and the speed of pedestal, prevent that the skew that workpiece takes place is excessive in the contraposition stroke.
Between described alignment pin and the locating hole, between alignment pin and the spacing hole matched in clearance.
The air inlet of described air bag passes the centre bore of described base bottom.
The central hole location inflation can make air bag stressed more even.
Described pedestal is installed on the mechanical type self-regulated docking platform, this mechanical type self-regulated docking platform is made up of support platform, workbench, three identical plane regulating mechanism, follower and three identical setting governor motions of structure of structure, wherein pedestal is fixed on the upper surface of described workbench, described three plane regulating mechanisms and a follower are set between workbench and support platform, they are by square profile, three setting governor motions that structure is identical are installed on the support platform below the described plane regulating mechanism, and they press the triangle distribution;
Described plane regulating mechanism is by horizontal motor, shaft coupling, feed screw nut pair, movable carriage, slide block and bearing are formed, wherein horizontal motor is installed on the described support platform, the output shaft of horizontal motor connects screw mandrel through shaft coupling, this screw mandrel is parallel with the upper surface of described support platform, the described nut of suit on this screw mandrel, this nut is fixed on the described movable carriage, this movable carriage bottom surface fluting, and be sleeved on the slide rail of described support platform upper surface, the upper surface of described movable carriage has chute and described slide rail spatial vertical, the described slide block of suit on this chute, this slide block is solidly set in the described bearing, and this bearing is packed in the described workbench bottom supporting post;
In the identical plane regulating mechanism of described three structures, there are two screw mandrel axial lines that are arranged in the plane regulating mechanism of homonymy to be parallel to each other, and perpendicular with the extended line of screw mandrel axial line in the 3rd the plane regulating mechanism, the 3rd plane regulating mechanism and described follower are positioned at the same side;
Described follower is made up of movable carriage, slide block and bearing, and the movable carriage in this follower, slide block and bearing are identical with the bearing annexation with movable carriage, slide block in the plane regulating mechanism of described plane regulating mechanism;
Described setting governor motion is made up of motor vertical, worm type of reduction gearing, nut seat and adjustment screw rod, wherein motor vertical is fixed on the described support platform, its output shaft connects described worm type of reduction gearing, the output shaft of worm type of reduction gearing links to each other with described adjustment screw rod through shaft coupling, this adjustment screw rod is vertical with described support platform and stretch out the lower end of support platform, and the lower end of adjusting screw rod is sleeved on the described nut seat.
When the parallel screw mandrel of two plane regulating mechanisms of homonymy promotes movable carriage work in the same way, when another plane regulating mechanism quit work, movable carriage work zone movable slider, bearing and workbench were along the X-direction translation;
When another plane regulating mechanism screw mandrel promotes movable carriage work, when two plane regulating mechanisms of homonymy quit work, movable carriage work zone movable slider, bearing and workbench are along the Y direction translation, and the slide block of two plane regulating mechanisms of homonymy slides in chute.
When the screw mandrel edge of three plane regulating mechanisms promoted movable carriage work by suitable/counter clockwise direction simultaneously, movable carriage work zone movable slider, bearing and workbench rotated along Z-direction.
Fix the nut seat of three setting governor motions,, adjust screw rod and promote the support platform operation in the same way, when keeping the stroke unanimity of three adjustment screw rods, realize that support platform and workbench move along Z-direction when the adjustment screw rod moves in nut seat.
When the stroke of three setting governor motions adjustment screw rods does not wait, realize that support platform and workbench rotate along X-axis and Y direction.
The middle part of described support platform has cavity, and described motor vertical and worm type of reduction gearing are installed in this cavity.
Being set with the inner ring of bearing on the described adjustment screw rod, fixedlys connected with described support platform in the outer ring of this bearing.
Bearing helps strengthening the stability of adjusting screw rod.
In the six degree of freedom docking platform: the effect of plane regulating mechanism makes the workbench can be along the rotation of the moving of X-axis and Y direction, Z axle, realize the parallel operation of Three Degree Of Freedom, the effect of erectting governor motion makes the workbench can moving along the rotation of X-axis and Y direction, Z-direction, realize the parallel operation of Three Degree Of Freedom, the function of plane regulating mechanism and setting governor motion is superimposed, realizes the motion of six-freedom degree.
