CN104393717B - A kind of shape adjusting method of multi-point forming flexible die - Google Patents
A kind of shape adjusting method of multi-point forming flexible die Download PDFInfo
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- CN104393717B CN104393717B CN201410775418.XA CN201410775418A CN104393717B CN 104393717 B CN104393717 B CN 104393717B CN 201410775418 A CN201410775418 A CN 201410775418A CN 104393717 B CN104393717 B CN 104393717B
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Abstract
The invention discloses the shape adjusting method of a kind of multi-point forming flexible die by the way of electromagnetism adjusts shape, the method controlled with magnetic field demixing scan, solve the tune shape time length of multi-point forming flexible die and baroque shortcoming, improve work efficiency and the service life of multi-point forming flexible die.
Description
Technical field
The present invention relates to the shape adjusting method of a kind of multi-point forming flexible die.
Background technology
Part motor order is that therefore product has single and mini-batch production according to customer requirement custom design and production
The feature produced.The motor often newly doing a kind of specification traditionally will redesign, it is supporting to manufacture a whole set of
Frock and mould, not only cause the production cycle length of product, manufacturing cost high, and work of getting off year in year out
Die-filling tool of a great variety, size is different, it is impossible to mutually use.Therefore, continue to design one and have soft
Property novel die, the face shaping of mould surface can be changed according to the change in size of product.It is best suitable for
Be multi-point forming flexible die.
Multi-point forming flexible die uses regularly arranged basic unit body, by discrete basic volume matrix generation
For the profile of tradition monolithic mold, this mould has the Flexible Manufacture feature of multipoint mode, numerical control modification.
The height of each basic unit body in mould, is all according to the position of three-dimensional solid modeling by computer program
Parameter controls, and the height of each basic unit body is adjusted by executive component respectively, ultimately forms profile
Different mould.
Multi-point forming technique the most progressively walks out laboratory, at the beginning of having obtained in actual commercial production and engineering
The application of step, achieves certain achievement.But, due to the construction features of himself, flexible die adjusts shape
Time length and baroque shortcoming always hinder its development and main cause of popularization further.
In general, the form adjustment manner of multi-point forming mould mainly has a following two:
One is to adjust with mechanical hand, and installation adjusting device on a robotic arm often moves one-time mechanical hands the most right
The height of one basic body is adjusted, and the mould structure of this kind of method manufacture is simple, and manufacturing cost is relatively low,
But adjusting the shape time longer, the regulation of each basic body needs 20 seconds, for more than 2,000 basic body, regulate one
Secondary just more than 12 hours, it is impossible to the feature that effectively performance flexible die profile is the most variable.
Another kind of form adjustment manner is to be adjusted all basic body units, i.e. below each basic body simultaneously
A set of control system being made up of sliding zero mechanism of motor and screw mandrel is installed, for adjusting the height of each basic body
Degree, this kind of form adjustment manner, owing to being that all basic bodies adjust simultaneously, belongs to parallel processing, so adjusting shape speed
Quickly, the substantially equal to time of a base ontology alignment, typically can control within 15 seconds.But mould
The structure of self is extremely complex, and manufacturing cost is high, and is very easy to break down in actual production.
After the flexible die that have studied a large amount of traditional structure, it is found that while that Tiao Xing mechanism is different, but studies carefully it
At all, it is all by a series of machine driven system, produces what various action completed, for up to going up
The basic body regulation of thousand sets, so complicated machine driving certainly will cause structure complicated
By analyzing, find to utilize electromagnetic field effect power and spatial distribution, as the tune of the basic height of mould
Complete machine system, adjusts contact shape to become contactless tune shape, has technical feasibility, if Fig. 1 is that electromagnetism is adjusted
The principle sketch of shape, utilizes electric magnet 2' energising to produce magnetic field, makes basic body 1' sensing produce electromagnetic attraction
Power, reaches the purpose of mobile basic body 1'.So it is possible not only to the frame for movement of the system that is greatly simplified, moreover it is possible to
Increase dynamic property when adjusting shape, reduce further and adjust the shape time.
Summary of the invention
It is an object of the invention to overcome the defect of prior art to provide a kind of multi-point forming flexible die
Shape adjusting method, by the way of electromagnetism adjusts shape, the method controlled with magnetic field demixing scan, solve multi-point forming
The tune shape time length of flexible die and baroque shortcoming, improve the work efficiency of multi-point forming flexible die
And service life.
