CN104772727A - Rigid-flexible blended clamp - Google Patents
Rigid-flexible blended clamp Download PDFInfo
- Publication number
- CN104772727A CN104772727A CN201510201033.7A CN201510201033A CN104772727A CN 104772727 A CN104772727 A CN 104772727A CN 201510201033 A CN201510201033 A CN 201510201033A CN 104772727 A CN104772727 A CN 104772727A
- Authority
- CN
- China
- Prior art keywords
- hard
- magnetic field
- slideway
- soft mixing
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/002—Magnetic work holders
Abstract
The invention relates to the field of mechanical clamps and discloses a rigid-flexible blended clamp. The rigid-flexible blended clamp comprises at least a pair of rigid clamping system and flexible clamping system which are arranged oppositely; the flexible clamping system comprises a flexible clamping seat, a flexible powder bag which is arranged on the flexible clamping seat and used for accommodating magnetic powder, and a magnetic field generator which is used for supplying a magnetic field to the magnetic powder; the rigid clamping system comprises a rigid clamping seat and a plurality of hydraulic cylinders which are arranged on the rigid clamping seat; the powder bag is opposite to a push rod of each hydraulic cylinder. Due to the adoption of a rigid-flexible blended clamping manner, the clamp disclosed by the invention can be used for clamping workpieces of different shapes and different sizes, and is high in applicability to the shapes of the workpieces and high in using efficiency; the workpieces can be disassembled or assembled through controlling on-off the magnetic field generator as well as current and voltage values, and thus the rigid-flexible blended clamp is high in automation degree.
Description
Technical field
The present invention relates to mechanical clamp field, particularly relate to a kind of hard and soft mixing fixture.
Background technology
Traditional fixture is mainly mechanical clips, has been widely used in various processing industry, and its technique and design criteria are standardized.But the shortcoming below these conventional brace ubiquities: often kind of fixture can only design for the identical workpiece of a certain class shape, and the adaptive surface of fixture to workpiece shapes is narrow, and service efficiency is low, and can not the irregular workpiece of clamping shape; The demolition, installation of workpiece often can only manually realize, and be not easy to Mechanical course, automaticity is low.
Summary of the invention
(1) technical problem that will solve
The object of this invention is to provide a kind of hard and soft mixing fixture that can clamp various shape and workpiece in irregular shape.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of hard and soft mixing fixture, comprise: at least one pair of rigidity grasping system positioned opposite and flexible clamping system, described flexible clamping system comprise flexible clamping seat, be located at described flexible clamping seat for hold magnetic flexible powder capsule and for providing the magnetic field generator in magnetic field for described magnetic; Described rigidity grasping system comprises rigidity grip slipper and is located at several hydraulic cylinders on described rigidity grip slipper; The push rod of described powder capsule and described hydraulic cylinder is arranged in opposite directions.
Wherein, this hard and soft mixing fixture also comprises controller, and the lateral surface that described powder capsule is relative with described push rod is provided with pressure sensor, and the end of described push rod is also provided with pressure sensor; Described hydraulic cylinder has the hydraulic control module that can receive and perform control signal; The input of described controller is connected with described pressure sensor communication, and hydraulic control module and the magnetic field generator of its output and described hydraulic cylinder are connected.
Wherein, this rigidity grasping system also comprises mobile device, and described hydraulic cylinder is installed on described rigidity grip slipper by mobile device, and moves under the driving of described mobile device.
Wherein, the described mobile device sliding shoe that comprises the first slideway being installed on described rigidity grip slipper, the second slideway being slidably mounted on described first slideway and be installed on described second slideway; Described first slideway is provided with the first line slideway paralleled with it, and the leading screw of described first line slideway connects the first drive motors, and described second slideway is connected with the nut of described first line slideway; Described second slideway is provided with the second line slideway paralleled with it, and the leading screw of described second line slideway connects the second drive motors, and described sliding shoe is connected with the nut of described second line slideway; Described hydraulic cylinder is installed on sliding shoe, and described second drive motors and the first drive motors are connected with the output of controller respectively.
Wherein, described mobile device comprises several symmetrical 3-dof parallel robots, and each described symmetrical 3-dof parallel robot installs a described hydraulic cylinder, and the output of controller is connected with symmetrical 3-dof parallel robot respectively.
Wherein, described in several, symmetrical 3-dof parallel robot is arranged in array.
Wherein, described symmetrical 3-dof parallel robot is Delta parallel mechanism.
