CN104269644B - Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism - Google Patents
Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism Download PDFInfo
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- CN104269644B CN104269644B CN201410454302.6A CN201410454302A CN104269644B CN 104269644 B CN104269644 B CN 104269644B CN 201410454302 A CN201410454302 A CN 201410454302A CN 104269644 B CN104269644 B CN 104269644B
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- guide rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 238000006073 displacement reaction Methods 0.000 claims abstract description 70
- 230000001105 regulatory effect Effects 0.000 claims description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 230000001737 promoting effect Effects 0.000 claims description 2
- 230000017105 transposition Effects 0.000 claims description 2
- 239000000047 product Substances 0.000 description 18
- 238000010586 diagram Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Abstract
The invention relates to a three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism. A three-degree-of-freedom displacement adjustment device is mounted on the mounting reference plane to be provided with a satellite component through a base, and the three adjustment directions of the three-degree-of-freedom displacement adjustment device are parallel to the direction of an assembly coordinate system; a mounting-clamping mechanism comprises a circular base, a connecting rod I, a connecting rod II, a transfer rod and a mounting-clamping clamp plate; the circular base is mounted on the three-degree-of-freedom displacement adjustment device, the circular base and one end of the connecting rod I form a revolute pair, the other end of the connecting rod I and one end of the connecting rod II form a revolute pair, the other end of the connecting rod II is fixedly connected with the transfer rod, and one end of the mounting-clamping clamp plate is a clamping end used for clamping the satellite component to be mounted; two circular arc adjustment grooves are formed in the other end of the mounting-clamping clamp plate, the transfer rod is inserted in the connecting rod II and fixed to form a whole with the connecting rod II, and two cylindrical rods are designed at the other end of the transfer rod, are inserted in the two circular arc adjustment grooves of the mounting-clamping clamp plate respectively and can rotate relative to the adjustment grooves.
Description
Technical field
The invention belongs to a kind of regulating mechanism of high precision part Three Degree Of Freedom translation adjustment, is applied to spaceborne height
Precision components debug field.
Background technology
At present both at home and abroad spaceborne most structure members it is last finely debug during lack special debuging
Mechanism, is usually used and manually pats the method that product makes its microdisplacement, and the advantage of this method is that to debug direction relatively free
Flexibly can be needed to carry out the posture adjustment of multiple directions according to scene, be had the disadvantage not easily-controllable for each displacement for adjusting and direction
Make, it is impossible to realize the translation adjustment in steady reliable Three Degree Of Freedom direction, and manually debug due to relying on, therefore can only be to product
Posture adjustment is carried out in the case that weight is little.
The space product larger for weight is debug, Domestic Scientific Research mechanism possessed by develop parallel institution carry out it is high-precision
Posture adjustment under degree part 6DOF state, and also there is the 6DOF industrial robot by heavy-load type in external Aero-Space enterprise
The application example of high accuracy posture adjustment is carried out to big part product.The advantage of these high precision part regulating mechanisms is to debug attitude control
System is accurate, the pose conversion being capable of achieving under 6DOF, but has the disadvantage that regulating mechanism is extremely complex, and floor space is big, generally adopts
Anchoring bolt is fixed, and is debug for small volume, lightweight part and seem on the contrary excessively heaviness, is difficult to realize being installed for product,
It is susceptible to the interference and collision of regulating mechanism and product.
The content of the invention
The present invention technology solve problem be：Overcome the deficiencies in the prior art, there is provided a kind of satellite of Three Degree Of Freedom is high-precision
Degree part regulating mechanism.
The present invention technical solution be：A kind of satellite high-precision part regulating mechanism of Three Degree Of Freedom, including three from
By degree displacement adjustment device, be installed mechanism and pedestal；
Three degree df freedom displacement adjustment device is arranged on the datum clamp face of satellite component to be installed by pedestal, and is ensured
Three adjustment directions of three degree df freedom displacement adjustment device are parallel with assembling coordinate system direction；The described mechanism that is installed includes circle
Base, connecting rod I, connecting rod II, adapting rod and clamping plate；Cup dolly is arranged in three degree df freedom displacement adjustment device,
Cup dolly is formed with the one end of connecting rod I and rotates secondary, and the other end of connecting rod I is formed with one end of connecting rod II and rotates secondary, even
The other end of extension bar II is fixedly connected with adapting rod, and one end of clamping plate is bare terminal end, for clamping satellite component to be installed,
The other end arranges two circular arc regulating tanks, and adapting rod is inserted in connecting rod II and fixation makes it whole with the formation of connecting rod II one
Body, the other end of adapting rod is designed with cylindrical bar at two, and they are inserted respectively at the two of clamping plate in circular arc regulating tank, and can
Both relative rotations are realized, so that the round dot that clamping plate can be rotated relative to connecting rod II and rotated can be according to switching
Position in bar insertion connecting rod II is arbitrarily adjusted.
