CN101951103A - Great-torque miniature DC permanent-magnet synchronous servo motor - Google Patents
Great-torque miniature DC permanent-magnet synchronous servo motor Download PDFInfo
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- CN101951103A CN101951103A CN2010102945619A CN201010294561A CN101951103A CN 101951103 A CN101951103 A CN 101951103A CN 2010102945619 A CN2010102945619 A CN 2010102945619A CN 201010294561 A CN201010294561 A CN 201010294561A CN 101951103 A CN101951103 A CN 101951103A
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Abstract
The invention aims to provide a great-torque miniature DC permanent-magnet synchronous servo motor to ensure that the output power and the torque can drive great-load sewing equipment, such as a thick material machine, and the like, and the motor can be lightweight, portable and small. The invention adopts the technical scheme that the great-torque miniature DC permanent-magnet synchronous servo motor is provided with a shell and provided with a stator on the inner wall, wherein a rotor is coaxially embedded in the stator, and a motor output shaft is provided with a photoelectric coder. The great-torque miniature DC permanent-magnet synchronous servo motor is characterized in that the rotor comprises a rotating shaft which penetrates through a bearing, is mounted on the shell and is coaxially provided with a cylindrical rotor core, the outer circumferential surface of the rotor core is evenly provided with a group of axial slots in which matched permanent magnets are inserted, and cylindrical fasteners for fastening the permanent magnets and the rotor core are arranged at both ends of the rotor core. The invention is mainly used for high-speed sewing equipment, particularly a high-speed thick material machine and a synchronization car servo control system.
Description
Technical field
The present invention relates to a kind of servomotor, particularly a kind of high pulling torque minisize dc permanent magnet synchronous servo motor mainly is applicable to high-speed sewing device, the especially thick material machine of high speed and car servo-control system synchronously.
Background technology
China's sewing device performance is along with the development of Computer Control Technology and converter technique is greatly improved.In the use of sewing device, the application of DC servo motor more and more widely, the disengaging type motor before the industrial sewing machine field has progressively substituted not only, and in the family expenses sewing machine, also begin popularization and application.The excitation winding of DC servo motor and rotor portion are respectively by two independent current source power supplies.What magneto was also arranged is that rotor is a permanent magnet, and it has good governor control characteristics, bigger detent torque and power, is easy to control and responds advantages such as fast, begins extensive use in the sewing machine servo-control system.Be compared to other motors, DC servo motor has that mechanical property is hard, power output more greatly, not rotation, advantage such as detent torque is big.
Meanwhile, the thread requirement of machine servo controller of sewing machine producer opposite joint is also more and more higher, can not only be applicable to flat seam machine, also will be applicable to various special types.In extraordinary machine field, particularly thick material machine and synchronous car aspect since at lining be denim, canvas, artificial leather, ox-hide etc., these fabric thicknesses are big, material is close, therefore the intensity height needs bigger torsion and penetration power.Be subjected to the restriction of power and moment of torsion, in extraordinary type, it is not enough that the application of minisize dc servomotor also shows.Traditional servomotor is a rare-earth electric motor, and motor volume is bigger, causes the mounting process complexity, and cost of transportation is bigger, and external form is attractive in appearance inadequately, and can't be installed in the sewing machine head with the form of driving directly, uses directly to drive form.And the torque of common minisize dc servomotor when still having low frequency, low pressure, low speed is steady inadequately, and then influences low speed segment and move unfavorable shortcoming.With the thick stuff sewing machine head of minisize dc driven by servomotor heavy load, become a difficult point.But along with the raising of motor process, the increase of power of motor, the minisize dc servomotor has become a trend.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of simple in structure, high pulling torque minisize dc permanent magnet synchronous servo motor that volume is little at the problem of above-mentioned existence, can guarantee that its power output and torsion can drive the sewing device of bulk loads such as thick material machine, can make the structure of servomotor light as much as possible succinctly small and exquisite again, be beneficial to installation, with the high-power driving of final realization micro servo motor.
