CN104227154B - Portable processing observation integration microminiature numerical control galvanic corrosion machining tool - Google Patents
Portable processing observation integration microminiature numerical control galvanic corrosion machining tool Download PDFInfo
- Publication number
- CN104227154B CN104227154B CN201410379971.1A CN201410379971A CN104227154B CN 104227154 B CN104227154 B CN 104227154B CN 201410379971 A CN201410379971 A CN 201410379971A CN 104227154 B CN104227154 B CN 104227154B
- Authority
- CN
- China
- Prior art keywords
- servo
- module
- rotating machine
- electric rotating
- stepping motor
- Prior art date
Links
Abstract
Description
Technical field
The invention belongs to Digit Control Machine Tool field.
Background technology
Electric machining by its macroscopic view active force is little, noncontact processing, to many advantages such as material are applied widely in machining Field, in occupation of critical positions, is widely used in the field such as Making mold, microfabrication, is the spy being most widely used One of kind of process technology, but generally electrical process machine be all fixed, volume and weight is relatively big, be not easy to portable to carry, And cost high (tens0000 to hundreds of contingency platform), use and maintenance cost are high.Even if small desk electrical process machine, Also portable carrying it is not easy to.For some difficult-to-machine material in research and production and the process requirements in difficult processing type hole, if design Become portable galvanic corrosion machining tool, then there is greater flexibility and practicality.
Summary of the invention
The present invention is big in order to solve existing galvanic corrosion machining tool volume, and cannot be used for the problem of live video teaching demonstration, The invention provides portable processing observation integration microminiature numerical control galvanic corrosion machining tool.
Portable processing observation integration microminiature numerical control galvanic corrosion machining tool, it includes miniature machine tool body construction, servo Feed mechanism, servo actuator, flexible member and electric control box；
Described miniature machine tool body construction includes portable light weight crossbeam, column, workbench, work tank, guide rail and cunning Block；
Servo feed mechanism includes linear stepping motor and non-rigid connecting ball head；
Servo actuator includes electric rotating machine, terminal clamp and electric rotating machine fixed mount；
One end of column is vertically and fixedly provided with portable light weight crossbeam, and its other end is fixing on the table, and workbench is provided with work Liquid bath, linear stepping motor is fixed on portable light weight crossbeam, and the ball-screw of linear stepping motor is horizontal through portable light weight Beam, the lower end of ball-screw is provided with non-rigid connecting ball head, and column is provided with guide rail near the sidewall of work tank, and ensures Guide rail is parallel with the ball-screw of linear stepping motor,
Guide rail is slidably connected with electric rotating machine fixed mount by slide block, and non-rigid connecting ball head is pressed in the upper of electric rotating machine fixed mount The upper surface of fixed plate, flexible member is clamping between portable light weight crossbeam and the upper mounted plate of electric rotating machine fixed mount, rotates Being fixed with electric rotating machine on the bottom plate of motor fixing frame, the rotary shaft of electric rotating machine is lower solid through electric rotating machine fixed mount Determine plate, and the rotation the tip of the axis of electric rotating machine is fixed with terminal clamp, in electrode clamped by terminal clamp and work tank Forming pole clearance between device to be processed, electric control box is for providing pulse voltage, and detecting electrode chuck to terminal clamp Voltage across poles between device to be processed in clamped electrode and work tank, is additionally operable to control linear stepping motor simultaneously.
Integration microminiature numerical control galvanic corrosion machining tool is observed in described portable processing, and it also includes video and audio devices, Video and audio devices are fixed on the sidewall at guide rail place, and are positioned at the lower section of guide rail,
Video and audio devices are for electrode clamped by acquisition electrode chuck and the work state information of work tank, and will gather Information deliver to mobile terminal.