Remarkable result of the present invention is: air bag is at interval between pedestal and buoyancy body, realize flexible contact, make docking platform have self adaptation or self-regulating function, can prevent the excessive torsion that workpiece occurs when the trace skew takes place in the contraposition stroke, avoid workpiece is damaged, make the contraposition success, with the gas suspension platform, plane regulating mechanism and the independent fabrication and installation respectively of setting governor motion, independent regulation and control, organically combine again, operation control and the mounting or dismounting of being convenient to whole device are safeguarded, satisfy the butt joint requirement of different size size, wherein plane regulating mechanism and setting governor motion are realized the adjusting of six-freedom degree, move and flexible rotating function in conjunction with buoyancy body flexibility in any direction, have improved space articulation quality and butt joint effect.
Description of drawings
Fig. 1 is the space articulation schematic diagram between the workpiece;
Fig. 2 is a space articulation schematic diagram of the present invention;
Fig. 3 is the stereogram of buoyancy body and pedestal;
Fig. 4 is the structural representation that gas suspension flexible assembly platform is installed in the six degree of freedom docking platform;
Fig. 5 is the vertical view of support platform.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
As Fig. 2, shown in 3: a kind of gas suspension flexible space docking platform, mechanical type self-regulated docking platform is provided with gas suspension flexible assembly platform, described gas suspension flexible assembly platform is by pedestal 3, air bag 4, alignment pin 6 and retainer spring 7 are formed, wherein buoyancy body 5 is placed on the described pedestal 3, the upper center of pedestal 3 has circular groove 3a, adorn described air bag 4 in this circular groove 3a, the air inlet of air bag 4 passes described pedestal 3 lower ends, end periphery has at least two locating hole 3b on the described pedestal 3, adorn described retainer spring 7 in this locating hole 3b, this places described alignment pin 6 above retainer spring 7, this alignment pin 6 stretches out locating hole 3b, and stretch in the spacing hole 5a of described buoyancy body 5 lower surfaces, make this spacing hole 5a corresponding with described locating hole 3b.
As shown in Figure 3: described pedestal 3 upper surfaces are evenly distributed with six range sensors 23.
According to the signal data of different distance sensor 23, can detect the distance between buoyancy body 5 and the pedestal 3, thus the gas pressure intensity in the control air bag; Can judge air bag whether jack-up buoyancy body and top workpiece on the other hand, only all be in suspended state and just can be implemented in the self adaptation that rises in forming at buoyancy body and workpiece, thereby adjust the go forward one by one angle and the speed of pedestal 3, prevent that the skew that workpiece takes place is excessive in the contraposition stroke.
Described range sensor 23 can be the inductance type range sensor, or condenser type is done one's utmost sensor etc.
Between described alignment pin 6 and the locating hole 3b, be matched in clearance between alignment pin 6 and the spacing hole 5a.
The air inlet of described air bag 4 passes the centre bore of described pedestal 3 bottoms.
As Fig. 4, shown in 5: described pedestal 3 is installed on the mechanical type self-regulated docking platform, this mechanical type self-regulated docking platform is the six degree of freedom docking platform, this mechanical type self-regulated docking platform is by support platform 8, workbench 9, three plane regulating mechanisms that structure is identical, follower is formed with three identical setting governor motions of structure, wherein pedestal 3 is fixed on the upper surface of described workbench 9, described three plane regulating mechanisms and a follower are set between workbench 9 and support platform 8, they are by square profile, three setting governor motions that structure is identical are installed on the support platform 8 below the described plane regulating mechanism, and they press the triangle distribution;
Described plane regulating mechanism is by horizontal motor 10, shaft coupling 11, screw mandrel 12 nuts 13 pairs, movable carriage 14, slide block 15 and bearing 16 are formed, wherein horizontal motor 10 is installed on the described support platform 8, the output shaft of horizontal motor 10 connects screw mandrel 12 through shaft coupling 11, this screw mandrel 12 is parallel with the upper surface of described support platform 8, the described nut 13 of suit on this screw mandrel 12, this nut 13 is fixed on the described movable carriage 14, this movable carriage 14 bottom surfaces fluting, and be sleeved on the slide rail 21 of described support platform 8 upper surfaces, the upper surface of described movable carriage 14 has chute 22 and described slide rail 21 spatial vertical, the described slide block 15 of suit on this chute 22, this slide block 15 is solidly set in the described bearing 16, and this bearing 16 is packed in the described workbench 9 bottom supporting posts; In the identical plane regulating mechanism of described three structures, there are two screw mandrel 12 axial lines that are arranged in the plane regulating mechanism of homonymy to be parallel to each other, and perpendicular with the extended line of screw mandrel 12 axial lines in the 3rd the plane regulating mechanism, the 3rd plane regulating mechanism and described follower are positioned at the same side;
Described follower is made up of movable carriage 14, slide block 15 and bearing 16, and the movable carriage 14 in this follower, slide block 15 and bearing 16 are identical with bearing 16 annexations with movable carriage 14, slide block 15 in the plane regulating mechanism of described plane regulating mechanism;
As shown in Figure 4: described setting governor motion is made up of motor vertical 17, worm type of reduction gearing 18, nut seat 19 and adjustment screw rod 20, wherein motor vertical 17 is fixed on the described support platform 8, its output shaft connects described worm type of reduction gearing 18, the output shaft of worm type of reduction gearing 18 links to each other with described adjustment screw rod 20 through shaft coupling, this adjustment screw rod 20 and described support platform 8 are vertical and stretch out the lower end of support platform 8, and the lower end of adjusting screw rod 20 is sleeved on the described nut seat 19.
