CN110039291B - High-position automatic butt-joint platform for large-scale maneuvering radar - Google Patents
High-position automatic butt-joint platform for large-scale maneuvering radar Download PDFInfo
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- CN110039291B CN110039291B CN201910376107.9A CN201910376107A CN110039291B CN 110039291 B CN110039291 B CN 110039291B CN 201910376107 A CN201910376107 A CN 201910376107A CN 110039291 B CN110039291 B CN 110039291B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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Abstract
The invention provides a high-position automatic docking platform for a large mobile radar, which comprises a radar antenna center block, a first docking antenna, a first docking mechanism, a first lifting vehicle, a first lifting mechanism, a transport vehicle, a six-degree-of-freedom attitude adjusting platform, a base platform, a supporting upright post, a second lifting mechanism, a second lifting vehicle, a second docking mechanism and a second docking antenna. The center at basic platform upper surface is fixed to the first end of support post, and the second end and the radar antenna center block of support post are connected, and hoist mechanism's first end and basic platform are connected, and hoist mechanism's second end is connected with the first end of lift truck, and the second end of lift truck is connected with docking mechanism's first end, and docking mechanism's second end is connected with butt joint antenna. The invention skillfully avoids a plurality of inconveniences in the high-position butt joint process of the radar antenna, adopts the butt joint thinking of changing the high position into the low position, ensures the safety and the stability in the butt joint process, and standardizes the loading and transporting vehicle.
Description
Technical Field
The invention relates to the technical field of mobile radar antenna butt joint, in particular to a high-position automatic butt joint platform for a large mobile radar.
Background
Based on the development of stealth technology, the ground anti-stealth air defense early warning radar is also developed towards the large-scale direction in order to increase the radar early warning distance. At present, the ground maneuvering radar mostly adopts the automatic unfolding and folding technology of a single-transportation unit antenna to realize the quick response of the radar, but for the large maneuvering radar, the antenna array surface of the large maneuvering radar can only be dispersedly transported through a plurality of vehicles and a plurality of antenna array surfaces due to the limitation of transportation, and the maneuvering mode is combined and assembled after reaching a position. At present, the assembly of a plurality of antenna array surfaces of a large radar mainly adopts a hoisting and splicing erection mode, and the erection is restricted by low erection efficiency, uncertain factors in hoisting operation and the like, so that the maneuverability of the large radar is poor, a full-automatic platform which can be applied to large-caliber and large-mass antenna movement and posture adjustment, high-position butt joint and quick and accurate automatic assembly of the large radar antenna are realized, and the maneuverability of the large radar is improved.
The automatic butt joint technology of the large components is continuously improved along with the requirements of technological progress, market competition, national defense construction and the like. The automatic docking technology has been successfully applied to the docking of spacecraft space in the aerospace field, the docking of an air refueling mechanism in the aviation field, the docking of a submarine life-saving mechanism and a warship supply mechanism in the navigation field, and is widely applied to the assembly of large airplanes, but related documents related to the automatic docking of large maneuvering radars have few descriptions. The literature: the research on the automatic docking technology of the large-scale antenna of the mobile radar refers to radar science and technology, 2014, and the existing automatic docking technology of indoor large-scale parts is applied to the large-scale antenna assembly technology so as to realize the rapid assembly of the large-scale antenna of the mobile radar.
In the process of butt joint of aerospace, aviation and navigation, the position and the posture of the butt joint unit are changed all the time, and the butt joint difficulty is high. In large aircraft assembly applications, the docking unit position and attitude are generally fixed, the docking environment is good, and the docking time is allowed to be long. The maneuvering radar is based on the requirement of maneuverability, the automatic butt joint is generally carried out in the field, the high-position butt joint is realized, the butt joint time is required to be short, the precision is high, and the butt joint difficulty is high. Therefore, the invention provides a high-position automatic docking platform of a large-sized mobile radar, which is applied to the fields of large-caliber and large-mass antenna movement, attitude adjustment and high-position docking.
Disclosure of Invention
Aiming at the problems which need to be solved urgently by the large maneuvering radar, the invention provides a high-position automatic docking platform for the large maneuvering radar, and mainly aims to solve the problems that the existing docking platform cannot meet the corresponding precision requirement, is long in docking time, and is poor in stability and safety.