Described three degree df freedom displacement adjustment device includes that X is adjusted to adjustable plate, Y-direction adjustable plate, Z-direction adjustable plate, Y-direction displacement
Section screw, displacement adjusting screw mounting seat, displacement stop baffle plate, X to displacement adjusting screw, bearing guide rod, bearing guide rod are installed
Seat, Z-direction displacement adjusting screw and bearing slider；
Z-direction adjustable plate used as the bottom of whole device, realize whole by its surrounding right angle setting Z-direction displacement adjusting screw
The leveling of device and moving up and down for Z-direction；Z-direction adjustable plate upper surface surrounding installs bearing guide rod mounting seat, positioned at Y-direction
Two bearing guide rod mounting seats between bearing guide rod is installed, bearing slider is installed on bearing guide rod, Y-direction adjustable plate is arranged on axle
Hold on slide block；Y-direction adjustable plate upper surface surrounding installs bearing guide rod mounting seat, positioned at two bearing guide rod mounting seats of X-direction
Between bearing guide rod is installed, bearing slider is installed on bearing guide rod, X to adjustable plate is arranged on bearing slider；Y-direction adjustable plate, X
To on the lower section swing offset direction of adjustable plate Y-direction displacement adjusting screw and X are respectively mounted to displacement adjusting screw, both direction
In displacement adjusting screw corresponding adjustable plate is moved along bearing by promotion stop baffle plate is installed by promoting stop baffle belt respectively
Guide rod is moved, so as to realize the Y-direction and X of mechanism to movement.
Multigroup different interface is set on described pedestal, is used to adjust three degree df freedom displacement adjustment device per group interface
Different installation sites.
The present invention has the beneficial effect that compared with prior art：
This regulating mechanism is capable of achieving the Three Degree Of Freedom trace regulation to product, and displacement and direction can be protected very well
Card, and be successfully applied to debug reflector assembly during model satellite antenna tower portion of China dress.The dress of the product
It is high with required precision, need to carry out microdisplacement to reflector in assembling process to debug, operator's level of skill is proposed very high
Require.This Three Degree Of Freedom regulating mechanism can carry out X, Y, the Z tri- parallel to assembling coordinate system with assist operators to reflector
The displacement in individual direction is adjusted and fixed, while the characteristics of having several reflectors for the model mast, devises special base
Seat, multigroup distinct interface that three degree df freedom displacement adjustment device is placed in pedestal is capable of achieving to debug the displacement of several reflectors
Direction is parallel with respective assembling coordinate system, realizes the function of a tractor serves several purposes.It is installed to balance reflector difference simultaneously
Position and the relation of adjustment displacement, are better achieved the function of a tractor serves several purposes, employ in the mode of being installed more flexible many
The designs such as many bar connections, the arc-shaped slot for becoming so that the scope of application of the resetting equipment is greatly improved.The regulating mechanism exists
Using effect is good during the debuging of the positive sample mast product of certain model satellite.And because there be certain leading in mechanism itself
With property, for other different types of debuging products, the only installation form and mechanism by changing substrate is installed the scope of product,
It is capable of achieving more wide debuging utilization.
It is contemplated that for debuging machine on small volume, lightweight satellite high-precision part design 3DOF direction
Structure, make up the existing shortcoming for manually debuging the wayward displacement of widget mode also eliminate input large automatic debug
Mechanism carries out the needs that widget is debug.Finally realize the posture adjustment of product in place.
Description of the drawings
Fig. 1 a are the antenna reflector scheme of installation to be debug of the invention, and Fig. 1 b, 1c are respectively E reflector back plates, A
Reflector back plate schematic diagram；
Fig. 2 is the three degree df freedom displacement adjustment device schematic diagram of the present invention；
Fig. 3 is the mechanism's partial schematic diagram that is installed of the present invention；
Fig. 4 is that double plates of the present invention are installed mechanism's partial schematic diagram；
Fig. 5 is pedestal schematic diagram of the present invention；
Fig. 6 is the schematic diagram when present invention debugs to the signal of single plate structure plate.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment elaborates to the present invention.
As shown in fig. 6, a kind of satellite high-precision part regulating mechanism of Three Degree Of Freedom of the invention, is set using split type principle
Meter, including three degree df freedom displacement adjustment device 1, be installed mechanism 2 and pedestal 3；Below with the different positions on the multiple faces of antenna tower body
Put to debug and illustrate as a example by reflector.