When the parallel screw mandrel of two plane regulating mechanisms of homonymy promotes movable carriage work in the same way, when another plane regulating mechanism quit work, movable carriage work zone movable slider, bearing and workbench were along the X-direction translation;
When another plane regulating mechanism screw mandrel promotes movable carriage work, when two plane regulating mechanisms of homonymy quit work, movable carriage work zone movable slider, bearing and workbench are along the Y direction translation, and the slide block of two plane regulating mechanisms of homonymy slides in chute.
When the screw mandrel edge of three plane regulating mechanisms promoted movable carriage work by suitable/counter clockwise direction simultaneously, movable carriage work zone movable slider, bearing and workbench rotated along Z-direction.
Fix the nut seat 19 of three setting governor motions,, adjust screw rod 20 and promote the support platform operation in the same way, when keeping the stroke unanimity of three adjustment screw rods 20, realize that support platform and workbench move along Z-direction when adjustment screw rod 20 moves in nut seat.
When the stroke of three setting governor motions adjustment screw rods 20 does not wait, realize that support platform and workbench rotate along X-axis and Y direction.
As shown in Figure 4: the middle part of described support platform 8 has cavity, and described motor vertical 17 and worm type of reduction gearing 18 are installed in this cavity.
Being set with the inner ring of bearing 24 on the described adjustment screw rod 20, fixedlys connected with described support platform 8 in the outer ring of this bearing 24.
Bearing 24 helps strengthening the stability of adjusting screw rod 20.
Its operation principle is:
Workpiece is fixed on the buoyancy body 5, workpiece size shape and butt joint body 1 cavity 1a adapt, air bag 4 supports buoyancy body 5 and has extraordinary flexibility, basic implementation process is with blower fan the air inlet of pressure-air below pedestal 3 to be compressed into air bag 4, air bag 4 internal pressures are higher than ambient pressure, the workpiece lifting certain altitude that buoyancy body 5 is placed above.Following connector 1 is sent into the workpiece contraposition among the cavity 1a, torsion appears when the trace skew takes place in the contraposition stroke, between butt joint body 1 and workpiece, push, buoyancy body 5 can be with slided at any angle on air bag 4 by force direction, simultaneously, between the contact-making surface of buoyancy body 5 and pedestal 3, range sensor 23 is housed, can be used to measure the distance between buoyancy body 5 and the pedestal 3.Judge with this whether workpiece is lifted.Be lifted and when leaving pedestal 3 certain altitudes, promptly be in a kind of unconfined poised state when workpiece is in.During the skew of the trace of workpiece occurrence positions in the upward stroke that enters butt joint body 1, the active force by 1 pair of workpiece of butt joint body can make buoyancy body 5 automatically restore to original tram, thereby the adaptive ability of docking platform has just embodied.
Wherein design has two alignment pins 6 on pedestal, and the effect of retainer spring 7 is arranged below them, makes alignment pin 6 closely contact with buoyancy body 5 all the time.Its mainly act on be to prevent when air bag 4 lift buoyancy body 5 and above workpiece the time, buoyancy body 5 is excessive departs from original position, guarantees when gas is excluded in the air bag 4 the buoyancy body 5 accurately position that can fall go back to simultaneously.