The invention provides a high-position automatic docking platform for a large mobile radar, which comprises a radar antenna center block, a first docking antenna, a first docking mechanism, a first lifting vehicle, a first lifting mechanism, a transport vehicle, a six-degree-of-freedom attitude adjusting platform, a base platform, a supporting upright post, a second lifting mechanism, a second lifting vehicle, a second docking mechanism and a second docking antenna. The supporting upright post is fixed at the central position of the upper surface of the basic platform, the first end of the supporting upright post is connected with the radar antenna central block, four vertex positions of the upper surface of the basic platform are respectively provided with mounting holes which are symmetrical in pairs, the first end of the first lifting mechanism and the first end of the second lifting mechanism are connected with the upper surface of the basic platform through the mounting holes, a second end of the first lifting mechanism and a second end of the second lifting mechanism are coupled to a first end of the first lift car and a first end of the second lift car, respectively, a second end of the first lift car and a second end of the second lift car are connected to a first end of the first docking mechanism and a first end of the second docking mechanism, respectively, the second end of the first docking mechanism and the second end of the second docking mechanism are connected with the first docking antenna and the second docking antenna, respectively. The butt joint mechanism comprises a moving platform, a first linear guide rail and a connecting truss, the moving platform is connected with the connecting truss through the linear guide rail, the lifting mechanism comprises a moving support, a second linear guide rail, a turnable guide rail frame, a first hinged seat, an oil cylinder, a second hinged seat and a third hinged seat, the moving support is connected with the second linear guide rail, the second linear guide rail is connected with a first surface of the turnable guide rail frame, a first end of the first hinged seat is connected with a second surface of the turnable guide rail frame, a second end of the first hinged seat is connected with a first end of the oil cylinder, a second end of the oil cylinder is connected with a first end of the third hinged seat, a second end of the third hinged seat is connected with the base platform through the mounting hole, and a first end of the second hinged seat is connected with the turnable guide rail frame, the second end of the second hinged seat is connected with the base platform through the mounting hole.
Preferably, the first and second lifting mechanisms, the first and second lift trucks, the first and second docking platforms, and the first and second docking antennas are symmetrically distributed on both sides of the radar antenna center block.
Preferably, the lifting mechanism is a U-shaped reversible guide frame, the semi-circle in the middle of the reversible guide frame is fixedly connected with the outer frame of the reversible guide frame, so as to improve the stability of the reversible guide frame and reduce the weight of the reversible guide frame, and the diameter of the semi-circle in the middle of the reversible guide frame is larger than that of the supporting pillar.
Preferably, the shape of the turnable guide rail frame of the first lifting mechanism is larger than the shape of the turnable guide rail frame of the second lifting mechanism, and during butt joint, the first lifting mechanism is firstly turned into a working state from a folded state and is in charge of butt joint of the first butt joint antenna, the second lifting mechanism is subsequently turned into a working state from a folded state and is in charge of butt joint of the second butt joint antenna, after butt joint is completed, the second lifting mechanism is firstly turned into a folded state from a working state, and the first lifting mechanism is subsequently turned into a folded state from a working state.
Preferably, a first end of the first lift car and a first end of the second lift car are connected to the movable support of the first lifting mechanism and the movable support of the second lifting mechanism, respectively, and a second end of the first lift car and a second end of the second lift car are connected to the coupling truss of the first docking platform and the coupling truss of the second docking platform, respectively.
Preferably, the six-degree-of-freedom posture adjustment platform comprises a first platform, a ball supporting unit, a second platform, supporting legs, a third platform, a Z-direction moving slide rail, an X-direction electric cylinder and a Y-direction electric cylinder, wherein the first platform is connected with the second platform through the ball supporting unit, the second platform is connected with the third platform through the supporting legs, and the third platform is connected with the carrier loader.
Compared with the prior art, the invention has the following advantages:
1. the invention skillfully avoids a plurality of inconveniences in the high-position butt joint process of the large-mass and large-volume radar antenna, such as unbalanced load, short butt joint time, high precision requirement, complex operation environment and the like, adopts the butt joint thinking of changing the high position to the low position, ensures the safety and stability in the butt joint process, and simultaneously standardizes the loading and transporting vehicle.