The technical solution adopted in the present invention is: high pulling torque minisize dc permanent magnet synchronous servo motor, has casing, its inwall is provided with stator, this stator coaxial embedded can be around the rotor of its rotational, on the described motor output shaft photoelectric encoder is installed, it is characterized in that: described rotor comprises rotating shaft, its two ends respectively by Bearing Installation on casing, coaxial installation cylindrical rotor iron core in the rotating shaft, evenly offer one group of axial slots on the outer circumference surface of rotor core, the permanent magnet that plug-in mounting is complementary with it and adopts Nd-Fe-B magnet steel to make in this slotted eye, the rotor core two ends are provided for the tubular securing member of fastening permanent magnet and rotor core.
Described rotor core is close to by one group of thin slice shape rotor punching and is overrided to form.
Described diameter of stator bore is 40mm, and the width of permanent magnet is 21.4mm, and rotor diameter is 37.5mm.
Described stator comprises by one group of thin slice shape stator punching is close to the sleeve-like stator core that is overrided to form, this stator core inner peripheral surface extends radially inwardly out some poles along it, form the line embedding groove at perforation two ends between adjacent two poles, be parallel to each other and all be in tilted layout between each line embedding groove, be wound with coil in the described line embedding groove with respect to axis stator.
Described casing comprises ducted body, front end housing and rear end cap, and the three closely connects by the through hole screw, forms seal chamber, and its length is respectively 10.8cm, 8cm, 8cm.
Described photoelectric encoder comprises the wiring board that the coding disk that is installed on the rotating shaft output and the coding disk outside are complementary with it, and this wiring board is fixedly installed on the front end housing.
The edge of described coding disk radially has 360 narrow slits.
Towards coding disk one side test the speed optocoupler and three phase place optocouplers are installed respectively on the described wiring board.
Described photoelectric encoder outer cover black plastic dust cover.
The invention has the beneficial effects as follows: the present invention is based on the direct current synchronous servo motor, by motor gas-gap magnetic field is analyzed, under the constant situation of diameter of stator bore, rotor size (rotor diameter and rotor permanent magnet width) is optimized design, and set digital signal processor, platforms such as Intelligent Power Module, micro servo motor and control system have been designed based on high-power driving, by to the thick material machine of high speed, the prototyping testing of car synchronously, can be under the running speed of 2500rpm, penetrate 80 standard A 4 paper or 12 layers of 0.3mm-0.5mm ox-hide material, surpassed the penetration capacity of common servomotor.Simultaneously in the prior art sewing device to make to the transition of thick material from thin material be a difficult point, need bigger torsion and finish this " climbing " process, motor of the present invention can be finished from 2 layers of transition that thickens 6 layers of ox-hide material suddenly and make work, has solved thick material machine key technologies such as loaded self-adaptive, speed closed loop control high real-time, position control accuracy under the situation of running up.
In addition, motor housing cross-sectional width of the present invention is 8cm, length is 10.8cm, with respect to original rare-earth electric motor volume is original about 1/3, and the installation dimension of motor is dwindled, and has also saved raw material, be convenient to transportation and packing, the small size motor can be installed on sewing machine head inside simultaneously, makes the kind of drive of directly the driving of thick material sewing device become possibility, has really realized embedded energy-conserving and environment-protective design.
Description of drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is the front view of back end cover for motor among the present invention.
Fig. 3 is the front view of motor front end housing among the present invention.
Fig. 4 is that the B-B of Fig. 1 is to cutaway view.
Fig. 5 is the cross-sectional view of shell and stator among the present invention.
Fig. 6 is the structure chart of stator punching among the present invention.
Fig. 7 is the front view of rotor of the present invention.
Fig. 8 is that the A-A of Fig. 7 is to cutaway view.
Fig. 9 is that the C-C of Fig. 7 is to cutaway view.
Figure 10 is a rotor punching structure chart of the present invention.
Figure 11 is the front view of coding disk among the present invention.
Figure 12 is the left view of coding disk among the present invention.
Figure 13 is the left view of wiring board among the present invention.
Figure 14 is the front view of wiring board among the present invention.