Wherein, this hard and soft mixing fixture also comprises display unit, and the lateral surface that described powder capsule is relative with described push rod is provided with pressure sensor, and the end of described push rod is also provided with pressure sensor; Described display unit is connected with described pressure sensor and magnetic field generator respectively, for showing electric current and the magnitude of voltage of force value that pressure sensor detects and magnetic field generator.
Wherein, described magnetic is ferroferric oxide powder.
Wherein, described magnetic field generator comprises power regulator and magnet exciting coil, and described magnet exciting coil laminating is installed on described flexible clamping seat, and described power regulator is connected with described magnet exciting coil, for regulating the voltage and current value of magnet exciting coil.
(3) beneficial effect
Hard and soft mixing fixture provided by the invention, makes magnetic be coated on the surface of gripped object, and magnetic presses to gripped object under the influence of a magnetic field and completes clamping or shift action.The intensity of magnetization of magnetic increases with magnetic field and increases, therefore can by regulating the intensity in magnetic field change magnetic to the pressure of gripped object thus being picked up by gripped object and clamp.Meanwhile, because the shape of powder capsule can random variation, realize flexiblely freely clamping, act on any non magnetic abnormal workpieces.Fixture of the present invention, adopts hard and soft mixing method of clamping, and fixture can realize clamping the workpiece of difformity and different size, and large to the adaptive surface of workpiece shapes, service efficiency is high; Power on/off and the Current Voltage value of controlling magnetic field generator are passed through in the demolition, installation of workpiece, and automaticity is high.
Accompanying drawing explanation
Fig. 1 is the front view of the embodiment of the present invention 1;
Fig. 2 is the sectional view of the hydraulic cylinder of the embodiment of the present invention 1;
Fig. 3 is the front view of the embodiment of the present invention 2;
Fig. 4 is the front view of the embodiment of the present invention 3;
Fig. 5 is A direction view in Fig. 4;
Fig. 6 is the front view of the embodiment of the present invention 4.
In figure, 1: rigidity grasping system; 101: rigidity grip slipper; 2: flexible clamping system; 201: flexible clamping seat; 202: powder capsule; 203: magnetic; 204: magnetic field generator; 3: workpiece; 4: hydraulic cylinder; 401: cylinder body; 402: piston; 403: push rod; 404: hydraulic control module; 405: feed pipe; 5: symmetrical 3-dof parallel robot; 6: the first slideways; 7: the second slideways; 8: sliding shoe.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following instance for illustration of the present invention, but is not used for limiting the scope of the invention.
Embodiment 1
With reference to shown in Fig. 1, hard and soft mixing fixture of the present invention, comprising: two to rigidity grasping system 1 positioned opposite and flexible clamping system 2, two pairs, the angle between rigidity grasping system 1 and flexible clamping system 2 is 90 degree, namely in rectangular layout as shown in the figure.Flexible clamping system 1 comprises flexible clamping seat 201, be located at flexible clamping seat 201 for hold magnetic 203 flexible powder capsule 202 and for providing the magnetic field generator 204 in magnetic field for magnetic 203.Powder capsule selects high-abrasive material to make.With reference to shown in Fig. 1, in the present embodiment, the medial surface of flexible clamping seat 201 installs powder capsule 202, and lateral surface installs magnetic field generator 204, it should be noted that, in actual use, magnetic field generator 204 and flexible clamping seat 201 can be made integrative-structure.Rigidity grasping system 1 comprises rigidity grip slipper 101 and is located at several hydraulic cylinders 4 on rigidity grip slipper 101.The mode that preferably several hydraulic cylinders 4 are arranged in array is installed on rigidity grip slipper 101.With reference to shown in Fig. 2, hydraulic cylinder 4 comprises cylinder body 401, piston 402, push rod 403 and the hydraulic control module 404 that can receive and perform control signal, piston 402 is installed on the inner chamber of cylinder body 401, inner chamber is divided into front chamber and rear chamber, push rod 403 is fixed on piston 402, and pass from the front end of cylinder body 401, front chamber is connected with fluid reservoir respectively by feed pipe 405 with rear chamber, feed pipe 405 is provided with hydraulic control module 404, controller is connected with the hydraulic control module 404 of hydraulic cylinder 4, controller transmits control signal and to work to hydraulic control module hydraulic control control module 404, thus the pushrod movement of hydraulic control cylinder 4.Hydraulic control module 404 comprises pump and three position four-way directional control valve.Powder capsule 202 is arranged in opposite directions with the push rod 403 of hydraulic cylinder 4.Powder capsule 202 and push rod 403 can move holding workpiece in opposite directions, or only powder whole 202 moves to the direction of push rod 403 under the magneticaction of magnetic field generator 204, holding workpiece.Magnetic 203 in the present embodiment preferably adopts ferroferric oxide powder.Magnetic field generator 204 comprises magnet exciting coil and power regulator, and power regulator can reception control signal performing.Magnet exciting coil laminating is installed on flexible clamping seat 201, and power regulator is connected with magnet exciting coil, for regulating the voltage and current value of magnet exciting coil.Power regulator preferably adopts single-phase silicon-controlled power regulator.
