CN102486900B - Multi-sample multifunctional material science experiment device - Google Patents
Multi-sample multifunctional material science experiment device Download PDFInfo
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- CN102486900B CN102486900B CN 201010577406 CN201010577406A CN102486900B CN 102486900 B CN102486900 B CN 102486900B CN 201010577406 CN201010577406 CN 201010577406 CN 201010577406 A CN201010577406 A CN 201010577406A CN 102486900 B CN102486900 B CN 102486900B
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Abstract
The invention provides a multi-sample multifunctional material science experiment device which can be used for carrying out multifunctional experiment operation on samples in a batch sample experiment device. The multi-sample multifunctional material science experiment device is characterized by comprising sample chambers, a multidimensional moving mechanism, a heating furnace, a sample replacing unit, a quenching unit, a sample processing unit, a rotary magnetic field unit, an observation unit, a vibration unit, a physical property detection unit, a process monitoring unit, a control unit and a monitoring unit, wherein the sample replacing unit is used for processing samples of different sizes by using different forms of sample chambers; the rotary magnetic field unit is arranged on the outer wall of the heating furnace; the observation unit is used for observing the processed sample by virtue of a light source in real time; the vibration unit is used for driving the sample to vibrate by use of a manipulator; the physical property detection unit is used for measuring the variations of conductivity and Seebeck voltage in the sample processing process; the process monitoring unit is used for monitoring the growth process of the sample; the control unit is used for controlling the work of the whole system; and the monitoring unit is used for monitoring the whole experiment process on a computer.
Description
Technical field
The present invention relates to various product multifunctional material scientific experiment device, this device is particularly related to a kind of various product multifunctional material scientific experiment device.
Background technology
Present microgravity Experiment of Material Science experimental provision function is very single, is merely able to carry out the sample grown test, once can process 6 samples at most.And do not possess the required functions of material science test such as vibration, observation, rotating magnetic field, quenching.
Germany space office once developed a kind of transparent space material experimental facilities, as shown in Figure 1:
It is used for the directional solidification experiment of TEXUS microgravity rocket, is used for studying the column crystal-equiax crystal transition problem in the process of setting.This device utilizes aerogel to visible light and the transparent performance of near infrared, can be in experimentation the position of Real Time Observation freezing interface, but and measuring samples surface temperature.But its function is very single, is merely able to carry out the directional solidification experiment of a sample, can not change sample.
Summary of the invention
The objective of the invention is to, for overcoming the present very single problem of microgravity Experiment of Material Science apparatus function, thereby provide a kind of various product multifunctional material scientific experiment device.
For achieving the above object, the present invention proposes a kind of various product multifunctional material scientific experiment device, this device is used for finishing multi-functional experimental implementation to sample at the experimental provision of batch sample, it is characterized in that described batch sample experimental provision comprises: sample library, multi-dimensional movement mechanism, heating furnace; Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, realizes the seesawing of the seesawing of vertical and tangential movement, sample library, heating furnace of mechanical arm; Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are equipped with two sample libraries, and heating furnace is arranged between two sample libraries, is used for sample is heated; This device also comprises the sample latch mechanism, and described sample latch mechanism comprises that locking screw core, the locking of clamping storehouse of coaxial setting is female and clamps the storehouse; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixedly connected between locking screw core and the clamping storehouse; Locking mother in described clamping storehouse fixedly installs, and is sheathed on the locking screw core and clamps the joint portion in storehouse, and the locking that the inside that a female end is locked in this clampings storehouse cooperates clamping storehouse face slightly is provided with the inclined-plane; Described mechanical arm comprises: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, is used for matching with teeth groove on the sample ampoule, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar, individual annular groove is arranged on the cylindrical of this strainer front end, cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body by this annular groove, the inner wall at end of strainer is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and this machinery assistant comprises: fork and internal spline portion; Described fork is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and the internal spline of this internal spline portion cooperates outer rotor transposition spline;
Wherein, described various product multifunctional material scientific experiment device also comprises:
Sample is changed the unit, and being used to adopt multi-form sample library is the sample of processing different size;
The quenching unit is used for the quick refrigeration of the sample of being processed, and the quenching piece each side has one experimental provision;
The sample machining cell is used for sample is carried out growth operation;
The rotating magnetic field unit is used for the sample of being processed is applied the external magnetic field effect, and this rotating magnetic field is arranged on the outer wall of heating furnace;
Observation unit carries out Real Time Observation by light source to the sample of being processed;
Vibration unit is used to utilize mechanical arm to drive sample and vibrates;
The rerum natura detecting unit is used for the variation of measuring samples process conductivity, Sai Beike voltage;
The process monitoring unit is used to monitor the growth course of sample;
Control module is used for whole system operation is controlled; With
Monitoring unit is used for realizing on computers monitoring entire test.