Figure 15 is the front view of plastics dust cover among the present invention.
Figure 16 is the left view of plastics dust cover among the present invention.
Embodiment
As shown in Figure 1-Figure 3, present embodiment comprises casing 3, its inwall fixed installation stator 1, and this stator is coaxial embeddedly can install photoelectric encoder 4 as the velocity phase signal detector around the rotor 2 of its rotational on the described motor output shaft.Wherein casing 3 comprises ducted body 3-1, front end housing 3-2 and rear end cap 3-3, wherein shell 3-1 is the stretching aluminium section bar, front end housing 3-2 and rear end cap 3-3 are die casting aluminium, have in light weight, the characteristics of good heat dissipation, the three closely connects by through hole screw 3-4, forms seal chamber, and its length is respectively 10.8cm, 8cm, 8cm.
As Fig. 4-shown in Figure 6, described stator 1 is used to produce magnetic field, it comprises by one group of stator punching 1-3 (silicon steel sheet) is close to the sleeve-like stator core that is overrided to form, in this example, stator punching 1-3 is the sheet that cross section is similar annular, being close to casing 3 inwalls fixes, stator punching 1-3 inner peripheral surface extends radially inwardly out several teeth 1-3-1 along it, preformed groove 1-3-2 between adjacent two tooth 1-3-1, tooth 1-3-1 alignment on each stator punching 1-3 forms pole 1-5, each groove 1-3-2 alignment forms the line embedding groove 1-4 that connects two ends, be parallel to each other between each line embedding groove 1-4 and all be in tilted layout with respect to stator 1 axis, stator core is outer to be wound with coil 1-2 by line embedding groove 1-4, and the outer exciting current that adds produces magnetic field.The inner circle at position all is provided with a pole 1-5 at least between two adjacent line embedding groove 1-4, and it has solved the problem of prior art electric motor starting and running stability difference.After stator 1 installation of the present invention, its internal diameter is 40mm.
As Fig. 7-shown in Figure 10, described rotor 2 comprises rotating shaft 2-4, and its two ends are installed on the casing 3 by bearing 2-5 respectively, and the rotor 2 of DC servo motor is fixed, and eliminate axial displacement; Rotating shaft 2-4 goes up coaxial installation cylindrical rotor iron core 2-1, and in this example, rotor core is close to by one group of thin slice shape rotor punching 2-1-1 (silicon steel sheet) and is overrided to form.Evenly offer one group of axial slots 2-2 on the outer circumference surface of rotor core 2-1, the permanent magnet 2-3 that plug-in mounting is complementary with it and adopts Nd-Fe-B magnet steel to make in this slotted eye, described slotted eye 2-2 and permanent magnet 2-3 cross section are circular arc, leave leakage field magnetic circuit (four boss on Figure 10 rotor punching excircle) between adjacent two slotted eye 2-2, yoke portion is a main magnetic circuit, rotor core 2-1 two ends are provided with tubular securing member 2-6, be used for fastening rotor core 2-1 on the one hand, make it to become one, be used on the other hand prevent that permanent magnet 2-3 from coming off from rotor core 2-1.This example is decided under the situation of (40mm) at stator 1 internal diameter, and be optimized design: permanent magnet 2-3 width (being the permanent magnet cross-sectional arc length) is 21.4mm, and rotor 2 external diameters are 37.5mm, so permanent magnet 2-3 can only be provided with two pairs totally four.DC servo-motor is under the effect in stator 1 magnetic field, makes rotor 2 be subjected to ordering about of electromagnetic torque, drives the load rotation.