Described electric control box includes housing, servo detection module, servo control module, servo-driven module and power supply mould Block, described servo detection module, servo control module, servo-driven module and power module be arranged in housing, power supply Module is used for providing working power to terminal clamp, servo detection module, servo control module and servo-driven module,
Servo detection module is used for detecting voltage across poles, and the voltage across poles data of acquisition are sent to servo control module, watches Take control module and be sent to servo-driven module, servo for producing linear stepping motor control signal according to the data received Module is driven to drive signal to be sent to directly for producing linear stepping motor according to the linear stepping motor control signal received Line motor.
Described electric control box also includes numeral method module, this numeral method Module-embedding at the front surface of housing, And the signal input part of numeral method module is connected with the display signal output part of servo control module.
Principle analysis:
During processing part, in work tank, first it is filled with pure water, workpiece is fixed in work tank on work rest, will Electric control box is adjusted to manual mode, and regulation electrode and the spacing of workpiece, regulate machine tooling gauged in a manual mode (thick, in, polish gauged) and corresponding electrical quantity, subsequently manual mode is switched to automatic mode and is processed, processing During, machining state parameter can be by numeral method in electric control box, and video and audio devices monitor processed in real time Electric discharge phenomena in journey and workpiece, the shape of electrode and change in size, and dimensional measurement can be carried out by mobile terminal, for just In monitoring.
For ensureing that discharging gap is in optimum state, between the real-time detecting electrode of servo detection module in electric control box and workpiece Voltage, controls servo by detection signal input drive to servo control module, servo control module foundation control strategy transmission signal Dynamic model block, controls linear stepping motor up and down motion and regulates gap length.In the process, non-rigid connecting ball head is with non- Rigid form connects linear stepping motor and electric rotating machine fixed mount effectively eliminates servo feed resistance；Additionally flexible member exists All the time giving electric rotating machine fixed mount pulling force upwards in the whole course of processing, can effectively eliminate mechanic transmission clearance, raising is watched Take response speed and machining accuracy.
Portable processing observation integration microminiature numerical control galvanic corrosion machining tool has the feature of " the sparrow may be small but it has all the vital organs ", Not only can meet process requirements, it is also possible to break away from the dependence of the large-scale spark erosion equipment to somewhat expensive, and can be square Just it is carried to working site be processed, there is the biggest motility.The present invention can add as aperture and simple shape The portable electric spark machining tool of work, various difficult-to-machine materials and the processing in difficult processing type hole in research and production.
In addition the present invention is alternatively arranged as carrying out teaching demonstration and the teaching aid of science popularization innovative education, it is achieved integrate theory with practice Teaching method, and by the process of the information such as light, sound, electricity, student can be made to understand and experience spark machined phenomenon and add Work process, for increasing the perceptual knowledge of student and improving its practical competence and creativity consciousness has positive effect.
The machining accuracy of portable processing of the present invention observation integration microminiature numerical control galvanic corrosion machining tool obtains significantly Improve, and be possible not only to arbitrarily carry lathe be processed to scene, it is also possible to as the teaching aid of class demonstration teaching, newly Type electric control system allow user select, change, be applied in combination different processing power sources, different servo-drive modes with And different servo detection methods, owing to using modularized processing, it is individually present between each module, this modularized processing Mode is easy to system is extended upgrading, module replacing in the future and is applied in combination.
Accompanying drawing explanation
Fig. 1 is the knot of the portable processing observation integration microminiature numerical control galvanic corrosion machining tool described in detailed description of the invention one Structure schematic diagram；
Fig. 2 is the principle schematic of the electric control box described in detailed description of the invention three.