The object of the present invention is achieved like this:
The shape adjusting method of a kind of multi-point forming flexible die of the present invention, comprises the following steps:
S1, according to the shape of furnishing needed for multi-point forming flexible die, sets the height that basic body thimble need to capture
Angle value, if this setting height value is divided into dried layer, sets the quantity of the basic body thimble that every layer height need to capture,
And set the threshold value of magnetic force needed for basic body thimble crawl to corresponding height；
S2, the magnetic field demixing scan of multi-point forming flexible die controls to adjust shape, uses magnetic field demixing scan to control
Realizing the regulation of setting height value to basic body thimble, basic body thimble uses the mode captured piecemeal,
Utilize the quantitative displacement sum repeatedly captured, reach setting height value, including following operation:
S21, the height value that need to capture according to the basic body thimble of every layer height, controller is by this layer
Altitude signal is converted into the size of electric current in regulating time, electric current by producing electromagnetic force after electric magnet,
Through the integral action of regulating time, the position producing basic body thimble is moved, then sensor feedback
Altitude signal, deviation is modified by described controller, until actual height and this of basic body thimble
The height value that the need of the basic body thimble of layer height capture is consistent, completes the basic body thimble of this layer height
Tune shape；
S22, carries out the tune shape of the basic body thimble of next layer height with reference to step S21, until by base
Body thimble moves to setting height value；
S3, is measured the profile of the multi-point forming flexible die adjusting shape: first use three-coordinates measuring machine to measure
Complete to adjust X-axis and the position coordinates of Y-axis of the multi-point forming flexible die of shape；Use universal tool-measuring microscope again
Complete to adjust the Z axis height of the basic body thimble of the multi-point forming flexible die of shape by optical non-contact measurement.
The shape adjusting method of above-mentioned a kind of multi-point forming flexible die, wherein, in step S1, by every floor height
The basic body thimble of degree captures to the threshold value of magnetic force needed for corresponding height value to be needed to ensure electric magnet and every floor height
When 1mm, captivation is more than frictional force, simultaneously at the base of electric magnet He this layer height for the basic body thimble of degree
Body thimble captivation when 2mm is less than frictional force.
The shape adjusting method of above-mentioned a kind of multi-point forming flexible die, wherein, in step S2, described electromagnetism
Ferrum includes shell and nine os in 3 × 3 matrix arrangement, and the material of described shell is ferrum, and
Body structure in one end open, described nine os insert also from the opening of described shell respectively
It is fixed in this shell, the shell wall of described shell offers some louvres.
The shape adjusting method of above-mentioned a kind of multi-point forming flexible die, wherein, described electric magnet and basic body top
The poly (methyl methacrylate) plate that thickness is 0.5mm it is provided with, when electric magnet produces suction, by basic body top between pin
Till pin is drawn onto the described poly (methyl methacrylate) plate of contact.
The shape adjusting method of above-mentioned a kind of multi-point forming flexible die, wherein, opening of the shell of described electric magnet
Mouth end arranges a magnetic circuit collection contracting plate, and described magnetic circuit collection contracting plate includes the substrate being made up of non-magnet_conductible material and hangs down
Nine magnetic conductive tubes that direct puncture is inserted on substrate, described nine magnetic conductive tubes correspondingly with described nine electromagnetism spiral shells
Spool is connected.
The shape adjusting method of above-mentioned a kind of multi-point forming flexible die, wherein, described substrate is by politef
Material is made, a diameter of 1mm of each described magnetic conductive tube, and the tail end of nine described magnetic conductive tubes is positioned at same flat
Face.
The shape adjusting method of above-mentioned a kind of multi-point forming flexible die, wherein, in step S4, described three sit
Mark measuring instrument uses and lengthens ruby gauge head, and this lengthening ruby gauge head remains in measurement process
Vertical with basic body thimble, it is mobile that described universal tool-measuring microscope prevents basic body thimble from missing because of measurement,
Under the effect of microscopical amplification and green laser backlight, the end of basic body thimble is exaggerated 20 times,
After being alignd by optical zoom, use computer reading, each foundation body on each layer can be measured accurately
The height value of thimble.