As Figure 11-shown in Figure 14, described photoelectric encoder is arranged on the front end housing 3-2 outside, comprises the wiring board 4-2 that the coding disk 4-1 that is installed on the rotating shaft 2-4 output and the coding disk 4-1 outside are complementary with it, and this wiring board is fixedly installed on the front end housing 3-2.Wherein the edge of coding disk 4-1 radially has 360 narrow slits, and bigger with respect in the past motor precision, coding disk 4-1 is fixed on the rotating shaft 2-4 of servomotor with an axle sleeve 4-1-1 and screw 4-1-2; Described wiring board 4-2 goes up and towards coding disk 4-1 one side test the speed optocoupler 4-2-1 and three phase place optocoupler 4-2-2 is installed respectively, and the optocoupler 4-2-1 that wherein tests the speed counts pulse signal, gives CPU by signal wire transmits, to calculate the servomotor rotating speed; Phase place optocoupler 4-2-2 counts phase signal, by permutation and combination, produces 6 phase places, and is transferred to CPU to determine the phase place of servomotor.After this structure assembling was finished, the light path of test the speed optocoupler 4-2-1 and phase place optocoupler 4-2-2 was just blocked by the edge that coding disk 4-1 has a narrow slit, utilized narrow slit realize the testing the speed conducting of optocoupler 4-2-1 and phase place optocoupler 4-2-2 light path.As Figure 15, shown in Figure 16, described photoelectric encoder 4 outer cover black plastic dust cover 3-5 and front end housing 3-2 removably connect, and form an enclosure space, isolated extraneous light, and prevent that dust from entering.
Design principle of the present invention is: the control mode of DC servo motor of the present invention mainly is excitation field control, promptly changes the magnetic field intensity of stator 1 by the size that changes exciting current, thus control rotating speed of motor and output torque.Therefore under the certain situation of electric current,, feed the three phase sine electric current in the coil 1-2 of stator 1,, require motor gas-gap magnetic field must be Sine distribution for producing stable thrust for DC servo motor.Under the situation that the motor pole span remains unchanged, the parameter that influences the motor gas-gap Distribution of Magnetic Field mainly is the width of permanent magnet 2-3 and the radius of rotor 2.What the present invention adopted is the open-core type winding construction, does not therefore have the teeth groove fluctuation problem of traditional magneto, and its output-power fluctuation depends primarily on the sine that air-gap field distributes.The present invention mainly is that rotor 2 sizes are optimized design by motor gas-gap magnetic field is analyzed, and improves the sine of Distribution of Magnetic Field, thereby makes the motor power output more stable.Find that by analyzing permanent magnet 2-3 width not only influences the amplitude of magnetic flux density first-harmonic, and very big to the sine influence of the close distribution of magnetic.Stator 1 internal diameter of the present invention is chosen as 40mm, is 31.4mm by calculating its pole span.For reduce the harmonic component of Distribution of Magnetic Field as far as possible, the width of having chosen permanent magnet 2-3 is 21.4mm, and permanent magnet 2-3 width and pole span are than τ m/ τ=about 0.68.Because the radius of rotor 2 is less to the sine influence of magnetic flux distribution, therefore only consider its influence to fundamental voltage amplitude, generally choose rotor 2 radiuses to pole span than R/ τ=0.4～0.7, it is 37.5mm that rotor portion 2 of the present invention is chosen external diameter, then radius is 18.75mm, thus rotor portion 2 radiuses to pole span than R/ τ=0.6.
The present invention designs the radius of rotor 2 and the width of permanent magnet 2-3 with simple method, makes the motor-field of motor be distributed as sinusoidal waveform.Take skewed stator slot (being that each line embedding groove all is in tilted layout with respect to axis stator), (promptly the groove number of striding at the effective edge of two coil windings the is few) measure of winding short distance simultaneously and adjust air gap (being the space between stator and the rotor) size, can make motor counter potential waveform aberration rate less than 1%, reach best matching effect thereby make with sine-shaped driver.
The present invention has versatility widely, not only can be used in the sewing device, can also extend to the application of industry equipment such as light industry, weaving, in addition can be used in general servo in, can undergo technological transformation to motor and relevant industries, and promote the progress of relevant industries.