Detailed description of the invention
Detailed description of the invention one: see Fig. 1 and present embodiment is described, the portable processing observation one described in present embodiment Change microminiature numerical control galvanic corrosion machining tool, it include miniature machine tool body construction, servo feed mechanism, servo actuator, Flexible member 13 and electric control box 14；
Described miniature machine tool body construction includes portable light weight crossbeam 2, column 3, workbench 8, work tank 9, leads Rail 4 and slide block 5；
Servo feed mechanism includes linear stepping motor 1 and non-rigid connecting ball head 12；
Servo actuator includes electric rotating machine 11, terminal clamp 10 and electric rotating machine fixed mount 6；
One end of column 3 is vertically and fixedly provided with portable light weight crossbeam 2, and its other end is fixed on workbench 8, on workbench 8 Being provided with work tank 9, linear stepping motor 1 is fixed on portable light weight crossbeam 2, and the ball wire of linear stepping motor 1 Thick stick passes portable light weight crossbeam 2, and the lower end of ball-screw is provided with non-rigid connecting ball head 12, and column 3 is near work tank 9 Sidewall be provided with guide rail 4, and ensure that guide rail 4 is parallel with the ball-screw of linear stepping motor 1, guide rail 4 passes through slide block 5 are slidably connected with electric rotating machine fixed mount 6, and non-rigid connecting ball head 12 is pressed in the upper mounted plate of electric rotating machine fixed mount 6 Upper surface, flexible member 13 is clamping between portable light weight crossbeam 2 and the upper mounted plate of electric rotating machine fixed mount 6, rotation Being fixed with electric rotating machine 11 on the bottom plate of rotating motor fixed mount 6, the rotary shaft of electric rotating machine 11 is solid through electric rotating machine Determine the bottom plate of frame 6, and the rotation the tip of the axis of electric rotating machine 11 is fixed with terminal clamp 10, terminal clamp 10 institute Forming pole clearance between the device to be processed in holding electrode and work tank 9, electric control box 14 is for terminal clamp 10 provide the interpolar electricity in pulse voltages, and electrode clamped by detecting electrode chuck 10 and work tank 9 between device to be processed Pressure, is additionally operable to control linear stepping motor 1 simultaneously.
In present embodiment, galvanic corrosion machining tool of the prior art connects redundancy, and volume is big, and of the present invention portable The device that formula processing observation integration microminiature numerical control galvanic corrosion machining tool uses is few, and simple in construction, and volume is little, it is simple to take Band；And portable processing observation of the present invention integrated microminiature numerical control galvanic corrosion machining tool employing Novel servo performs machine Structure, i.e. utilizes flexible member 13 to eliminate mechanic transmission clearance, and mainly there is a following two in this gap:
One, linear stepping motor 1 is internal is converted into lead screw straight-line by leading screw by rotor rotational movement, therefore leading screw and Axial gap is there is between nut；
If two, will exist bigger without connector between upper mounted plate and the non-rigid connecting ball head 12 of electric rotating machine fixed mount 6 Hysterisis error.
Flexible member 13 one end is connected on portable light weight crossbeam 2 by the present invention, and the other end is connected to electric rotating machine fixed mount On 6, in servo feed, flexible member 13 applies upwards pulling force all the time to servo actuator, therefore can effectively disappear Except hysterisis error between leading screw axial gap and non-rigid connecting ball head 12 and electric rotating machine fixed mount 6, improve servo response Precision.
The present invention uses and novel eliminate the servo that between linear stepping motor 1 axle and guide rail 4 axle, parallel misalignment is brought and enter Non-rigid company is used between the non-rigid connected mode of resistance, i.e. linear stepping motor 1 and electric rotating machine fixed mount 6 end face Receive 12, be point cantact between non-rigid connecting ball head 12 and the upper mounted plate of electric rotating machine fixed mount 6, lathe due to Parts machining error, alignment error are eventually exhibited as parallelism error between linear stepping motor 1 axle and guide rail 4 axle, by Put down between servo drive motor axle and lead rail axis during non-rigid connecting ball head 12 can effectively eliminate servo feed The servo feed resistance that row degree error is brought, therefore can improve servo response speed and precision, reduces selected straight line step simultaneously Enter the power of motor.
Detailed description of the invention two: see Fig. 1 and present embodiment is described, present embodiment and detailed description of the invention once described in The difference taking formula processing observation integration microminiature numerical control galvanic corrosion machining tool is, it also includes video and audio devices 7, Video and audio devices 7 are fixed on the sidewall at guide rail 4 place, and are positioned at the lower section of guide rail 4,
Video and audio devices 7 are used for the work state information of electrode clamped by acquisition electrode chuck 10 and work tank 9, And the information of collection is delivered to mobile terminal.