2. The invention utilizes the space at two sides of the basic platform, adopts an inclined lifting mode to ensure the stability of the mechanism, and is assisted with the butt joint mechanism to improve the butt joint precision.
3. The lifting mechanism is fixed on the basic platform in a hinged mode, and is horizontally placed in a folded state, so that occupied space is reduced, and the guide rail frame can be turned over to form a triangular structure in a working state, so that structural stability is improved.
Drawings
FIG. 1 is an overall schematic view of a large automotive radar high-order automatic docking platform according to the present invention;
FIG. 2 is a schematic diagram of a first docking mechanism of the large-scale motorized radar high-order automatic docking platform according to the present invention;
FIG. 3 is a schematic view of a first lifting mechanism of the high-position automatic docking platform for the large maneuvering radar according to the invention;
FIG. 4 is another schematic view of the first lifting mechanism of the large automotive radar high-level automatic docking platform according to the present invention;
FIG. 5 is a schematic diagram of a six-degree-of-freedom attitude adjusting platform of the high-order automatic docking platform for the large maneuvering radar of the invention; and
FIG. 6 is another schematic view of the six-degree-of-freedom attitude adjusting platform of the large-scale maneuvering radar high-order automatic docking platform of the invention.
The main reference numbers:
the device comprises a radar antenna center block 1, a first butt-joint antenna 2, a first butt-joint mechanism 3, a moving platform 31, a first linear guide rail 32, a connecting truss 33, a first lifting vehicle 4, a first lifting mechanism 5, a moving support 51, a second linear guide rail 52, a reversible guide rail frame 53, a first hinge seat 54, an oil cylinder 55, a second hinge seat 56, a third hinge seat 57, a transport vehicle 6, a six-degree-of-freedom posture adjusting platform 7, a first platform 71, a ball supporting unit 72, a second platform 73, supporting legs 74, a third platform 75, a Z-direction moving slide rail 76, an X-direction electric cylinder 77, a Y-direction electric cylinder 78, a base platform 8, a supporting upright 9, a second lifting mechanism 10, a second lifting vehicle 11, a second butt-joint mechanism 12 and a second butt-joint antenna 13.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
A large-scale maneuvering radar high-order automatic docking platform is shown in figure 1 and comprises a radar antenna center block 1, a first docking antenna 2, a first docking mechanism 3, a first lifting truck 4, a first lifting mechanism 5, a transport truck 6, a six-degree-of-freedom attitude adjusting platform 7, a base platform 8, a support upright post 9, a second lifting mechanism 10, a second lifting truck 11, a second docking mechanism 12 and a second docking antenna 13.
The foundation platform 8 is located on the ground, the supporting upright post 9 is fixed at the center of the upper surface of the foundation platform 8, the first end of the supporting upright post 9 is connected with the radar antenna center block 1, and four vertex positions of the upper surface of the foundation platform 8 are respectively provided with mounting holes which are symmetrical in pairs, so that mounting stations are provided for the first lifting mechanism 5 and the second lifting mechanism 10, and a supporting effect is exerted.
The first end of the first lifting mechanism 5 and the first end of the second lifting mechanism 10 are connected with the upper surface of the base platform 8 through mounting holes, the second end of the first lifting mechanism 5 and the second end of the second lifting mechanism 10 are connected with the first end of the first lift truck 4 and the first end of the second lift truck 11 respectively, the second end of the first lift truck 4 and the second end of the second lift truck 11 are connected with the first end of the first docking mechanism 3 and the first end of the second docking mechanism 12 respectively, and the second end of the first docking mechanism 3 and the second end of the second docking mechanism 12 are connected with the first docking antenna 2 and the second docking antenna 13 respectively.
As shown in fig. 2, the docking mechanism includes a movable platform 31, a first linear guide 32, and a coupling truss 33, the movable platform 31 and the coupling truss 33 are connected by the first linear guide 32, the movable platform 31 is coupled to the first linear guide 32 to move the movable platform 31X, and the coupling truss 33 is coupled to the first lift car 4 to lift the first docking mechanism 3.