Claims (9)
1. high pulling torque minisize dc permanent magnet synchronous servo motor, has casing (3), its inwall is provided with stator (1), this stator coaxial embedded can be around the rotor (2) of its rotational, photoelectric encoder (4) is installed on the described motor output shaft, it is characterized in that: described rotor (2) comprises rotating shaft (2-4), its two ends are installed on the casing (3) by bearing (2-5) respectively, coaxial installation cylindrical rotor iron core (2-1) is gone up in rotating shaft (2-4), evenly offer one group of axial slots (2-2) on the outer circumference surface of rotor core (2-1), the permanent magnet (2-3) that plug-in mounting is complementary with it and adopts Nd-Fe-B magnet steel to make in this slotted eye, rotor core (2-1) two ends are provided for the tubular securing member (2-6) of fastening permanent magnet (2-3) and rotor core (2-1).
2. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 1 is characterized in that: described rotor core (2-1) is close to by one group of thin slice shape rotor punching (2-1-1) and is overrided to form.
3. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 1 and 2 is characterized in that: described stator (1) internal diameter is 40mm, and the width of permanent magnet (2-3) is 21.4mm, and rotor (2) external diameter is 37.5mm.
4. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 1 and 2, it is characterized in that: described stator (1) comprises by one group of thin slice shape stator punching (1-3) is close to the sleeve-like stator core that is overrided to form, this stator core inner peripheral surface extends radially inwardly out some poles (1-5) along it, form the line embedding groove (1-4) at perforation two ends between adjacent two poles (1-5), be parallel to each other between each line embedding groove (1-4) and all be in tilted layout, be wound with coil (1-2) in the described line embedding groove (1-4) with respect to stator (1) axis.
5. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 1 and 2, it is characterized in that: described casing (3) comprises ducted body (3-1), front end housing (3-2) and rear end cap (3-3), the three closely connects by through hole screw (3-4), form seal chamber, its length is respectively 10.8cm, 8cm, 8cm.
6. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 5, it is characterized in that: described photoelectric encoder (4) comprises the wiring board (4-2) that the coding disk (4-1) that is installed on rotating shaft (2-4) output and coding disk (4-1) outside are complementary with it, and this wiring board is fixedly installed on the front end housing (3-2).
7. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 6 is characterized in that: the edge of described coding disk (4-1) radially has 360 narrow slits.
8. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 6 is characterized in that: described wiring board (4-2) is gone up and towards coding disk (4-1) side optocoupler that tests the speed (4-2-1) and three phase place optocouplers (4-2-2) is installed respectively.
9. high pulling torque minisize dc permanent magnet synchronous servo motor according to claim 1 and 2 is characterized in that: described photoelectric encoder (4) outer cover black plastic dust cover (3-5).
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| CN2010102945619A CN101951103A (en) | 2010-09-26 | 2010-09-26 | Great-torque miniature DC permanent-magnet synchronous servo motor |
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| CN2010102945619A CN101951103A (en) | 2010-09-26 | 2010-09-26 | Great-torque miniature DC permanent-magnet synchronous servo motor |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102255437A (en) * | 2011-07-07 | 2011-11-23 | 常州市昊升电机有限公司 | High-performance rare earth permanent magnet DC motor |
| CN103312068A (en) * | 2013-06-07 | 2013-09-18 | 芜湖微特电机有限公司 | Energy-saving servo motor |