Technique scheme, the intensity of described rotating magnetic field and frequency can be adjusted; The vibration frequency of described vibration unit, amplitude and waveform are adjustable; Described heating furnace comprises: single warm area stove, many warm areas stove or the transparent stove observed; Described observation unit comprises: infrared light observation unit, visible light observation unit, ultraviolet light observation unit and X-ray observation unit.
As an improvement of the present invention, described various product multifunctional material scientific experiment device also comprises distant operational module, is used for the Long-distance Control experimentation.
The purpose of this invention is to provide a kind of various product multifunctional material scientific experiment device, utilize it can carry out multiple Experiment of Material Science, and be specially adapted to the Experiment of Material Science under the microgravity condition.
For achieving the above object, the invention provides a kind of various product multifunctional material scientific experiment device, it is characterized in that total system is changed unit, quenching unit, body of heater unit, sample machining cell, rotating magnetic field unit, observation unit, rerum natura detecting unit, vibration unit, process monitoring unit, control module and monitoring unit by sample and formed.Can one-time continuous carry out the test of up to a hundred samples.Can set independently machining process to each sample, comprise the parameter technological parameters such as (waveform, frequency, amplitudes etc.) of heating-up time, design temperature, temperature retention time, temperature fall time, controlled variable (P, I, D parameter), growth rate, magnetic field rotational speed, magnetic field intensity, oscillating curve and vibration processes.Have distant operating function, process that can the Long-distance Control sample, and can change various technological parameters in real time.The volume and weight of whole device is all very little, is highly suitable under the condition of limited bulk and limited weight to use.
During device work, mechanical arm vertically runs to the sample place that will take out, and then tangential movement is to the sample position that will get.It is effective that specimen holder arrives limit switch forward.Mechanical arm closes and closes, and grasps sample, and mechanical arm turns clockwise, with the sample release.Specimen holder moves to bottommost, and sample is removed.The vertical earlier operation of mechanical arm, level run is aimed at burner hearth to the middle part again.Heating furnace marches forward, and sample is inserted in the burner hearth.Begin sample is heated, also can carry out magnetic agitation to sample this moment, or apply vibration.Sample can have dual mode to grow, and a kind of is that heating furnace moves backward, and another kind is that move the temperature field in the control heating furnace.After the sample grown process was finished, heating furnace fell back on the back limit switch fast and effectively locates.If sample needs to quench, the module of then quenching is closed up fast, and sample is embraced, and makes its fast cooling.After the sample temperature-fall period was finished, the quenching module was moved back to both sides.The vertical earlier back of mechanical arm level run is aimed at the material cabin to the place, material cabin of this sample.Specimen holder moves forward, and when specimen holder front limit switch was effective, sample was placed among the material cabin.Mechanical arm is rotated counterclockwise, and sample is locked.Controller control mechanical arm grasps next sample.
Described various product multifunctional material scientific experiment device, it is characterized in that, specimen holder can flexible design, can be designed to load the forms that reach up to a hundred thin sample ampoules, also can be designed to load in identical volume tens forms than the crude samples ampoule.
Described various product multifunctional material scientific experiment device is characterized in that, the mode of extracting and processed sample.It is that the mode that the third dimension is taken out is carried out by the bidimensional location that sample grasps.And the used heating furnace of processed sample is arranged between two specimen holders dexterously, and this structure sample storage, extracting and processing mode can maximally utilise limited space, place sample more.
