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WO2010006466A1 - Composant d’avance par translation et rotation à entraînement asymétrique et linéaire - Google Patents

Composant d’avance par translation et rotation à entraînement asymétrique et linéaire Download PDF

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Publication number
WO2010006466A1
WO2010006466A1 PCT/CN2008/001325 CN2008001325W WO2010006466A1 WO 2010006466 A1 WO2010006466 A1 WO 2010006466A1 CN 2008001325 W CN2008001325 W CN 2008001325W WO 2010006466 A1 WO2010006466 A1 WO 2010006466A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
auxiliary
linear
static
linear drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2008/001325
Other languages
English (en)
Chinese (zh)
Inventor
刘强
吴文镜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to GB0915739A priority Critical patent/GB2465450A/en
Priority to PCT/CN2008/001325 priority patent/WO2010006466A1/fr
Publication of WO2010006466A1 publication Critical patent/WO2010006466A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4857—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed perpendicularly by a single rotating pair

Definitions

  • the invention relates to an asymmetric linear drive "translation + rotation" feed function component for a numerically controlled machine tool, and belongs to the technical field of numerically controlled machine tools.
  • the machine tool is assembled from various functional components (spindle unit and spindle head, ball screw pair, rotary table, CNC servo system, etc.) on the basic frame such as bed and column.
  • the functional component also called Function module
  • the main task of CNC machine tool factory is to manufacture basic components such as bed and column and assemble the required functional components into complete CNC machine tools.
  • the overall technology of CNC machine tools and the development of CNC machine tool components are interdependent.
  • the development of the machine tool industry not only the development of the machine tool factory itself can be achieved, the innovation of functional components also deeply affect the development of CNC machine tools.
  • the functional components are upstream of the machine tool industry, while the machine tool industry is downstream of the functional components.
  • the innovative or environmentally-friendly requirements of machine tool design can drive new developments in functional components; innovations in functional components can also revolutionize the machine tool industry.
  • the level of the function determines the level of the whole machine; the quality reliability of the function determines the quality reliability of the whole machine; the manufacturing cost of the function determines the manufacturing cost of the whole machine; the delivery time of the functional part determines the whole machine Delivery time.
  • the invention is a two-axis numerical control machine tool functional component, which can complete the linear feed motion and the swing yaw motion of the tool platform.
  • the machine tool components that perform such functions are designed in series, that is, one motor completes the linear motion of the tool platform through a corresponding mechanism, such as a rotating motor plus a screw or a linear motor plus a linear guide, and the other motor (generally Rotating motor) Responsible for the rotary motion of the tool platform.
  • a rotating motor plus a screw or a linear motor plus a linear guide such as a rotating motor plus a screw or a linear motor plus a linear guide
  • the other motor generally Rotating motor
  • Such a design tends to have a large mechanical assembly and a large mechanical inertia, which affects the mechanical assembly of the machine and has low dynamic performance.
  • the application of the parallel structure on the numerical control machine tool often adopts a symmetrical structure, that is, the branch structure connected to the moving platform is exactly the same, and the moving platform is located at the geometric center of each branch, so the movement of each direction of the moving platform and each The movement of the branches is coupled to each other, adding to the difficulty of the design of the control system.
  • the invention relates to an asymmetric linear drive translational and rotary feed function component, which comprises a static platform, a movable platform and two branches, namely a main branch and an auxiliary branch, and the two branches are responsible for connecting the static platform and the movement. platform.
  • the static platform is a base, which mainly provides a mounting foundation for the installation of the branch, and has a space for installing the motor and the guide rail and a threaded hole.
  • the moving platform is a motion output component of the whole mechanism, and an end effector, such as a tool, an electric spindle or a tool spindle with a swing angle, is mounted on the moving platform, and the moving platform has a mounting joint for connecting with each branch.
  • the mounting joint is a hinge joint.
  • the main branch is a PR structure, that is, a moving pair and a rotating pair, the moving pair is realized by a linear guide, and the rotating pair is realized by a circular bearing;