The lifting mechanism, as shown in fig. 3 and 4, includes a movable support 51, a second linear guide 52, a reversible guide frame 53, a first hinged seat 54, an oil cylinder 55, a second hinged seat 56 and a third hinged seat 57, the movable support 51 is fixedly connected with the second linear guide 52, the second linear guide 52 is fixedly connected with a first surface of the reversible guide frame 53, a first end of the first hinged seat 54 is fixedly connected with a second surface of the reversible guide frame 53, a second end of the first hinged seat 54 is hinged with a first end of the oil cylinder 55, a second end of the oil cylinder 55 is hinged with a first end of the third hinged seat 57, a second end of the third hinged seat 57 is fixedly connected with the base platform 8 through a mounting hole, a first end of the second hinged seat 56 is hinged with the reversible guide frame 53, and a second end of the second hinged seat 56 is fixedly connected with the base platform 8 through a mounting hole.
The first lifting mechanism 5 and the second lifting mechanism 10, the first lift truck 4 and the second lift truck 11, the first docking mechanism 3 and the second docking mechanism 12, and the first docking antenna 2 and the second docking antenna 13 are symmetrically distributed on two sides of the radar antenna center block 1.
The appearance of the reversible guide rail frame 53 of the lifting mechanism is U-shaped, the semi-circle in the middle of the reversible guide rail frame 53 is fixedly connected with the outer frame of the reversible guide rail frame 53, the stability of the reversible guide rail frame 53 is improved, the weight of the reversible guide rail frame 53 is reduced, and the diameter of the semi-circle in the middle of the reversible guide rail frame 53 is larger than that of the supporting upright 9.
The profile of the reversible rail frame 53 of the first lifting mechanism 5 is greater than the profile of the reversible rail frame 53 of the second lifting mechanism 10. The first lifting mechanism 5 and the second lifting mechanism 10 are divided into two states of folding and working. During butt joint, the first lifting mechanism 5 is firstly converted into a working state from a folded state to be in charge of butt joint of the first butt joint antenna 2, the second lifting mechanism 10 is subsequently converted into the working state from the folded state, the second butt joint antenna 13 is in butt joint, after the butt joint is completed, the second lifting mechanism 10 is firstly converted into the folded state from the working state, and the first lifting mechanism 5 is subsequently converted into the folded state from the working state.
A first end of the first lift car 4 and a first end of the second lift car 11 are connected to the movable support 51 of the first lifting mechanism 5 and the movable support 51 of the second lifting mechanism 10, respectively, and a second end of the first lift car 4 and a second end of the second lift car 11 are connected to the coupling truss 33 of the first docking mechanism 3 and the coupling truss 33 of the second docking mechanism 12, respectively.
The six-degree-of-freedom posture adjustment platform 7, as shown in fig. 5 and 6, includes a first platform 71, a ball support unit 72, a second platform 73, a leg 74, a third platform 75, a Z-direction moving slide 76, an X-direction electric cylinder 77, and a Y-direction electric cylinder 78. The six-degree-of-freedom attitude adjusting platform 7 respectively adjusts the attitude of the first butt antenna 2 and the second butt antenna 13, so that the first butt antenna 2 and the second butt antenna 13 are respectively the same as the attitude of the radar antenna center block 1. The Z-direction moving slide 76, the X-direction electric cylinder 77, and the Y-direction electric cylinder 78 are distributed on the upper surface of the third platform 75 in predetermined sizes, and realize the freedom of movement and rotation of the first platform 71 in three spatial directions. The first platform 71 is connected with the second platform 73 through ball supporting units 72, the ball supporting units 72 are evenly distributed on four vertexes of the upper surface of the second platform 73, the lower surface of the second platform 73 is connected with a third platform 75 through supporting legs 74, and the lower surface of the third platform 75 is connected with the transport vehicle 6.
The large-scale maneuvering radar high-order automatic docking platform is further described by combining the embodiment as follows:
the antenna butt joint task is divided into two butt joint tasks of a first butt joint antenna 2 and a second butt joint antenna 13, and the first butt joint antenna 2 and the second butt joint antenna 13 are symmetrically distributed on two sides of the radar antenna center block 1.