Described various product multifunctional material scientific experiment device is characterized in that, has designed a quenching module in the device.The quenching module is used for the high temperature sample is cooled off fast.
Described various product multifunctional material scientific experiment device is characterized in that, has designed rotating magnetic field in the device.Rotating magnetic field is used in the sample process sample being carried out magnetic agitation.The intensity in magnetic field and gyro frequency can be regulated by controller.
Described various product multifunctional material scientific experiment device is characterized in that, has designed vibrating mechanism in the device.Vibrating mechanism is used in the sample process sample being applied various oscillating actions.Power, frequency and the waveform of vibration can be regulated by controller.
Described various product multifunctional material scientific experiment device is characterized in that, has designed the vibration Observation Blocks in the device.Observation Blocks is used in the sample process form in the sample process being observed, and for investigation of materials provides direct image information, and can obtain warm field distribution in the material processing from image information.Observation Blocks can use multiple light source, comprises infrared light, visible light, ultraviolet light and X-ray etc.
Described various product multifunctional material scientific experiment device is characterized in that, installs to be modular assembly.Can select different module combinations according to the requirement of institute's rapidoprint.For example, the heating furnace module can have various ways, comprises single warm area stove, many warm areas stove, transparent stove.Sample library also can have multiple, if the religion of sample ampoule is thin, then can load more sample; If the religion of sample ampoule is thick, then the sample library of equal volume can load less bulk sample ampoule.Observation Blocks also can have various ways, for example infrared light Observation Blocks, visible light Observation Blocks, ultraviolet light Observation Blocks and X-ray Observation Blocks etc.Quenching also can have various ways, for example utilizes derby directly to embrace sample, or utilizes the heat of the absorbed sample with big thermal capacity, or directly blows liquid nitrogen or other cold air on sample, or utilizes recirculated water that sample is cooled off.Vibration module also has various ways, comprises directly sample being applied radial and axial vibration, perhaps sample is applied to rotatablely move etc.
Described various product multifunctional material scientific experiment device is characterized in that, can carry out distant operation to experimental provision.By distant operation, can change the processing technology of sample in real time, the parameter technological parameters such as (waveform, frequency, amplitudes etc.) that comprises heating-up time, design temperature, temperature retention time, temperature fall time, controlled variable (P, I, D parameter), growth rate, magnetic field rotational speed, magnetic field intensity, oscillating curve and vibration processes, can also process the sample of appointment, promptly in specimen holder, select a sample to process in all sample.And utilize distant operation can solve the fault that occurs in the experimentation.
Described various product multifunctional material scientific experiment device is characterized in that, this device has the function that rerum natura detects.Temperature survey can be carried out in the Sample sleeve, the Temperature Distribution on the sample can be accurately provided.Can carry out particular design to the sample crucible structure according to requirement of experiment, following information can be provided: the variation of (1) resistivity; (2) cooling curve (for differential thermal analysis (DTA)); (3) the experiment process is added electric pulse and carry out rerum natura measurement in real time or controls such as mark.
Described various product multifunctional material scientific experiment device is characterized in that, can carry out video monitor to the experimentation of experimental provision.The plurality of video camera is installed in mechanism, but the whole process that real time monitoring takes out sample, processed sample the cabin, sample sent back to the material cabin from material.Like this, when breaking down in the experimental provision operational process, can very grasp the situation that fault takes place exactly, and the reason that finds fault to take place fast, proposition solves the method for fault rapidly, solves fault in the shortest time, makes experimental provision recover normal.
The present invention has the following advantages:
1. experimental provision load sample quantity is many
Can once load and reach up to a hundred samples, that is to say, can once carry out the experiment of up to a hundred samples.Use different sample libraries and corresponding heating furnace, can process the different sample of thickness
2. the experimental provision function is many
This device has the material sample growth simultaneously, functions such as the physical parameter of vibration, quenching, Real Time Observation, measurement material, distant operation, experimentation supervision are stirred, apply in magnetic field.It has almost comprised the needed various process conditions of material experiment.