Three degree df freedom displacement adjustment device 1 realizes X, Y, Z axis adjustment of displacement, realizes that position becomes when being used together with pedestal 3
Change so as to debug to the reflector of many places diverse location, and guarantee that direction of displacement is parallel with respective assembling coordinate system,
I.e. three degree df freedom displacement adjustment device 1 is arranged on mast top board 1a as shown in Figure 1 by pedestal 3；Meanwhile, to debuging
When mechanism section is designed, need balance several reflector differences be installed position with adjustment displacement correlation, it is to avoid
There is the problem that somewhere reflector cannot be installed or adjustment of displacement amount is inadequate, the function of a tractor serves several purposes is better achieved, in dress
The dress that the designs such as more flexible and changeable many bar connections, arc-shaped slot meet variety classes reflector is employed on mechanism for card
Card.On material is selected, it is contemplated that complete equipment need to be arranged on antenna tower top.Therefore, on the premise of rigidity is ensured as far as possible
Aluminum alloy materials are selected, mitigates weight of equipment.
As shown in figure 3, the mechanism 2 that is installed is including cup dolly 21, connecting rod I 22, connecting rod II 23, adapting rod 24 and is installed
Clamping plate 25；Cup dolly 21 is arranged in three degree df freedom displacement adjustment device 1, and cup dolly 21 is formed with the one end of connecting rod I 22
Rotate secondary, the other end of connecting rod I 22 is formed with one end of connecting rod II 23 and rotates secondary, the other end and the switching of connecting rod II 23
Bar 24 is fixedly connected, and one end of clamping plate 25 is bare terminal end, and for clamping satellite component to be installed, the other end arranges two circles
Arc regulating tank, fixing in the insertion connecting rod II 23 of adapting rod 24 and by screw makes it form an entirety with connecting rod II, and
The other end of adapting rod 24 is designed with cylindrical bar at two, and they are inserted at the two of clamping plate 25 in circular arc regulating tank, and can be real
Both relative rotations existing so that the round dot that can rotate relative to connecting rod II 23 and rotate of clamping plate 25 can according to turn
Position in the insertion connecting rod II 23 of extension bar 24 is arbitrarily adjusted.
In view of the reflector 2a on the model satellite antenna tower point of A reflectors and E reflectors, E reflectors only have one piece
Structural slab can be used for be installed (as illustrated in figure 1 c, its reflector back plate 5a), and A reflectors then have two structure plates to can be used for dress
Card (as shown in Figure 1 b, its reflector back plate 4a), as shown in Figure 1a, label 3a is tower body gripper shoe in figure.Therefore, Three Degree Of Freedom
The clamping plate 25 of regulating mechanism need to design two kinds of forms.Wherein, version during 1 structure plates that are installed is as shown in Figure 3.
When the reflector being installed is double structure plate, then veneer clamping plate is changed into double plates clamping plate (as schemed shown in attached 4) i.e.
Can, it is very convenient.
Three Degree Of Freedom regulating mechanism move mode is selected：X, Y-direction movement in plane selects to add guide rail for bearing slider
Mode；The mobile selection of Z-direction is the mode that screw is adjusted.As shown in Fig. 2 three degree df freedom displacement adjustment device 1 includes X to regulation
Plate 11, Y-direction adjustable plate 12, Z-direction adjustable plate 13, Y-direction displacement adjusting screw 14, displacement adjusting screw mounting seat 15, displacement stop
Baffle plate 16, X is to displacement adjusting screw 17, bearing guide rod 18, bearing guide rod mounting seat 19, Z-direction displacement adjusting screw 110 and bearing
Slide block 111；Z-direction adjustable plate 13 as whole device the bottom, its surrounding right angle setting Z-direction displacement adjusting screw 110, realize
The leveling of whole device and moving up and down for Z-direction；The upper surface surrounding of Z-direction adjustable plate 13 installs bearing guide rod mounting seat 19,
Bearing guide rod 18 is installed between two bearing guide rod mounting seats 19 of Y-direction, bearing slider is installed on bearing guide rod 18
111, Y-direction adjustable plate 12 is arranged on bearing slider 111；The upper surface surrounding of Y-direction adjustable plate 12 installs bearing guide rod mounting seat 19,
Bearing guide rod 18 is installed between two bearing guide rod mounting seats 19 of X-direction, bearing slider is installed on bearing guide rod 18
111, X to adjustable plate 11 is arranged on bearing slider 111；Lower section swing offset direction of the Y-direction adjustable plate 12, X to adjustable plate 11
It is upper respectively Y-direction displacement adjusting screw 14 and X to be installed to displacement adjusting screw 17, two sides by displacement adjusting screw mounting seat 15
Promote stop baffle plate 16 by installing respectively in displacement adjusting screw, when need to carry out product X to or Y-direction trace regulation
When, the adjusting screw on corresponding direction of displacement can be rotated and be passed to promote the dynamic adjustable plate of stop baffle belt along bearing guide rod
It is mobile, so as to realize the X of mechanism to moving with Y-direction.When mechanism moves to required position, displacement adjusting screw is installed
Long spiro nail on seat is tightened so as to withstand displacement stop baffle plate at two, realizes the fixation of product space.