Electric discharge phenomena are carried out real-time video by video and audio devices 7 and show and audio select, and send by present embodiment To mobile terminal, such as computer, flat board, mobile phone etc., it is simple to observe, monitor and measure.
Detailed description of the invention three: see Fig. 2 and illustrate described in present embodiment, present embodiment and detailed description of the invention one or two Portable processing observation integration microminiature numerical control galvanic corrosion machining tool difference be, described electric control box 14 wraps Include housing, servo detection module 14-1, servo control module 14-2, servo-driven module 14-3 and power module 14-4, Described servo detection module 14-1, servo control module 14-2, servo-driven module 14-3 and power module 14-4 are arranged In housing, power module 14-4 is for terminal clamp 10, servo detection module 14-1, servo control module 14-2 Working power is provided with servo-driven module 14-3,
Servo detection module 14-1 is used for detecting voltage across poles, and the voltage across poles data of acquisition are sent to servo control molding Block 14-2, servo control module 14-2 are sent to watch for producing linear stepping motor control signal according to the data received Clothes drive module 14-3, and servo-driven module 14-3 is for producing straight line according to the linear stepping motor control signal received Step motor drive signal is sent to linear stepping motor 1.
In present embodiment, servo detection module 14-1 detects voltage across poles, and detected value is delivered to servo control module 14-2, servo control module 14-2 send instruction according to control strategy and control servo-driven module 14-3, and then regulation interpolar Gap length, power module 14-4 provides required power supply for each module, and provides the pulse power for machine tooling.This is new Type electric control box 14 feature is modularized processing, is individually present between each module, and this modularized processing mode is easy to In the future system and lathe function structure are extended upgrading, module replacing and are applied in combination.
Detailed description of the invention four: present embodiment observes integrated microminiature with the portable processing described in detailed description of the invention three The difference of numerical control galvanic corrosion machining tool is, described workbench 8 is XY two axle servo feed function platform, and electric-controlled Box 14 processed is additionally operable to control the motion of XY two axle servo feed function platform.
In present embodiment, workbench 8 can be replaced by the platform with XY two axle servo feed function according to processing needs, Owing to using modularized processing, it is only necessary to add corresponding servo control module and servo feed mould in electric control box 14 Block can realize above-mentioned functions, it is simple to the extension of machine tool structure function, and the replacing between module uses and do not affects other modules Normal use.
Detailed description of the invention five: present embodiment observes integrated microminiature with the portable processing described in detailed description of the invention three The difference of numerical control galvanic corrosion machining tool is, described electric control box 14 also includes numeral method module, this charactron Display module is embedded in the front surface of housing, and the signal input part of numeral method module is with servo control module 14-2's Display signal output part connects.
Claims (4)
- The most portable processing observation integration microminiature numerical control galvanic corrosion machining tool, it is characterised in that it includes miniature machine tool Body construction, servo feed mechanism, servo actuator, flexible member (13) and electric control box (14)；Described miniature machine tool body construction includes portable light weight crossbeam (2), column (3), workbench (8), working solution Groove (9), guide rail (4) and slide block (5)；Servo feed mechanism includes linear stepping motor (1) and non-rigid connecting ball head (12)；Servo actuator includes electric rotating machine (11), terminal clamp (10) and electric rotating machine fixed mount (6)；One end of column (3) is vertically and fixedly provided with portable light weight crossbeam (2), and its other end is fixed on workbench (8), work Station (8) is provided with work tank (9), and linear stepping motor (1) is fixed on portable light weight crossbeam (2), and straight line The ball-screw of motor (1) passes portable light weight crossbeam (2), and the lower end of ball-screw is provided with non-rigid connecting ball head (12), Column (3) is provided with guide rail (4) near the sidewall of work tank (9), and ensures guide rail (4) and linear stepping motor (1) Ball-screw parallel, guide rail (4) is slidably connected with electric rotating machine fixed mount (6) by slide block (5), non-rigid connection Bulb (12) is pressed in the upper surface of the upper mounted plate of electric rotating machine fixed mount (6), flexible member (13) clamping portable gently Between amount crossbeam (2) and the upper mounted plate of electric rotating machine fixed mount (6), on the bottom plate of electric rotating machine fixed mount (6) Being fixed with electric rotating machine (11), the rotary shaft of electric rotating machine (11) passes the bottom plate of electric rotating machine fixed mount (6), And the rotation the tip of the axis of electric rotating machine (11) is fixed with terminal clamp (10), electrode and work clamped by terminal clamp (10) Making to be formed between the device to be processed in liquid bath (9) pole clearance, electric control box (14) is for carrying to terminal clamp (10) For pulse voltage, and electrode clamped by detecting electrode chuck (10) is electric with the interpolar between device to be processed in work tank (9) Pressure, is additionally operable to control linear stepping motor (1) simultaneously.