In use, when needs holding workpiece, hydraulic cylinder 4 feeds pressure liquid by feed pipe 405 to hard and soft mixing fixture of the present invention in cylinder body 401, and piston 402 is moved, and push rod 403 stretches out, magnetic field generator 204 produces high-intensity magnetic field, magnetic 203 in powder capsule 202 is under strong magnetic field action, magnetic 203 becomes ferromagnetism from magnetic neutrality, therefore interact each other, and between magnetic pole, form the bridge of " chain " shape, and then change into the column structure of macroscopic view, it is made to become sticky plastomer in moment from powder, its rheological equationm of state occurs sharply to change, show the mechanical property of similar solid, there is higher yield stress, magnetic 203 promotes powder capsule 202 to workpiece 3 relative movement, powder capsule 202 holding workpiece 3 relative to push rod 403, form hard and soft mixing clamping action.When needs dismounting workpiece, the magnetic field intensity of magnetic field generator can be reduced step by step, until the lower workpiece of dismounting, close the energising of magnetic field generator, carry out the clamping work of workpiece next time.
The present invention, by applying magnetic field to magnetic, makes magnetic be coated on the surface of gripped object, and magnetic presses to gripped object under the influence of a magnetic field and completes clamping or shift action.The intensity of magnetization of magnetic increases with magnetic field and increases, therefore can by regulating the intensity in magnetic field change magnetic to the pressure of gripped object thus being picked up by gripped object and clamp.Meanwhile, because the shape of powder capsule can random variation, realize flexiblely freely clamping, act on any non magnetic abnormal workpieces.Fixture of the present invention, adopts hard and soft mixing method of clamping, and fixture can realize clamping the workpiece of difformity and different size, and large to the adaptive surface of workpiece shapes, service efficiency is high; Power on/off and the Current Voltage value of controlling magnetic field generator are passed through in the demolition, installation of workpiece, and automaticity is high.
Further, this hard and soft mixing fixture also comprises controller (scheming not shown), the lateral surface that powder capsule 202 is relative with push rod 403 is provided with pressure sensor (scheming not shown), and the end of push rod 403 is also provided with pressure sensor (scheming not shown).The input of controller is connected with pressure sensor communication, and its output is connected with hydraulic cylinder 4 and magnetic field generator 204.Concrete, the output of controller is connected with the power regulator of the hydraulic control module 404 of hydraulic cylinder 4 and magnetic field generator 204, and hydraulic control module 404 and magnetic field generator 204 reception control signal also perform.Controller can adopt Programmable Logic Controller, writes control program in the programmable controller and realizes.The input of controller receives the pressure that pressure sensor detects, calculate the liquid stream flux and circulating direction that obtain electric current required for magnetic field generator and magnitude of voltage and hydraulic cylinder, formation control signal, by the flowing of the electric current of output controlling magnetic field generator and the pressure liquid of voltage and hydraulic cylinder, clamp pressure is in setting range, ensures that workpiece is not damaged when clamping.By arranging controller, can need to be formed control automatically according to the chucking power of different workpiece, thus making chucking power be adapted to chucking power demand.