  • the main branch includes a linear driving system, a sliding table, a circular bearing bracket, and a straight line.
  • the linear guide is mounted on the static platform, the slide is mounted on the linear guide, the circular bearing bracket is fixed on the slide table, and the circular bearing is mounted on the circular bearing bracket for connecting and mounting the movable platform;
  • the system is installed between the static platform and the sliding table to provide driving force for the sliding table.
  • the linear drive system is a linear motor drive or a rotary motor plus a lead screw for linear drive.
  • the auxiliary branch chain is a PRR structure, that is, a moving pair and two rotating pairs, the moving pair is realized by a linear guide, and the rotating pair is passed through the hinge;
  • the auxiliary branch includes a auxiliary linear driving system, an auxiliary sliding table, a hinge bracket, and a auxiliary
  • the linear guide rail and the connecting rod are installed on the static platform, the auxiliary sliding table is mounted on the auxiliary linear guide rail, and the hinge bracket is fixed on the auxiliary sliding platform;
  • the connecting rod has a hinge joint at both ends, and one end is connected with the hinge bracket, and the other One end is connected to the moving platform;
  • the auxiliary linear driving system is installed between the static platform and the auxiliary sliding table, and mainly provides driving force for the auxiliary sliding table.
  • the auxiliary linear drive system is linear motor driven or rotary motor plus screw drive realizes linear drive.
  • the linear drive system of the main branch, the auxiliary linear drive system of the linear guide and the auxiliary branch, and the auxiliary linear guide are mounted on the static platform;
  • the circular bearing bracket of the main branch and the movable platform are connected by a circular bearing, and the movable platform can be Rotating around the axis of the circular bearing, and the axis of rotation passes through the geometric center of the moving platform;
  • the auxiliary branch link is connected with the mounting joint of the moving platform; under the action of the linear drive system of two branches, the moving platform can realize one direction The translation and the rotational movement in one direction.
  • the mounting joint is a hinge joint.
  • the linear drive system is a linear motor drive or a rotary motor plus a lead screw to realize linear drive.
  • the auxiliary linear drive system is a linear motor drive or a rotary motor plus a lead screw for linear drive.
  • the moving platform can rotate around the axis of the circular bearing, and the axis of rotation passes through any center of the moving platform.
  • the invention relates to an asymmetric linear drive translational and rotary feed function, which has the advantages of:
  • the geometric center of the moving platform is located on the rotation auxiliary axis of the PR branch, so that the position coordinates of the moving platform are the same as the translational position coordinates of the PR branches, and the PRR branches are Independent of position coordinates, it is a mechanical decoupling design that is very beneficial to the design of the control system.
  • the invention has the advantages of simple motion chain, high motion precision, good rigidity and convenient control, and the utility model is more practical.
  • FIG. 1 is a perspective view of a first embodiment of the present invention
  • FIG. 2 is a structural diagram of a main branch structure according to Embodiment 1 of the present invention.
  • FIG. 3 is a structural diagram of a secondary branch structure according to Embodiment 1 of the present invention.
  • FIG. 4 is a perspective view of a second embodiment of the present invention.
  • Figure 5 is an exploded view of the second embodiment of the present invention.
  • Figure 6 is a perspective view of a third embodiment of the present invention.
  • Figure 7 is a perspective view of a fourth embodiment of the present invention.
  • Figure 8 is a perspective view of a fifth embodiment of the present invention.
  • an asymmetric linear driving translational and rotational feed function component comprises a static platform 1, a movable platform 2, two branches, namely a main branch 3 and an auxiliary branch 4, two
  • the branch chain is responsible for connecting the static platform 1 and the moving platform 2.
  • the static platform 1 is equivalent to a base, and provides a mounting foundation for the installation of the main branch 3 and the auxiliary branch 4 , and the static platform 1 has three parallel protrusions for parallel installation.
  • the guide rail 11 and the auxiliary linear guide 18 have a large space between the long bosses for mounting the motor stator 8 and the auxiliary motor stator 15.
  • the movable platform 2 is a motion output component of the entire mechanism, and the motorized spindle 2 is provided with an electric spindle 5, and the movable platform has a hinged joint 6 on one side.
  • the main branch 3 is a PR structure, that is, a moving pair and a rotating pair, the moving pair is realized by the linear guide 11, the rotating pair is realized by the circular bearing 13;