3. highly versatile
Because the sample experimental considerations unit can flexible configuration, therefore can carry out multiple Experiment of Material Science, comprising:
● metal material and alloy material
● oxide material
● polynary new material
● binary, ternary semiconductor photoelectron material
● semiconductor material
● non-crystalline material
● novel monocrystal material
● nanometer and compound substance
● can carry out the research of Materials Physics and Chemistry performance
● the rerum natura that can carry out material detects
Can be used to the following point in the research material science:
● growth of single crystal
● alloy melting
● directional solidification
● cooling (metallic glass) fast
● the Condensed Matter Physics underlying issue, as melt diffusion etc.
● experimentation mark (Seebeck﹠Peltier effect)
● the Ostwald slaking
● the particle bag falls into
● stress is handled
● other suitable material processed
5. experimental provision is simple in structure
It has several module combinations to form, and can dismantle, change specimen holder easily, changes heating furnace, change Observation Blocks.It is particularly suitable in the enterprising row space Experiment of Material Science of the spacecraft of limited weight, limited bulk, limited power.
6. modular design
Owing to adopt modularized design method, but so various modules of flexible configuration.Can increase or reduce module as required, also dissimilar modules of configurable identical function (for example disposing different heating furnaces, different Observation Blocks, different quenching modules) are with the needs of adaptation material test.
Description of drawings
Fig. 1 is present German ARTEX directional solidification Real Time Observation furnace system synoptic diagram;
Fig. 2 is the top view principle schematic of the experimental provision that has the quenching unit of the various product multifunctional material of the present invention scientific experiment device;
Fig. 3 is the side-looking principle schematic of the experimental provision that has the quenching unit of the various product multifunctional material of the present invention scientific experiment device;
Fig. 4 is sample experiment flow figure;
Fig. 5 is the sample library that can load 102 thin sample ampoules;
Fig. 6 can load 30 sample libraries than the crude samples ampoule;
Fig. 7 can carry out the sample ampoule that rerum natura is measured;
Fig. 8 is the experimental provision that has observation unit;
Fig. 9 is configured to transparent observed experimental configuration;
Figure 10 is the heating furnace that is configured to have rotating magnetic field;
Figure 11 is the heating furnace module among the present invention and the unloading process synoptic diagram of sample library module.
The accompanying drawing sign
1, sample chamber 2, sample library 3, quenching module
4, heating furnace 5, observation unit 6, mechanical arm vertical moving bar
7, horizontal screw lead 8, transparent experimental furnace 9, rotating magnetic field module
10, mechanical arm 11, signalling contact 12, sample
13, signal wire
Embodiment
Below in conjunction with drawings and Examples the present invention is further specified.
As shown in Figures 2 and 3, described various product multifunctional material scientific experiment device, its sample library 2 are divided into two-layer up and down, can load and reach up to a hundred samples.Heating furnace 4 provides material test needed thermal environment.When sample has heated in heating furnace 4, after coming out from heating furnace 4, quenching module 3 is closed up immediately, and sample is embraced, and makes its quick cooling.Rotating magnetic field 9 can stir for sample provides magnetic field in the sample process.Vibration unit provides required vibration processes for sample.
As Fig. 2, Fig. 3 and shown in Figure 5, various product multifunctional material scientific experiment device moves horizontally leading screw 7, mechanical arm vertical moving bar 6, quenching module 3, observation unit 5 etc. by sample library 2, heating furnace 4, mechanical arm 10, mechanical arm and partly constitutes.During experimental provision work, mechanical arm 10 vertically runs to sample to be crawled place, and then horizontal block moves to the sample position that will get.It is effective that specimen holder arrives limit switch forward.Mechanical arm 10 closes and closes, and grasps sample, and mechanical arm 10 turns clockwise, and with release between sample and the sample chamber 1, specimen holder moves to bottommost, and sample is removed.The vertical earlier operation of mechanical arm 10, level run is aimed at the burner hearth of heating furnace 4 to the middle part again.Heating furnace 4 marches forward, and sample is inserted in the burner hearth of heating furnace 4.Begin sample is heated, also can carry out magnetic agitation to sample this moment, or apply vibration.Sample can have dual mode to grow, and a kind of is that heating furnace moves backward, and another kind is that move the temperature field in the control heating furnace.After the sample grown process was finished, heating furnace fell back on the back limit switch fast and effectively locates.If sample needs to quench, the module of then quenching 3 is closed up fast, and sample is embraced, and makes its fast cooling.After the sample temperature-fall period was finished, quenching module 3 was moved back to both sides.The vertical earlier back of mechanical arm 10 level run is aimed at the material cabin to the place, material cabin of this sample.Specimen holder moves forward, and when specimen holder front limit switch was effective, sample was placed among the material cabin.Mechanical arm counterclockwise rotates, and sample is locked.Controller control mechanical arm grasps next sample.