The shape adjusting method of the multi-point forming flexible die of the present invention, adjusts shape time length and structure for flexible die
Complicated the two key problem, by the research of discrete surface compacting mechanism, demonstrates electromagnetism and adjusts the feasible of shape
Property, and by Theoretical Calculation and finite element analysis, simulate respectively magnetic circuit collection compression system angle point, midpoint, limit and
The magnetic field size distribution of three exemplary position in middle, accurately controls the threshold range of magnetic field matrix, it is achieved that
Magnetic field demixing scan controls.By the redesign to flexible die modules, simplify the machinery of mould
Mechanism, with frame for movement and the stability separating raising system of electronic system and service life, through constantly
Test, analyze and optimize, complete the magnetic field matrix majorization Quick shape regulating of multi-point forming flexible die, greatly
Shorten greatly the tune shape time of flexible die.Meanwhile, the flexible die optimizing new construction adjusts shape precision, reaches
Arrive intended design requirement, made flexible die closer to practical engineering application.
Accompanying drawing explanation
Fig. 1 is the principle sketch that electromagnetism adjusts shape；
Fig. 2 is the schematic flow sheet that in embodiment, magnetic field demixing scan controls；
Fig. 3 is the flow chart of the tune shape of the basic body thimble of every layer height；
Fig. 4 is the structural representation that in embodiment, single o captures basic body thimble；
Fig. 5 is the fundamental diagram of magnetic circuit collection contracting plate in embodiment.
Detailed description of the invention
Below in conjunction with embodiment, the invention will be further described.
Embodiments of the invention, the shape adjusting method of a kind of multi-point forming flexible die, comprise the following steps:
S1, according to the shape of furnishing needed for multi-point forming flexible die, sets the height that basic body thimble need to capture
Angle value, if this setting height value is divided into dried layer, sets the quantity of the basic body thimble that every layer height need to capture,
And set the threshold value of magnetic force needed for basic body thimble crawl to corresponding height, the threshold value of this magnetic force needs to ensure
When 1mm, captivation is more than frictional force, simultaneously at electric magnet for the basic body thimble of electric magnet and every layer height
With the basic body thimble of this layer height at a distance of 2mm time captivation less than frictional force；
S2, the magnetic field demixing scan of multi-point forming flexible die controls to adjust shape, uses magnetic field demixing scan to control
Realizing the regulation of setting height value to basic body thimble, basic body thimble uses the mode captured piecemeal,
Utilize the quantitative displacement sum repeatedly captured, reach setting height value, refer to Fig. 2, if by basic body top
The setting height value that pin 3 need to capture is divided into a, b, c tri-layers, is first moved to b from a by basic body thimble 3,
Being moved to c from b by basic body thimble 3, final displacement is exactly the setting height that basic body thimble need to capture again
Angle value, including following operation:
S21, refers to Fig. 3, the height value Xr that need to capture according to the basic body thimble of every layer height,
The altitude signal of this layer is converted into the size of electric current i in regulating time by controller 1, and electric current is by electricity
Produce electromagnetic force f after Magnet 2, through the integral action of regulating time, produce this layer basic body thimble
Z is moved in the position of 3, then sensor 4 feed back height signals, and deviation Xc is repaiied by controller 1
Just, the height captured with the need of the basic body thimble of this layer height until the actual height of basic body thimble 3
Angle value Xr is consistent, completes the tune shape of the basic body thimble of this layer height；
S22, carries out the tune shape of the basic body thimble of next layer height with reference to step S21, until by basic body
Thimble moves to setting height value；
S3, is measured the profile of the multi-point forming flexible die adjusting shape: first use three-coordinates measuring machine to measure
Complete to adjust X-axis and the position coordinates of Y-axis of the multi-point forming flexible die of shape；Use universal tool-measuring microscope again
Complete to adjust the Z axis height of the basic body thimble of the multi-point forming flexible die of shape by optical non-contact measurement.
Three-coordinates measuring machine uses and lengthens ruby gauge head, and this lengthening ruby gauge head is in measurement process
Remaining vertical with basic body thimble, universal tool-measuring microscope prevents basic body thimble from moving because of measurement by mistake
Dynamic, under the effect of microscopical amplification and green laser backlight, the end of basic body thimble is exaggerated
20 times, after being alignd by optical zoom, use computer reading, each can be measured on each layer accurately
The height value of basic body thimble.