  • the main branch 3 includes the linear driving System 7, slide table 10, circular bearing bracket 12, linear guide 11, and round bearing 13; two linear guides 11 are mounted in parallel on the stationary platform 1, and the slide 10 is mounted on the linear guide 11, the circular bearing bracket 12 It is a flipped h-shaped structure with a bearing bowl at the opening for mounting the circular bearing 13;
  • the circular bearing bracket 12 is fixedly attached to the slide table 10, and the circular bearing 13 is mounted on the circular bearing bracket 12 for connection and mounting Platform 2;
  • linear drive system 7 is a linear motor drive, including motor stator 8, motor mover 9, motor stator 8 is mounted on static platform 1, motor mover 9 is fixed on the lower surface of slide 10; motor stator 8 and electricity There is a slight air gap between the rotors 9; during operation, the linear drive system 7 provides the driving force for the slide table 10.
  • the auxiliary branch chain 4 is a PRR structure, that is, one moving pair and two rotating pairs, the moving pair is realized by the auxiliary linear guide 18, the rotating pair is realized by the hinge; the auxiliary branch 4 includes the auxiliary straight line.
  • the hinge bracket 19 is fixedly attached to the auxiliary sliding table 17;
  • the connecting rod 20 has a hinge joint 21 at both ends, one end is connected with the hinge bracket 19, and the other end is connected to the moving platform 2;
  • the auxiliary linear driving system 14 is driven by a linear motor, and includes a auxiliary motor stator 15.
  • the auxiliary motor mover 16, the auxiliary motor stator 15 is mounted on the static platform 1, and the auxiliary motor mover 16 is fixedly attached to the lower surface of the auxiliary slide table; there is a slight air gap between the auxiliary motor stator 15 and the auxiliary motor mover 16.
  • the auxiliary linear drive system 14 provides a driving force for the auxiliary slide table 17.
  • the linear drive system 7 and the linear guide 11 of the main branch 3 are described.
  • the auxiliary linear drive system 14 and the auxiliary linear guide 18 of the auxiliary branch 4 are mounted on the static platform 1; the two linear guides 11 and the two auxiliary linear guides 18 are parallel; the circular bearing bracket 12 and the movable platform 2 of the main branch 3 Connected by the circular bearing 13, the movable platform 2 is rotatable about the axis of the circular bearing 13, and the axis of rotation passes through the geometric center of the movable platform 2; the hinge link 21 of the auxiliary link 4 is connected to the hinge head 21 of the movable platform 2 Connected; while the linear drive system 7 and the auxiliary linear drive system 14 are simultaneously driven, the movable platform 2 can achieve translation in one direction and rotational motion in one direction.
  • Embodiment 2 Embodiment 2
  • the second embodiment changes the linear drive system 7 and the auxiliary linear drive system 14 on the basis of the first embodiment, and is replaced by a rotary electric drive system 22.
  • the rotary electric machine drive system 22 has two sets of the same structure and drives the main branch 3 and the auxiliary branch 4 respectively.
  • the rotary electric machine drive system 22 is composed of a rotary electric machine 23, a coupling 24, a rear seat 25, a lead screw 26, a square nut 27, and a front seat 28; the rotary electric machine 23 is fixed to the rear seat 25 by bolts,
  • the output shaft of the rotary electric machine 23 is connected to one end of the lead screw 26 through the coupling 24, and the other end of the lead screw 26 is connected to the front seat 28 through a bearing;
  • the rear seat 25 and the front seat 28 are fixed to the static platform 1 by bolts;
  • Mounted on and engaged with the lead screw 26, the square nut 27 is fixed to the slide table 10 or the auxiliary slide table 17 by bolts.
  • the third embodiment is an implementation of changing the tool on the movable platform 2 on the basis of the first embodiment.
  • the electric spindle 5 of the first embodiment is replaced with a turning tool 29, and the functional component can be disposed in the turning center.
  • the fourth embodiment is an implementation of loading the tool on the electric spindle 5 on the movable platform 2 on the basis of the first embodiment.
  • the milling cutter 130 is loaded on the electric spindle 5, and the functional component can be disposed in the turning and milling composite machining center.
  • the fifth embodiment is an implementation of changing the movable platform 2 and the electric spindle 5 on the basis of the first embodiment.
  • the Y-shaped movable platform 31 replaces the movable platform 2 in the first embodiment, and the swing shaft 32 is mounted on the opening of the Y-shaped movable platform 31, and the tool spindle 33 is fixed on the swing shaft 32, and the tool spindle 33 is loaded at the end.
  • the linear feed and the double swing angle function of the spindle can be realized conveniently and compactly, and the functional component can be arranged in the five-axis machining center.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)
  • Transmission Devices (AREA)