- Portable processing the most according to claim 1 observation integration microminiature numerical control galvanic corrosion machining tool, its feature exists In, it also includes that video and audio devices (7), video and audio devices (7) are fixed on the sidewall at guide rail (4) place, And it is positioned at the lower section of guide rail (4),Video and audio devices (7) are for electrode clamped by acquisition electrode chuck (10) and the work shape of work tank (9) State information, and the information of collection is delivered to mobile terminal.
- Portable processing the most according to claim 1 and 2 observation integration microminiature numerical control galvanic corrosion machining tool, it is special Levy and be, described electric control box (14) include housing, servo detection module (14-1), servo control module (14-2), Servo-driven module (14-3) and power module (14-4), described servo detection module (14-1), servo control module (14-2), Servo-driven module (14-3) and power module (14-4) are arranged in housing, and power module (14-4) is for electrode holder Head (10), servo detection module (14-1), servo control module (14-2) and servo-driven module (14-3) provide work Power supply,Servo detection module (14-1) is used for detecting voltage across poles, and the voltage across poles data of acquisition are sent to SERVO CONTROL Module (14-2), servo control module (14-2) is sent out for producing linear stepping motor control signal according to the data received Giving servo-driven module (14-3), servo-driven module (14-3) is for controlling letter according to the linear stepping motor received Number produce linear stepping motor drive signal be sent to linear stepping motor (1).
- Portable processing the most according to claim 3 observation integration microminiature numerical control galvanic corrosion machining tool, its feature exists In, described electric control box (14) also includes numeral method module, and this numeral method Module-embedding is before housing Surface, and the signal input part of numeral method module is connected with the display signal output part of servo control module (14-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410379971.1A CN104227154B (en) | 2014-08-04 | 2014-08-04 | Portable processing observation integration microminiature numerical control galvanic corrosion machining tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410379971.1A CN104227154B (en) | 2014-08-04 | 2014-08-04 | Portable processing observation integration microminiature numerical control galvanic corrosion machining tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104227154A CN104227154A (en) | 2014-12-24 |
| CN104227154B true CN104227154B (en) | 2016-08-24 |
Family
ID=52216541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410379971.1A CN104227154B (en) | 2014-08-04 | 2014-08-04 | Portable processing observation integration microminiature numerical control galvanic corrosion machining tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104227154B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094726A (en) * | 2016-06-22 | 2016-11-09 | 孟祥文 | A kind of computer remote monitoring system based on Internet of Things |
| CN106670606B (en) * | 2016-12-29 | 2018-06-22 | 桂林电子科技大学 | Based on monolithic processor controlled portable electric spark puncher |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1104408A (en) * | 1993-04-06 | 1995-06-28 | 洛迦诺电子工业股份有限公司 | Electrical discharge machining device |
| CN2576398Y (en) * | 2002-11-11 | 2003-10-01 | 白羽 | Portable electric spark processing machine |
| DE102008043940A1 (en) * | 2008-11-20 | 2010-05-27 | Robert Bosch Gmbh | Device for the electrochemical machining of workpieces |
| CN101890542A (en) * | 2010-06-24 | 2010-11-24 | 无锡微研有限公司 | Ultrafine EDM (Elctron Discharge Machining) machine tool |