By analyzing, find to utilize electromagnetic field effect power and spatial distribution, as the tune of the basic height of mould
Complete machine system, adjusts contact shape to become contactless tune shape, has technical feasibility, if Fig. 1 is that electromagnetism is adjusted
The principle sketch of shape, utilizes electric magnet 2' energising to produce magnetic field, makes basic body 1' sensing produce electromagnetic attraction
Power, reaches the purpose of mobile basic body 1'.So it is possible not only to the frame for movement of the system that is greatly simplified, moreover it is possible to
Increase dynamic property when adjusting shape, reduce further and adjust the shape time.
In order to improve efficiency further, shortening and adjust the shape time, electric magnet includes shell and in 3 × 3 matrix rows
Nine os of row, the material of shell is ferrum, and the body structure in one end open, nine electromagnetism
Solenoid is inserted and secured in this shell from the opening of described shell respectively, uses in 3 × 3 matrix rows
Nine os of row adjust shape simultaneously.The shell of ferrous material, is used for shielding the magnetic line of force, and its principle is
Forming magnetic circuit in advance, reduce the generation of leakage field, electric magnet is when energising, and the resistance of o can produce
Certain heat, therefore, arranges some louvres, in order to work of electromagnet is relatively low on the shell wall of shell
Temperature, prevents the Parameters variation that temperature rise causes.
Refer to Fig. 4 again, be provided with, between electric magnet and basic body thimble 3, organic glass that thickness is 0.5mm
Glass plate 5, when electric magnet produces suction, basic body thimble 3 is drawn onto and connects by the o 21 of electric magnet
Till touching described poly (methyl methacrylate) plate 5.
Magnetic field demixing scan controls to adjust shape to utilize, and poly (methyl methacrylate) plate 5 is spacing to be realized, at o
Adding one piece of non-magnetic poly (methyl methacrylate) plate 5 between 21 and basic body thimble, effect is to inhale when electric magnet produces
During power, till basic body thimble 3 is drawn onto contact poly (methyl methacrylate) plate 5, play spacing effect.Then electricity
Magnet moves according to program on poly (methyl methacrylate) plate 5, and whether programme-control captures the basic body thimble of this position
3, repeat this process, until this layer height needs the basic body thimble 3 captured all to be drawn onto always
On machine glass plate 5, i.e. complete the tune shape of the basic body thimble of this layer height.Then, electric magnet moves,
Carry out the tune shape of the basic body thimble 3 of next layer height.
Owing to the pcrmeability of poly (methyl methacrylate) plate 5 is close to air, magnetic resistance is very big, need to select the thinnest thickness for this
Degree, the most basic body thimble accelerated motion under the effect of magnetic force, finally impinge upon and stop on poly (methyl methacrylate) plate 5
Only, can produce the biggest noise, more can produce strong vibration, this is very to the formed precision of flexible die
Big destruction, to this end, the pmma material rule of thumb having selected thickness to be 0.5mm makes, decreases
The loss of magnetic force, has simultaneously worked as certain inhibition of vibration.
Refer to Fig. 5 again, in order to improve the electric magnet control accuracy to basic body further, devise magnetic circuit
Collection contracting plate, the opening of the shell of electric magnet arranges a magnetic circuit collection contracting plate, and magnetic circuit collection contracting plate includes by not magnetic conduction
Substrate that material is made and nine magnetic conductive tubes 61 being vertically interspersed on substrate, nine magnetic conductive tubes 61 are one by one
It is connected with nine os 21 accordingly.
The diameter d of each magnetic conductive tube 61 is 1mm, and the tail end of nine magnetic conductive tubes 61 is generally aligned in the same plane.Magnetic
Road collection contracting plate utilizes the permeability magnetic material pcrmeability feature much larger than air permeability, by o 21
Beam of magnetic line of force is tied in magnetic conductive tube 61, owing to the magnetic saturation value of magnetic conductive tube 61 is relatively big, can play increase magnetic
Close effect, in the case of keeping magnetic field intensity constant, by the minimizing of physical dimension, it is achieved capture system
System is in controlled range.Wherein, the magnetic circuit part of each magnetic conductive tube 61 uneven shape mutually, reduces magnetic each other
The impact of field；The head bending of magnetic conductive tube 61, keeps the vertical same plane in magnetic field of last output, is beneficial to
Adjust the size of its normal direction magnetic force.