Because the first lifting mechanism 5 and the second lifting mechanism 10 are divided into two states of folding and working, when there is no butt joint task, the first lifting mechanism 5 and the second lifting mechanism 10 are in the folding state, and when the first lifting mechanism 5 and the basic platform 8 are parallel in the folding state. Before the docking task is started, the first lifting mechanism 5 is firstly converted into a working state from a folded state through the oil cylinder 55, and when the working state is achieved, the first lifting mechanism 5 and the base platform 8 form a certain angle, as shown in fig. 1, and are responsible for docking of the first docking antenna 2; the second lifting mechanism 10 is subsequently also transferred from the folded state to the operating state by the oil cylinder 55, which is responsible for docking the second docking antenna 13.
First, the first docking antenna 2 is docked, and the transport vehicle 6 carries the six-degree-of-freedom attitude adjusting platform 7, the first docking mechanism 3 and the first docking antenna 2 to a specified position on the side of the base platform 8. The six-degree-of-freedom posture adjusting platform 7 is fixedly connected with the transport vehicle 6 through a third platform 75 and fixedly connected with the first docking mechanism 3 through a first platform 71, four groups of ball supporting units 72 provide a supporting function for the first platform 71, the first docking antenna 2 is arranged on the upper surface of the first docking mechanism 3, the six-degree-of-freedom posture adjusting platform 7 further realizes the adjustment of the posture of the first docking antenna 2 through the adjustment of the posture of the first docking mechanism 3, an X-direction electric cylinder 77 realizes the adjustment of the X-direction freedom degree of the first platform 71, a Y-direction electric cylinder 78 realizes the adjustment of the Y-direction freedom degree of the first platform 71, a Z-direction moving slide rail 76 realizes the adjustment of the Z-direction freedom degree of the first platform 71, a support leg 74 realizes the rotation of the first platform 71 around an X axis and a Y axis, the X-direction electric cylinder 77 and the Y-direction electric cylinder 78 work simultaneously to realize the rotation of the first platform 71 around the Z axis, and thus, the six-degree-of freedom posture adjusting platform 7 realizes the, the first docking antenna 2 is made to have the same attitude as the radar antenna center block 1.
Next, the coupling truss 33 of the first docking mechanism 3 is fixedly connected to the first lift car 4, the first lift car 4 carries the first docking mechanism 3 and the first docking antenna 2, and after sliding to a specified height along the second linear guide rail 52 of the first lifting mechanism 5, the moving platform 31 of the first docking mechanism 3 moves to the radar antenna center block 1 along the first linear guide rail 32, and the X-direction adjustment of the first docking antenna 2 is achieved until the docking of the first docking antenna 2 and the radar antenna center block 1 is completed.
After the docking is completed, the first docking mechanism 3 descends to the upper surface of the first platform 71 of the six-degree-of-freedom attitude adjusting platform 7 along the second linear guide 52 of the first lifting mechanism 5, the connection truss 33 of the first docking mechanism 3 is disconnected from the first lift truck 4, the transport truck 6 loads the six-degree-of-freedom attitude adjusting platform 7 and the first docking mechanism 3 to leave the station, then the second docking antenna 13 is docked, the docking process of the second docking antenna 13 is the same as that of the first docking antenna 2, after the docking process of the second docking antenna 13 and the first docking antenna 2 is completed, the second lifting mechanism 10 is firstly switched from the working state to the folded state, the first lifting mechanism 5 is subsequently switched from the working state to the folded state, and the operation is completed.