Abstract

Composant d’avance par translation et rotation à entraînement asymétrique et linéaire comprenant une plate-forme statique (1), une plate-forme dynamique (2) et deux chaînes dont l’une est une chaîne principale (3) d’embranchement et l’autre est une chaîne auxiliaire (4) d’embranchement. La plate-forme statique (1) est une embase. La plate-forme dynamique (2) est un élément de sortie de mouvement sur lequel est installé un effecteur. Une glissière linéaire (11) de la chaîne principale (3) d’embranchement est installée sur la plate-forme statique (1). Une plate-forme coulissante (10) est installée sur la glissière (11). Un support (12) de palier circulaire est fixé sur la plate-forme coulissante (10). Un palier circulaire (13) est installé sur le support (12) de palier circulaire. Un système (7) d’entraînement linéaire est installé entre la plate-forme statique (1) et la plate-forme coulissante (10). Une glissière linéaire (18) d’embranchement de la chaîne (4) d’embranchement est installée sur la plate-forme statique (1). Une plate-forme coulissante (17) d’embranchement est installée sur la glissière (18) d’embranchement. Un support (19) d’articulation est fixé sur la plate-forme coulissante (17) d’embranchement. Les deux extrémités d’une bielle (20) sont reliées à des joints articulés (21), dont l’un est relié au support (19) d’articulation et l’autre est relié à la plate-forme dynamique (2). Un système (14) d’entraînement linéaire d’embranchement installé entre la plate-forme statique (1) et la plate-forme coulissante (17) d’embranchement fournit la force motrice nécessaire à la plate-forme coulissante (17) d’embranchement. La plate-forme dynamique (2) est capable d’effectuer une translation et une rotation sous l’action du système (7) d’entraînement linéaire et de la plate-forme coulissante (17) d’embranchement.
PCT/CN2008/001325 2008-07-16 2008-07-16 Composant d’avance par translation et rotation à entraînement asymétrique et linéaire Ceased WO2010006466A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB0915739A GB2465450A (en) 2008-07-16 2008-07-16 A translation and rotation feeding component of asymmetric and linear driving
PCT/CN2008/001325 WO2010006466A1 (fr) 2008-07-16 2008-07-16 Composant d’avance par translation et rotation à entraînement asymétrique et linéaire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2008/001325 WO2010006466A1 (fr) 2008-07-16 2008-07-16 Composant d’avance par translation et rotation à entraînement asymétrique et linéaire

Publications (1)

Publication Number Publication Date
WO2010006466A1 true WO2010006466A1 (fr) 2010-01-21

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PCT/CN2008/001325 Ceased WO2010006466A1 (fr) 2008-07-16 2008-07-16 Composant d’avance par translation et rotation à entraînement asymétrique et linéaire

Country Status (2)

Country Link
GB (1) GB2465450A (fr)
WO (1) WO2010006466A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090123246A1 (en) * 2006-06-19 2009-05-14 Jtekt Corporation Machine tool with turnable movable section
CN112040192A (zh) * 2020-09-09 2020-12-04 广东省科学院半导体研究所 并联式运动目标视觉追踪装置
CN113586685A (zh) * 2021-08-25 2021-11-02 耘创九州智能装备有限公司 一种用于将直线运动转变为旋转运动的自动伸缩机构

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202014103569U1 (de) * 2013-08-01 2014-10-30 Grob-Werke Gmbh & Co. Kg Maschinenkonzept mit Bearbeitungsmaschine
CN111590091B (zh) * 2020-05-19 2022-12-20 科德数控股份有限公司 一种双摆角主轴头
CN113997126A (zh) * 2021-10-11 2022-02-01 广东工程职业技术学院 一种五轴精雕加工设备

Citations (5)

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Publication number Priority date Publication date Assignee Title
US6328510B1 (en) * 1997-10-20 2001-12-11 HüLLER HILLE GMBH Machine tool for triaxial machining of work pieces
JP2003316440A (ja) * 2002-04-24 2003-11-07 Mejiro Precision:Kk ステージ装置
WO2007062505A1 (fr) * 2005-11-17 2007-06-07 Socovar, Société En Commandite Mecanisme et procede paralleles plans
CN101049699A (zh) * 2007-04-20 2007-10-10 天津大学 可实现两转动和一平动自由度的并联机构
CN101203354A (zh) * 2005-06-30 2008-06-18 株式会社安川电机 平移旋转二自由度载物台装置及采用该装置的三自由度载物台装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6328510B1 (en) * 1997-10-20 2001-12-11 HüLLER HILLE GMBH Machine tool for triaxial machining of work pieces
JP2003316440A (ja) * 2002-04-24 2003-11-07 Mejiro Precision:Kk ステージ装置
CN101203354A (zh) * 2005-06-30 2008-06-18 株式会社安川电机 平移旋转二自由度载物台装置及采用该装置的三自由度载物台装置
WO2007062505A1 (fr) * 2005-11-17 2007-06-07 Socovar, Société En Commandite Mecanisme et procede paralleles plans
CN101049699A (zh) * 2007-04-20 2007-10-10 天津大学 可实现两转动和一平动自由度的并联机构

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090123246A1 (en) * 2006-06-19 2009-05-14 Jtekt Corporation Machine tool with turnable movable section
US8414233B2 (en) * 2006-06-19 2013-04-09 Jtekt Corporation Machine tool with turnable moving section
CN112040192A (zh) * 2020-09-09 2020-12-04 广东省科学院半导体研究所 并联式运动目标视觉追踪装置
CN112040192B (zh) * 2020-09-09 2021-12-14 广东省科学院半导体研究所 并联式运动目标视觉追踪装置
CN113586685A (zh) * 2021-08-25 2021-11-02 耘创九州智能装备有限公司 一种用于将直线运动转变为旋转运动的自动伸缩机构

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Publication number Publication date
GB0915739D0 (en) 2009-10-07
GB2465450A (en) 2010-05-26

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