Claims (7)
1, a kind of gas suspension flexible space docking platform, comprise mechanical type self-regulated docking platform, it is characterized in that: on the described mechanical type self-regulated docking platform gas suspension flexible assembly platform is installed, described gas suspension flexible assembly platform is by pedestal (3), air bag (4), buoyancy body (5), alignment pin and retainer spring (7) are formed, wherein buoyancy body (5) is placed on the described pedestal (3), the upper center of pedestal (3) has circular groove (3a), adorn described air bag (4) in this circular groove (3a), the air inlet of air bag (4) passes described pedestal (3) lower end, described pedestal (3) is gone up end periphery and is had at least two locating holes (3b), adorn described retainer spring (7) in this locating hole (3b), place described alignment pin above this retainer spring (7), this alignment pin stretches out locating hole (3b), and stretch in the spacing hole (5a) of described buoyancy body (5) lower surface, make this spacing hole (5a) corresponding with described locating hole (3b).
2, gas suspension flexible space docking platform according to claim 1 is characterized in that: described pedestal (3) upper surface is evenly distributed with at least three range sensors (23).
3, gas suspension flexible space docking platform according to claim 1 is characterized in that: between described alignment pin and the locating hole (3b), be matched in clearance between alignment pin and the spacing hole (5a).
4, gas suspension flexible space docking platform according to claim 1, it is characterized in that: the air inlet of described air bag (4) passes the centre bore of described pedestal (3) bottom.
5, gas suspension flexible space docking platform according to claim 1, it is characterized in that: described pedestal (3) is installed on the mechanical type self-regulated docking platform, this mechanical type self-regulated docking platform is by support platform (8), workbench (9), three plane regulating mechanisms that structure is identical, follower is formed with three identical setting governor motions of structure, wherein pedestal (3) is fixed on the upper surface of described workbench (9), described three plane regulating mechanisms and a follower are set between workbench (9) and support platform (8), they are by square profile, support platform (8) below described plane regulating mechanism goes up installs three setting governor motions that structure is identical, and they press the triangle distribution;
Described plane regulating mechanism is by horizontal motor (10), shaft coupling (11), screw mandrel (12) nut (13) pair, movable carriage (14), slide block (15) and bearing (16) are formed, wherein horizontal motor (10) is installed on the described support platform (8), the output shaft of horizontal motor (10) connects screw mandrel (12) through shaft coupling (11), this screw mandrel (12) is parallel with the upper surface of described support platform (8), this screw mandrel (12) is gone up the described nut of suit (13), this nut (13) is fixed on the described movable carriage (14), this movable carriage (14) bottom surface fluting, and be sleeved on the slide rail (21) of described support platform (8) upper surface, the upper surface of described movable carriage (14) has chute (22) and described slide rail (21) spatial vertical, this chute (22) is gone up the described slide block of suit (15), this slide block (15) is solidly set in the described bearing (16), and this bearing (16) is packed in described workbench (9) the bottom supporting post;
In the identical plane regulating mechanism of described three structures, there are two screw mandrel (12) axial lines that are arranged in the plane regulating mechanism of homonymy to be parallel to each other, and perpendicular with the extended line of screw mandrel (12) axial line in the 3rd the plane regulating mechanism, the 3rd plane regulating mechanism and described follower are positioned at the same side;
Described follower is made up of movable carriage (14), slide block (15) and bearing (16), and the movable carriage in this follower (14), slide block (15) and bearing (16) are identical with bearing (16) annexation with movable carriage (14), slide block (15) in the plane regulating mechanism of described plane regulating mechanism;
Described setting governor motion is made up of motor vertical (17), worm type of reduction gearing (18), nut seat (19) and adjustment screw rod (20), wherein motor vertical (17) is fixed on the described support platform (8), its output shaft connects described worm type of reduction gearing (18), the output shaft of worm type of reduction gearing (18) links to each other with described adjustment screw rod (20) through shaft coupling, this adjustment screw rod (20) is vertical with described support platform (8) and stretch out the lower end of support platform (8), and the lower end of adjusting screw rod (20) is sleeved on the described nut seat (19).
6, gas suspension flexible space docking platform according to claim 5, it is characterized in that: the middle part of described support platform (8) has cavity, and described motor vertical (17) and worm type of reduction gearing (18) are installed in this cavity.