As shown in figure 5, arranging multigroup different interface on pedestal 3, it is used to adjust three freedom degree position transposition section per group interface
The different installation sites of device 1.Pedestal 3 acts primarily as three effects：One is to fix three degree df freedom displacement adjustment device 1；Two is to make
For the fixing end that regulating mechanism Z-direction is adjusted；Three is, by multigroup distinct interface thereon, to realize that regulating mechanism connects installed in difference
Different reflectors are debug during mouth, and ensures that adjustment direction is parallel with assembling coordinate system direction.The design drawing such as institute of accompanying drawing 5
Show.Before portion's dress starts, pedestal 3 is arranged on mast top board 1a, the position of itself immobilizes, when needs adjustment difference
During the reflector of position, it is only necessary to which three degree df freedom displacement adjustment device 1 is arranged on into the distinct interface on pedestal 3.Accompanying drawing 5
Middle different English alphabets represent different interfaces, and a group interface has four points of connection, for installing Z at 4 on Z-direction adjustable plate 13
To adjusting screw 110.
Final product design debugs schematic diagram as shown in Figure 6.Pedestal 3 is arranged on mast top board 1a, and three freely
Degree displacement adjustment device 1 is installed on pedestal 3, and two above part can the three degree of freedom side debug of guarantee after being installed in place
It is consistent to the direction of displacement debug with product needed, afterwards by being installed one end product clamping other end of mechanism 2 and three certainly
Connected by degree displacement adjustment device 1, finally realize the product posture adjustment of Three Degree Of Freedom.
Present invention enforcing location adjustment in accordance with the following steps during to the debuging of certain model Statellite antenna.
Step 1：Pedestal in accompanying drawing 5 is installed on mast top board according to reference for assembling quadrant mark.
Step 2：According to reflector locations to be mounted three degree df freedom displacement adjustment device in accompanying drawing 2 is installed on into base
On seat, the direction of displacement for completing to debug since then overlaps with the quadrantal heading of assembling, so as to realize the accurate of posture adjustment direction.
Step 3：The mechanism one end that is installed in accompanying drawing 3 is installed in three degree df freedom displacement adjustment device.
Step 4：Using being installed, mechanism is installed to the product for wanting posture adjustment, and ensures firm.
Step 5：The adjusting screw in three degree df freedom displacement adjustment device is used to cause posture adjustment platform real in the X, Y, Z direction
Existing micro translation, so as to realize the Three Degree Of Freedom high accuracy posture adjustment to product.
The content not being described in detail in description of the invention belongs to professional and technical personnel in the field's known technology.
Claims (3)
1. the satellite high-precision part regulating mechanism of a kind of Three Degree Of Freedom, it is characterised in that：Including three freedom degree position transposition section dress
Put (1), the mechanism that is installed (2) and pedestal (3)；
Three degree df freedom displacement adjustment device (1) on the datum clamp face of satellite component to be installed, and is protected by pedestal (3)
Three adjustment directions of card three degree df freedom displacement adjustment device (1) are parallel with three change in coordinate axis direction in assembling coordinate system；Institute
The mechanism that is installed (2) for stating includes cup dolly (21), connecting rod I (22), connecting rod II (23), adapting rod (24) and clamping plate
(25)；Cup dolly (21) in three degree df freedom displacement adjustment device (1), cup dolly (21) and connecting rod I (22)
End forms and rotates secondary, and the other end of connecting rod I (22) is formed with one end of connecting rod II (23) and rotates secondary, connecting rod II (23)
The other end is fixedly connected with adapting rod (24), and one end of clamping plate (25) is bare terminal end, for clamping satellite component to be installed,
The other end arranges two circular arc regulating tanks, and adapting rod (24) is inserted in connecting rod II (23) and fixation makes it with connecting rod II (23)
An entirety is formed, the other end of adapting rod (24) is designed with cylindrical bar at two, and they insert respectively the two of clamping plate (25)
In place's circular arc regulating tank, and both relative rotations are capable of achieving, so that clamping plate (25) can be with respect to connecting rod II (23)
The round dot for rotating and rotating can insert the position in connecting rod II (23) and arbitrarily adjust according to adapting rod (24).