Each other can be by leakage field magnetic field and the counteracting force of basic body thimble in view of magnetic conductive tube 61, directly
The magnetic conductive tube 61 of footpath 1mm is cantilever beam structure, and mechanical strength is poor, can produce certain amount of deflection and deformation.
Therefore, in actual design, have employed in the substrate that non-magnet_conductible material is made, be bumped into doing of magnetic conductive tube 61
Method, improves the mechanical strength that magnetic circuit collection contracting plate is overall.Meanwhile, substrate also can be as the generation of poly (methyl methacrylate) plate 5
Articles for use, control to capture height.Through repeatedly testing, polytetrafluoroethylmaterial material has finally been selected to make substrate,
The reason selecting polytetrafluoroethylmaterial material is that it has most suitable physicochemical property.
After meeting analysis feasible in electromagnetism grasping system principle, the core technology of most critical is that layering is swept
Retouch in control, need to set every layer of threshold value capturing magnetic force so that need not crawled lower floor's thimble not by
Maloperation captures, and this is the essential condition accurately capturing thimble.
Layering grasping system for 1mm precision, it is desirable to captivation is big when electric magnet and thimble 1mm apart
In frictional force, when 2mm, captivation is less than frictional force simultaneously, and now thimble keeps static, reaches layering and grabs
The purpose taken.Use ANSYS to carry out the finite element analysis that system is overall, calculate basic body thimble and collection respectively
Contracting plate magnetic catheter magnetic force size when 2mm and 1mm.Electric magnet captures the frictional force of basic body thimble and closes
Power is 0.001715 × 9=0.015435N.Collect stressing conditions, different spacing stress as shown in table 1 with rub
Wiping power relation, the captivation at 2mm is less than frictional force, and upper strata thimble is not moved；Attraction at 1mm
Power is more than frictional force, therefore the thimble of this layer is crawled, meets the threshold of every layer of crawl magnetic force that demixing scan controls
The requirement of value.
| Stress at 2mm | Frictional force | Stress at 1mm |
| 0.010077N | 0.015435N | 0.018457N |
Table 1
Complete the method using the present invention to adjust the profile of the multi-point forming flexible die of shape to measure, pass through
Three-dimensional coordinates measurement position coordinates, has found that the 3mm that is spaced apart between basic body thimble, basic body composition
Overall size error is relatively big, reduces 1-3mm than artwork shape entirety.But when actually used, due to wheel
Being slow transition change at Kuo, therefore the profile impact on workpiece can reduce.And in short transverse, by many
Secondary optimization, the error of basic body thimble all controls within 0.02mm, degree of accuracy, accuracy after optimization
All it is significantly improved with accurateness.
In sum, the shape adjusting method of the multi-point forming flexible die of the present invention, by the way of electromagnetism adjusts shape,
The method controlled with magnetic field demixing scan, the tune shape time length and the structure that solve multi-point forming flexible die are complicated
Shortcoming, improve the work efficiency of multi-point forming flexible die and service life.
Above example is used for illustrative purposes only, rather than limitation of the present invention, relevant technical field
Technical staff, without departing from the spirit and scope of the present invention, it is also possible to make various conversion or change
Type, the technical scheme of the most all equivalents also should belong to scope of the invention, should be limited by each claim
Fixed.
Claims (7)
1. the shape adjusting method of a multi-point forming flexible die, it is characterised in that comprise the following steps:
S1, according to the shape of furnishing needed for multi-point forming flexible die, sets the height that basic body thimble need to capture
Angle value, if this setting height value is divided into dried layer, sets the quantity of the basic body thimble that every layer height need to capture,
And set the threshold value of magnetic force needed for basic body thimble crawl to corresponding height；
S2, the magnetic field demixing scan of multi-point forming flexible die controls to adjust shape, uses magnetic field demixing scan to control
Realizing the regulation of setting height value to basic body thimble, basic body thimble uses the mode captured piecemeal,
Utilize the quantitative displacement sum repeatedly captured, reach setting height value, including following operation:
S21, the height value that need to capture according to the basic body thimble of every layer height, controller is by this layer
Altitude signal is converted into the size of electric current in regulating time, electric current by producing electromagnetic force after electric magnet,
Through the integral action of regulating time, the position producing basic body thimble is moved, then sensor feedback
Altitude signal, deviation is modified by described controller, until actual height and this of basic body thimble
The height value that the need of the basic body thimble of layer height capture is consistent, completes the basic body thimble of this layer height
Tune shape；
S22, carries out the tune shape of the basic body thimble of next layer height with reference to step S21, until by base
Body thimble moves to setting height value；
S3, is measured the profile of the multi-point forming flexible die adjusting shape: first use three-coordinates measuring machine to measure
Complete to adjust X-axis and the position coordinates of Y-axis of the multi-point forming flexible die of shape；Use universal tool-measuring microscope again
Complete to adjust the Z axis height of the basic body thimble of the multi-point forming flexible die of shape by optical non-contact measurement.