| CN202367300U (en) * | 2011-12-12 | 2012-08-08 | 江苏省艾格森数控设备制造有限公司 | Electric spark forming machine |
| CN202684247U (en) * | 2012-06-13 | 2013-01-23 | 健陞机电工业股份有限公司 | Movable column type electric discharge machine |
| CN203621667U (en) * | 2013-11-05 | 2014-06-04 | 苏州市鑫赢数控科技开发有限公司 | Electric spark small hole machine tool |
-
2014
- 2014-08-04 CN CN201410379971.1A patent/CN104227154B/en active IP Right Grant
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1104408A (en) * | 1993-04-06 | 1995-06-28 | 洛迦诺电子工业股份有限公司 | Electrical discharge machining device |
| CN2576398Y (en) * | 2002-11-11 | 2003-10-01 | 白羽 | Portable electric spark processing machine |
| DE102008043940A1 (en) * | 2008-11-20 | 2010-05-27 | Robert Bosch Gmbh | Device for the electrochemical machining of workpieces |
| CN101890542A (en) * | 2010-06-24 | 2010-11-24 | 无锡微研有限公司 | Ultrafine EDM (Elctron Discharge Machining) machine tool |
| CN202367300U (en) * | 2011-12-12 | 2012-08-08 | 江苏省艾格森数控设备制造有限公司 | Electric spark forming machine |
| CN202684247U (en) * | 2012-06-13 | 2013-01-23 | 健陞机电工业股份有限公司 | Movable column type electric discharge machine |
| CN203621667U (en) * | 2013-11-05 | 2014-06-04 | 苏州市鑫赢数控科技开发有限公司 | Electric spark small hole machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104227154A (en) | 2014-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104786036A (en) | Automobile instrument automatic pointer pressing system | |
| CN103640220A (en) | Novel 3D (three dimensional) numerical-control printing and manufacturing device | |
| Tong et al. | Mechanism design and process control of micro EDM for drilling spray holes of diesel injector nozzles | |
| CN103698126B (en) | Retarder test equipment | |
| CN102692264B (en) | Test bench and test method for mass, position of center of mass and rotational inertia | |
| CN200993567Y (en) | Thickness measuring equipment | |
| CN103197147B (en) | A kind of multi-functional contact resistance automatic measuring instrument of solar cell and measuring system thereof | |
| CN103307962B (en) | Flatness automatic measurement machine | |
| CN2854663Y (en) | Automatic precision positioning visual servo mechanism device of microdevice | |
| CN101774050B (en) | Circulating wire cutting electrode system and processing method for electrolytic wire cutting | |
| CN202331190U (en) | Movable type comprehensive test table of electric power steering controller | |
| CN104006964B (en) | Harmonic drive tooth mesh and deformation of flexible wheel dynamic characterization measurement system | |
| CN204308971U (en) | Robot motion's accuracy test device | |
| CN105563095B (en) | A kind of rotating disc type the screwed lock equipment | |
| CN103192296B (en) | Small five-axis linkage machine tool | |
| CN204109369U (en) | A kind of transmission mechanism of 3D printer | |
| CN203396532U (en) | Torque wrench calibrator | |
| CN204324384U (en) | Based on object localization and the crawl platform of opto-electronic pickup | |
| CN103335602B (en) | A kind of light veil type axial workpiece multi-work-station multiparameter high-precision measuring method and device | |
| CN204165732U (en) | Full-automatic drop test device | |
| CN106941303A (en) | The flexible assembly mechanism of motor rotor and bearing | |
| CN205096854U (en) | A automatic hole system of processing for diaphragm orifice customization processing | |
| CN1986156A (en) | Ultraprecise grinder with two stages of feeding mechanism and its control method | |
| CN102528436B (en) | Instrument bearing assembly device | |
| CN203540796U (en) | Peristaltic dispenser control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190618 Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Harbin University of Technology Robot Group Co., Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: Harbin Institute of Technology |