2. the satellite high-precision part regulating mechanism of a kind of Three Degree Of Freedom according to claim 1, it is characterised in that：It is described
Three degree df freedom displacement adjustment device (1) including X to adjustable plate (11), Y-direction adjustable plate (12), Z-direction adjustable plate (13), Y-direction position
Adjusting screw (14), displacement adjusting screw mounting seat (15), displacement stop baffle plate (16), X are moved to displacement adjusting screw (17), axle
Hold guide rod (18), bearing guide rod mounting seat (19), Z-direction displacement adjusting screw (110) and bearing slider (111)；
Z-direction adjustable plate (13) as whole device the bottom, its surrounding right angle setting Z-direction displacement adjusting screw (110), realize
The leveling of whole device and moving up and down for Z-direction；Z-direction adjustable plate (13) upper surface surrounding installs bearing guide rod mounting seat
(19) bearing guide rod (18), is installed between two bearing guide rod mounting seats (19) of Y-direction, is installed on bearing guide rod (18)
Bearing slider (111), Y-direction adjustable plate (12) is on bearing slider (111)；Y-direction adjustable plate (12) upper surface surrounding is installed
Bearing guide rod mounting seat (19), installs bearing guide rod (18), bearing between two bearing guide rod mounting seats (19) of X-direction
Bearing slider (111) is installed, X is to adjustable plate (11) on bearing slider (111) on guide rod (18)；Y-direction adjustable plate (12),
X is respectively mounted Y-direction displacement adjusting screw (14) and X to displacement adjusting screw on the lower section swing offset direction of adjustable plate (11)
(17), respectively by promotion stop baffle plate (16) is installed in both direction displacement adjusting screw, by promoting stop baffle plate (16) band
Move corresponding adjustable plate to move along bearing guide rod, so as to realize the Y-direction and X of mechanism to movement.
3. the satellite high-precision part regulating mechanism of a kind of Three Degree Of Freedom according to claim 1, it is characterised in that：It is described
Pedestal (3) on multigroup different interface is set, be used to adjust not Tongan City of three degree df freedom displacement adjustment device (1) per group interface
Holding position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454302.6A CN104269644B (en) | 2014-09-05 | 2014-09-05 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454302.6A CN104269644B (en) | 2014-09-05 | 2014-09-05 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104269644A CN104269644A (en) | 2015-01-07 |
| CN104269644B true CN104269644B (en) | 2017-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410454302.6A Expired - Fee Related CN104269644B (en) | 2014-09-05 | 2014-09-05 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
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| Country | Link |
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| CN (1) | CN104269644B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105552554B (en) * | 2015-12-11 | 2018-07-03 | 哈尔滨工业大学 | A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block |
| CN108917700B (en) * | 2018-07-25 | 2021-09-03 | 中国空间技术研究院 | Method for determining on-orbit pointing accuracy of three-degree-of-freedom mechanism |
| CN109955499B (en) * | 2019-04-04 | 2021-02-09 | 北京卫星制造厂有限公司 | Return type airship outsole heat-proof layer forming tool |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1414104A2 (en) * | 2002-10-21 | 2004-04-28 | Orbit Communication Ltd. | Antenna stabilization system for two antennas |
| CN103116104A (en) * | 2013-02-26 | 2013-05-22 | 浙江中星光电子科技有限公司 | Detection device and detection method for ship-borne satellite signal receiving antenna |
| CN103300906A (en) * | 2013-07-03 | 2013-09-18 | 青岛理工大学 | Medical six-degree-of-freedom automatic adjusting manipulator grinding and clamping device for surgical operation |
-
2014
- 2014-09-05 CN CN201410454302.6A patent/CN104269644B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1414104A2 (en) * | 2002-10-21 | 2004-04-28 | Orbit Communication Ltd. | Antenna stabilization system for two antennas |
| CN103116104A (en) * | 2013-02-26 | 2013-05-22 | 浙江中星光电子科技有限公司 | Detection device and detection method for ship-borne satellite signal receiving antenna |
| CN103300906A (en) * | 2013-07-03 | 2013-09-18 | 青岛理工大学 | Medical six-degree-of-freedom automatic adjusting manipulator grinding and clamping device for surgical operation |
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|---|---|
| CN104269644A (en) | 2015-01-07 |
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Granted publication date: 20170510 |