7, six degree of freedom docking platform according to claim 5 is characterized in that: being set with the inner ring of bearing (24) on the described adjustment screw rod (20), fixedlys connected with described support platform (8) in the outer ring of this bearing (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100786353A CN100469537C (en) | 2007-06-20 | 2007-06-20 | Air suspension flexibility space buttjunction platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100786353A CN100469537C (en) | 2007-06-20 | 2007-06-20 | Air suspension flexibility space buttjunction platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101081506A true CN101081506A (en) | 2007-12-05 |
| CN100469537C CN100469537C (en) | 2009-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100786353A Expired - Fee Related CN100469537C (en) | 2007-06-20 | 2007-06-20 | Air suspension flexibility space buttjunction platform |
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| CN (1) | CN100469537C (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102809457A (en) * | 2012-08-08 | 2012-12-05 | 吉林大学 | Device for measuring counter-acting force of automobile safety airbag |
| CN103419183A (en) * | 2013-09-02 | 2013-12-04 | 康鼎(上海)自动化设备有限公司 | Horizontal universal floating assembly worktable |
| CN104924055A (en) * | 2015-06-19 | 2015-09-23 | 北京特种机械研究所 | Air cushion transport device used for carrying and accurate butt joint of special machine tools |
| CN106976011A (en) * | 2017-05-19 | 2017-07-25 | 芜湖东旭光电科技有限公司 | Positioner and alignment system |
| CN109551432A (en) * | 2018-10-15 | 2019-04-02 | 徐玄 | A kind of manufacture processing unit (plant) |
| CN109649681A (en) * | 2018-12-26 | 2019-04-19 | 成都航空职业技术学院 | A kind of mobile helicopter repair working auxiliary device convenient for adjusting |
| CN111805495A (en) * | 2020-06-22 | 2020-10-23 | 青岛前哨精密仪器有限公司 | High-precision angle fine-tuning mechanism |
| CN114368491A (en) * | 2021-12-30 | 2022-04-19 | 中国航空工业集团公司沈阳飞机设计研究所 | Quick hanging vehicle for aircraft external stores |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5020964A (en) * | 1989-11-27 | 1991-06-04 | Ford Motor Company | Method and apparatus for robotic transfer of workpieces |
| CN2290456Y (en) * | 1997-04-14 | 1998-09-09 | 北京航空航天大学 | Air type tolerance flexible assembly robot |
| CN1958245A (en) * | 2006-09-16 | 2007-05-09 | 中国工程物理研究院机械制造工艺研究所 | Six-freedom-degree fine adjustment device |
-
2007
- 2007-06-20 CN CNB2007100786353A patent/CN100469537C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102809457A (en) * | 2012-08-08 | 2012-12-05 | 吉林大学 | Device for measuring counter-acting force of automobile safety airbag |
| CN103419183A (en) * | 2013-09-02 | 2013-12-04 | 康鼎(上海)自动化设备有限公司 | Horizontal universal floating assembly worktable |
| CN103419183B (en) * | 2013-09-02 | 2016-08-17 | 康鼎(上海)自动化设备有限公司 | Horizontal universal floating assembly workbench |
| CN104924055A (en) * | 2015-06-19 | 2015-09-23 | 北京特种机械研究所 | Air cushion transport device used for carrying and accurate butt joint of special machine tools |
| CN106976011A (en) * | 2017-05-19 | 2017-07-25 | 芜湖东旭光电科技有限公司 | Positioner and alignment system |
| CN109551432A (en) * | 2018-10-15 | 2019-04-02 | 徐玄 | A kind of manufacture processing unit (plant) |
| CN109649681A (en) * | 2018-12-26 | 2019-04-19 | 成都航空职业技术学院 | A kind of mobile helicopter repair working auxiliary device convenient for adjusting |
| CN111805495A (en) * | 2020-06-22 | 2020-10-23 | 青岛前哨精密仪器有限公司 | High-precision angle fine-tuning mechanism |
| CN114368491A (en) * | 2021-12-30 | 2022-04-19 | 中国航空工业集团公司沈阳飞机设计研究所 | Quick hanging vehicle for aircraft external stores |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100469537C (en) | 2009-03-18 |
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Granted publication date: 20090318 Termination date: 20120620 |