Experimental provision can be configured to different purposes as required, but for example can be configured to the experimental provision 8 of transparent observation sample experimentation; Can be configured to have the experimental provision of rotating magnetic field 9; Can be configured to have the experimental provision of quenching function; Can be configured to have the experimental provision of vibrating function; Also can be configured to have the sample experimental provision of general utility functions.
The unloading process of heating furnace module and sample library module as shown in figure 11 in the experimental provision.At first unload rear panel, unload heating furnace 4 modules then, or unload sample library 2 modules.After unloading, can load onto new heating furnace 4 modules again, or new sample library 2 modules.
Its sample experiment flow figure as shown in Figure 4.
The specimen holder synoptic diagram that can load 102 sample ampoules as shown in Figure 5.
The specimen holder synoptic diagram that can load 30 sample ampoules as shown in Figure 6.
The synoptic diagram that can carry out the sample ampoule that rerum natura measures as shown in Figure 7.
Be configured to have the experimental provision of Observation Blocks and be configured to the transparent experimental provision observed as Fig. 8 and shown in Figure 9.
The heating furnace that has a rotating magnetic field as shown in figure 10.
Need to prove, more than the embodiment of the present invention of Jie Shaoing and and unrestricted.It will be understood by those of skill in the art that any to technical solution of the present invention modification or be equal to and substitute the spirit and scope that do not break away from technical solution of the present invention, it all should be encompassed in the claim scope of the present invention.
Claims (7)
1. various product multifunctional material scientific experiment device, this device are used in the multi-functional experimental implementation of finishing in the sample experimental provision in batches sample, it is characterized in that described batch sample experimental provision comprises: sample library, multi-dimensional movement mechanism, heating furnace;
Described multi-dimensional movement mechanism comprises hand body vertical support frame and horizontal screw lead, realizes the seesawing of the seesawing of vertical and tangential movement, sample library, heating furnace of mechanical arm;
Described sample library and heating furnace are arranged on same upright position, and the both sides up and down of this device are equipped with two sample libraries, and heating furnace is arranged between two sample libraries, is used for sample is heated;
This device also comprises the sample latch mechanism, and described sample latch mechanism comprises that locking screw core, the locking of clamping storehouse of coaxial setting is female and clamps the storehouse; Described clamping storehouse is cylindric, is used to hold the sample ampoule; One end in this clamping storehouse is provided with the face slightly of locking; Described locking screw core comprises two sections cylinders that internal diameter is different, and wherein, one section internal diameter is identical with the internal diameter that clamps the storehouse, and the internal diameter of another section is bigger, forms the space between itself and the sample ampoule, is used to hold mechanical arm; Use rotating fixedly connected between locking screw core and the clamping storehouse; Locking mother in described clamping storehouse fixedly installs, and is sheathed on the locking screw core and clamps the joint portion in storehouse, and the locking that the inside that a female end is locked in this clampings storehouse cooperates clamping storehouse face slightly is provided with the inclined-plane;
Described mechanical arm comprises: mechanical main hand, mechanical assistant, location blind nut, buffer spring and scrambler; The main hand of described machinery is used for promptly sample ampoule, comprising: three or above finger, coaxial sheathed main hand hand body and hand body pull bar, strainer, outer rotor transposition key; The finger of the main hand of machinery is provided with teeth, is used for matching with teeth groove on the sample ampoule, with the measuring-signal of transmission sample ampoule; The leading section of described main hand hand body is provided with the first finger riveted joint position, is used for the middle part of rotatable riveted joint finger; The front end of described hand body pull bar also cooperates and is provided with second finger riveted joint position, is used for the end of