| CN103774353A (en) * | 2013-12-30 | 2014-05-07 | 浙江众邦机电科技有限公司 | Shell-less motor of sewing machine direct drive structure |
| CN105048866A (en) * | 2015-07-31 | 2015-11-11 | 上海卫星工程研究所 | Ultrasonic motor based high-precision driving device for effective load and assembly method |
| WO2016176899A1 (en) * | 2015-05-06 | 2016-11-10 | 长沙美福沛林电子科技有限公司 | Steering engine, and multi-pole brushless dc motor having permanent magnet for same |
| CN107591927A (en) * | 2017-08-17 | 2018-01-16 | 珠海格力节能环保制冷技术研究中心有限公司 | Motor |
| CN108190409A (en) * | 2018-01-31 | 2018-06-22 | 常州合泰微特电机有限公司 | Servo motor logistics roller |
| CN109888959A (en) * | 2019-03-19 | 2019-06-14 | 苏州欧比特机械有限公司 | A kind of outer-rotor structure of outer-rotor permanent magnet motor |
| CN113062107A (en) * | 2021-04-01 | 2021-07-02 | 常州弘仁智能科技有限公司 | Weft straightening method, weft straightening mechanism and weft straightening device for solving wavy bend of fabric weft |
| CN114189075A (en) * | 2021-11-12 | 2022-03-15 | 北京自动化控制设备研究所 | High-reliability high-torque-density permanent magnet rotor |
| CN117752528A (en) * | 2023-12-14 | 2024-03-26 | 珠海云麦科技有限公司 | Damping fascia gun and damping method |
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| CN201204527Y (en) * | 2008-06-10 | 2009-03-04 | 西安悦诚电气技术有限公司 | Permanent magnet AC servo motor for industrial sewing machine |
| CN201805337U (en) * | 2010-09-26 | 2011-04-20 | 杭州励磁自动化技术有限公司 | Large-torque miniature direct-current permanent-magnetic synchronous servo motor |
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| CN1037805A (en) * | 1988-05-13 | 1989-12-06 | 株式会社日立制作所 | Permanent magnet type synchro motor |
| CN201038850Y (en) * | 2007-04-17 | 2008-03-19 | 陈志瑞 | Torque motor with limited rotation angle |
| CN201204527Y (en) * | 2008-06-10 | 2009-03-04 | 西安悦诚电气技术有限公司 | Permanent magnet AC servo motor for industrial sewing machine |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102255437B (en) * | 2011-07-07 | 2013-08-07 | 常州市昊升电机有限公司 | High-performance rare earth permanent magnet DC motor |
| CN102255437A (en) * | 2011-07-07 | 2011-11-23 | 常州市昊升电机有限公司 | High-performance rare earth permanent magnet DC motor |
| CN103312068B (en) * | 2013-06-07 | 2016-03-23 | 芜湖微特电机有限公司 | A kind of energy-saving servo motor |
| CN103312068A (en) * | 2013-06-07 | 2013-09-18 | 芜湖微特电机有限公司 | Energy-saving servo motor |
| CN103774353A (en) * | 2013-12-30 | 2014-05-07 | 浙江众邦机电科技有限公司 | Shell-less motor of sewing machine direct drive structure |
| WO2016176899A1 (en) * | 2015-05-06 | 2016-11-10 | 长沙美福沛林电子科技有限公司 | Steering engine, and multi-pole brushless dc motor having permanent magnet for same |
| CN105048866A (en) * | 2015-07-31 | 2015-11-11 | 上海卫星工程研究所 | Ultrasonic motor based high-precision driving device for effective load and assembly method |
| CN107591927A (en) * | 2017-08-17 | 2018-01-16 | 珠海格力节能环保制冷技术研究中心有限公司 | Motor |
| CN108190409A (en) * | 2018-01-31 | 2018-06-22 | 常州合泰微特电机有限公司 | Servo motor logistics roller |
| CN109888959A (en) * | 2019-03-19 | 2019-06-14 | 苏州欧比特机械有限公司 | A kind of outer-rotor structure of outer-rotor permanent magnet motor |
| CN109888959B (en) * | 2019-03-19 | 2024-05-28 | 苏州欧比特机械有限公司 | Outer rotor structure of outer rotor permanent magnet motor |
| CN113062107A (en) * | 2021-04-01 | 2021-07-02 | 常州弘仁智能科技有限公司 | Weft straightening method, weft straightening mechanism and weft straightening device for solving wavy bend of fabric weft |
| CN114189075A (en) * | 2021-11-12 | 2022-03-15 | 北京自动化控制设备研究所 | High-reliability high-torque-density permanent magnet rotor |
| CN114189075B (en) * | 2021-11-12 | 2023-11-03 | 北京自动化控制设备研究所 | High-reliability high-torque-density permanent magnet rotor |
| CN117752528A (en) * | 2023-12-14 | 2024-03-26 | 珠海云麦科技有限公司 | Damping fascia gun and damping method |
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Application publication date: 20110119 |