The invention ingeniously avoids various inconveniences (unbalanced load, short docking time, high precision requirement, complex operation environment and the like) of high-position docking of the large-mass and large-volume maneuvering radar, adopts a docking thinking of high-position to low-position docking, ensures the safety and stability in the docking process, and standardizes a loading transport vehicle; utilize basic platform both sides space, adopt the mode assurance mechanism's of slope promotion stability, improve the butt joint precision, the guide rail frame that can overturn constitutes the triangle-shaped structure, reduces the slope and promotes the occuping of space to increase structural stability.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (6)
1. The utility model provides a high-order automatic butt joint platform of large-scale automotive radar, includes radar antenna center block, first butt joint antenna, first docking mechanism, first lift truck, first hoist mechanism, transport vechicle, six degrees of freedom and transfers appearance platform, basic platform, support post, second hoist mechanism, second lift truck, second docking mechanism and second butt joint antenna, its characterized in that:
the supporting upright post is arranged at the central position of the upper surface of the basic platform, the first end of the supporting upright post is connected with the radar antenna central block, four vertex positions of the upper surface of the basic platform are respectively provided with mounting holes which are symmetrical in pairs, the first end of the first lifting mechanism and the first end of the second lifting mechanism are connected with the upper surface of the basic platform through the mounting holes, a second end of the first lifting mechanism and a second end of the second lifting mechanism are coupled to a first end of the first lift car and a first end of the second lift car, respectively, a second end of the first lift car and a second end of the second lift car are connected to a first end of the first docking mechanism and a first end of the second docking mechanism, respectively, the second end of the first docking mechanism and the second end of the second docking mechanism are respectively connected with the first docking antenna and the second docking antenna; and
the butt joint mechanism comprises a moving platform, a first linear guide rail and a connecting truss, the moving platform is connected with the connecting truss through the linear guide rail, the lifting mechanism comprises a moving support, a second linear guide rail, a turnable guide rail frame, a first hinged seat, an oil cylinder, a second hinged seat and a third hinged seat, the moving support is connected with the second linear guide rail, the second linear guide rail is connected with a first surface of the turnable guide rail frame, a first end of the first hinged seat is connected with a second surface of the turnable guide rail frame, a second end of the first hinged seat is connected with a first end of the oil cylinder, a second end of the oil cylinder is connected with a first end of the third hinged seat, a second end of the third hinged seat is connected with the base platform through the mounting hole, and a first end of the second hinged seat is connected with the turnable guide rail frame, the second end of the second hinged seat is connected with the base platform through the mounting hole.
2. The large automotive radar high-altitude automatic docking platform according to claim 1, wherein the first and second lifting mechanisms, the first and second lift trucks, the first and second docking platforms, and the first and second docking antennas are symmetrically distributed on both sides of the radar antenna center block.
3. The large motorized radar high-level automatic docking platform according to claim 2, wherein the lifting mechanism has a U-shaped reversible rail frame, the middle semi-circle of the reversible rail frame is fixedly connected to the outer frame of the reversible rail frame, and the diameter of the middle semi-circle of the reversible rail frame is larger than that of the supporting pillar.
4. The large motorized radar high-level automatic docking platform according to claim 3, wherein the shape of the reversible rail frame of the first lifting mechanism is larger than the shape of the reversible rail frame of the second lifting mechanism, during docking, the first lifting mechanism is first turned from the folded state to the working state, which is responsible for docking the first docking antenna, and the second lifting mechanism is then turned from the folded state to the working state, which is responsible for docking the second docking antenna, and after docking, the second lifting mechanism is first turned from the working state to the folded state, and the first lifting mechanism is then turned from the working state to the folded state.
5. The large automotive radar high-altitude automatic docking platform according to claim 2, wherein a first end of the first lift car and a first end of the second lift car are connected to the movable support of the first lifting mechanism and the movable support of the second lifting mechanism, respectively, and a second end of the first lift car and a second end of the second lift car are connected to the coupling truss of the first docking platform and the coupling truss of the second docking platform, respectively.
6. The large-scale maneuvering radar high-position automatic docking platform as recited in claim 1, wherein the six-degree-of-freedom attitude adjusting platform comprises a first platform, a ball supporting unit, a second platform, supporting legs, a third platform, a Z-direction moving slide rail, an X-direction electric cylinder and a Y-direction electric cylinder, the first platform is connected with the second platform through the ball supporting unit, the second platform is connected with the third platform through the supporting legs, and the third platform is connected with the carrier loader.
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| CN107855745A (en) * | 2017-10-24 | 2018-03-30 | 北京航空航天大学 | A kind of suspension type aero-engine principal unit centered assembling mechanical system |
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