rotatable riveted joint finger; The intermediate host of described hand body pull bar is polygon and is nested in the main hand hand body; The sheathed strainer that is fixed with in the rear portion of described hand body pull bar, individual annular groove is arranged on the cylindrical of this strainer front end, cooperate the spring slide-way of main hand hand body inwall strainer to be fixed on the inner chamber of main hand hand body by this annular groove, the inner wall at end of strainer is provided with internal spline, is used to mesh outer rotor transposition key; Described mechanical assistant is a shift fork, is used to drive latch mechanism, realizes the chucking of sample in feed bin and unclamps, and this machinery assistant comprises: fork and internal spline portion; Described fork is arranged in the circular groove on the main hand hand body, is used to lock mechanism; Described internal spline portion supports and is located between strainer and the location blind nut, and the internal spline of this internal spline portion cooperates outer rotor transposition spline;
Wherein, described various product multifunctional material scientific experiment device also comprises:
Sample is changed the unit, and being used to adopt multi-form sample library is the sample of processing different size;
The quenching unit is used for the quick refrigeration of the sample of being processed, and the quenching piece each side has one experimental provision;
The sample machining cell is used for sample is carried out growth operation;
The rotating magnetic field unit is used for the sample of being processed is applied the external magnetic field effect, and this rotating magnetic field is arranged on the outer wall of heating furnace;
Observation unit carries out Real Time Observation by light source to the sample of being processed;
Vibration unit is used to utilize mechanical arm to drive sample and vibrates;
The rerum natura detecting unit is used for the variation of measuring samples process conductivity, Sai Beike voltage;
The process monitoring unit is used to monitor the growth course of sample;
Control module is used for whole system operation is controlled; With
Monitoring unit is used for realizing on computers monitoring entire test.
2. various product multifunctional material scientific experiment device according to claim 1 is characterized in that the intensity of described rotating magnetic field and frequency can be adjusted.
3. various product multifunctional material scientific experiment device according to claim 1 is characterized in that, described observation unit by light source adopt: visible light, infrared light, ultraviolet light or X-ray.
4. various product multifunctional material scientific experiment device according to claim 1 is characterized in that the vibration frequency of described vibration unit, amplitude and waveform are adjustable.
5. various product multifunctional material scientific experiment device according to claim 1 is characterized in that described heating furnace comprises: single warm area stove, many warm areas stove or the transparent stove observed.
6. various product multifunctional material scientific experiment device according to claim 1 is characterized in that described observation unit comprises: infrared light observation unit, visible light observation unit, ultraviolet light observation unit and X-ray observation unit.
7. various product multifunctional material scientific experiment device according to claim 1 is characterized in that, described various product multifunctional material scientific experiment device also comprises distant operational module, is used for the Long-distance Control experimentation.
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| CN106611532A (en) * | 2016-12-29 | 2017-05-03 | 兰州空间技术物理研究所 | Space comprehensive material scientific experiment apparatus |
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| CN104503380B (en) * | 2014-11-19 | 2017-02-22 | 中国科学院空间科学与应用研究中心 | Container-less material processing system |
| CN105527377A (en) * | 2015-12-31 | 2016-04-27 | 中国科学院上海硅酸盐研究所 | A multifunctional experiment apparatus |
| CN107544305B (en) * | 2017-09-08 | 2020-06-02 | 杭州亿恒科技有限公司 | Vibration laboratory management method and system |
| CN111257314A (en) * | 2020-01-17 | 2020-06-09 | 中国科学院国家空间科学中心 | Control system for high-temperature molten material electrostatic suspension container-free experimental device |
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| WO2002038475A1 (en) * | 2000-11-09 | 2002-05-16 | Honeywell International Inc. | Gripper mechanism for handling a cylindrical workpiece |
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