The shape adjusting method of a kind of multi-point forming flexible die the most as claimed in claim 1, it is characterised in that
In step S1, the threshold value of magnetic force needed for the basic body thimble crawl of every layer height to corresponding height value is needed
Ensure that basic body thimble captivation when 1mm of electric magnet and every layer height is more than frictional force, simultaneously at electricity
The basic body thimble of Magnet and this layer height captivation when 2mm is less than frictional force.
The shape adjusting method of a kind of multi-point forming flexible die the most as claimed in claim 1, it is characterised in that
In step S2, described electric magnet includes shell and nine os in 3 × 3 matrix arrangement, described
The material of shell is ferrum, and the body structure in one end open, and described nine os are respectively from described
The opening of shell is inserted and secured in this shell, and the shell wall of described shell offers some louvres.
4. the shape adjusting method of a kind of multi-point forming flexible die as described in claim 1 or 3, its feature
It is, is provided with, between described electric magnet and basic body thimble, the poly (methyl methacrylate) plate that thickness is 0.5mm, works as electricity
When Magnet produces suction, till basic body thimble is drawn onto the described poly (methyl methacrylate) plate of contact.
The shape adjusting method of a kind of multi-point forming flexible die the most as claimed in claim 3, it is characterised in that
The opening of the shell of described electric magnet arranges a magnetic circuit collection contracting plate, and described magnetic circuit collection contracting plate includes by not magnetic conduction
Substrate that material is made and nine magnetic conductive tubes being vertically interspersed on substrate, described nine magnetic conductive tubes one a pair
Should be connected with described nine os on ground.
The shape adjusting method of a kind of multi-point forming flexible die the most as claimed in claim 5, it is characterised in that
Described substrate is made up of polytetrafluoroethylmaterial material, a diameter of 1mm of each described magnetic conductive tube, leads described in nine
The tail end of magnetic tube is generally aligned in the same plane.
The shape adjusting method of a kind of multi-point forming flexible die the most as claimed in claim 1, it is characterised in that
In step S4, described three-coordinates measuring machine uses and lengthens ruby gauge head, and this lengthening ruby gauge head
In measurement process, remain vertical with basic body thimble；Described universal tool-measuring microscope prevents basic body top
Pin misses mobile because of measurement, under the effect of microscopical amplification and green laser backlight, and basic body thimble
End be exaggerated 20 times, after being alignd by optical zoom, use computer reading, accurate measure every
The height value of one layer of upper each foundation body thimble.
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| CN114054571B (en) * | 2021-10-26 | 2023-01-10 | 成都飞机工业（集团）有限责任公司 | Rapid shape adjusting method of multi-point forming die |
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| CN101288884A (en) * | 2008-06-10 | 2008-10-22 | 丁桦 | Method for processing three-dimensional curved surface metal plate like piece |
| CN201244624Y (en) * | 2008-08-18 | 2009-05-27 | 吉林大学 | Sectional type multi-point shape adjusting device for three-dimensional curve generation of sheet material |
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| CN101288884A (en) * | 2008-06-10 | 2008-10-22 | 丁桦 | Method for processing three-dimensional curved surface metal plate like piece |
| CN201244624Y (en) * | 2008-08-18 | 2009-05-27 | 吉林大学 | Sectional type multi-point shape adjusting device for three-dimensional curve generation of sheet material |
| CN101650756A (en) * | 2009-08-26 | 2010-02-17 | 成都飞机工业（集团）有限责任公司 | Skinning method of multi-point forming plane |
| CN102679926A (en) * | 2012-05-28 | 2012-09-19 | 河海大学常州校区 | Location method of thin wall curve part based on bounding box in multi-point array flexible tool |
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