Further, this hard and soft mixing fixture also comprises display unit, and display unit is connected with pressure sensor and magnetic field generator respectively, for showing electric current and the magnitude of voltage of force value that pressure sensor detects and magnetic field generator.It should be noted that, in hard and soft mixing fixture, controller and display unit can be selected one and be selected, and also can have display unit and controller simultaneously.When hard and soft mixing fixture has display unit and controller simultaneously, an industrial computer or computer can be selected to realize this function.Can be real-time by display unit.When chucking power excessive or too small time, by regulating electric current, the magnitude of voltage of magnetic field generator, make chucking power reach ideal value.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, institute's difference is: with reference to shown in Fig. 3, this rigidity grasping system also comprises mobile device, and hydraulic cylinder 4 is installed on rigidity grip slipper 101 by mobile device, and several hydraulic cylinders 4 move under the driving of mobile device.The mobile device of the present embodiment comprises several symmetrical 3-dof parallel robots 5, also claims three freedom degree manipulator, and symmetrical 3-dof parallel robot 5 has the control module receiving and perform control signal.Each symmetrical 3-dof parallel robot 5 installs a hydraulic cylinder 4, for driving.The output of controller is connected with symmetrical 3-dof parallel robot 5 and hydraulic cylinder 4 respectively, controls symmetrical 3-dof parallel robot and hydraulic cylinder.Preferably, several symmetrical 3-dof parallel robots 5 are arranged in array on rigidity grip slipper 101.Symmetrical 3-dof parallel robot 5 can select Delta parallel mechanism, and Delta parallel mechanism bearing capacity is strong, rigidity large, deadweight duty ratio is little, dynamic property good, and repetitive positioning accuracy is high, can ensure the correction accuracy of inspection machine further.
By arranging mobile device, according to the external surface shape of workpiece 3, controlling mobile device by controller and driving hydraulic cylinder 4 to move, select the clip position of the hydraulic cylinder 4 of rigidity grasping system, make clamping more stable, avoid the push rod of hydraulic cylinder to be clamped to the weak location of workpiece, prevent workpiece damage.
Embodiment 3
The present embodiment is substantially the same manner as Example 1, institute's difference is: with reference to shown in Figure 4 and 5, this rigidity grasping system also comprises mobile device, and hydraulic cylinder 4 is installed on rigidity grip slipper 101 by mobile device, and several hydraulic cylinders 4 move under the driving of mobile device.The sliding shoe 8 that the mobile device of the present embodiment comprises the first slideway 6 being installed on rigidity grip slipper 101, the second slideway 7 being slidably mounted on the first slideway 6 and is installed on the second slideway 7.First slideway 6 is provided with the first line slideway (scheming not shown) paralleled with it, and the leading screw of the first line slideway connects the first drive motors, and the second slideway 7 is connected with the nut of the first line slideway.Second slideway 7 is provided with the second line slideway (scheming not shown) paralleled with it, and the leading screw of the second line slideway connects the second drive motors, and sliding shoe 8 is connected with the nut of the second line slideway.Hydraulic cylinder 4 is installed on sliding shoe 8, and the second drive motors and the first drive motors all select servomotor, be connected respectively, move under the control of the controller with the output of controller.First slideway 6 of mobile device is two, and the second slideway 7 is several, and the sliding shoe 8 that each slideway is arranged also is several.
Embodiment 4
The present embodiment is substantially the same manner as Example 1, and institute's difference is: with reference to shown in Fig. 6, and the present embodiment only comprises a pair rigidity grasping system 1 positioned opposite and flexible clamping system 2.
It should be noted that, adopt hydraulic cylinder effect rigid holder in the present invention, pneumatic cylinder is the equivalent replacement parts of hydraulic cylinder.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a hard and soft mixing fixture, it is characterized in that, comprise: at least one pair of rigidity grasping system positioned opposite and flexible clamping system, described flexible clamping system comprise flexible clamping seat, be located at described flexible clamping seat for hold magnetic flexible powder capsule and for providing the magnetic field generator in magnetic field for described magnetic; Described rigidity grasping system comprises rigidity grip slipper and is located at several hydraulic cylinders on described rigidity grip slipper; The push rod of described powder capsule and described hydraulic cylinder is arranged in opposite directions.
2. hard and soft mixing fixture as claimed in claim 1, is characterized in that, this hard and soft mixing fixture also comprises controller, and the lateral surface that described powder capsule is relative with described push rod is provided with pressure sensor, and the end of described push rod is also provided with pressure sensor; Described hydraulic cylinder has the hydraulic control module that can receive and perform control signal; The input of described controller is connected with described pressure sensor communication, and hydraulic control module and the magnetic field generator of its output and described hydraulic cylinder are connected.
3. hard and soft mixing fixture as claimed in claim 2, is characterized in that, this rigidity grasping system also comprises mobile device, and described hydraulic cylinder is installed on described rigidity grip slipper by mobile device, and moves under the driving of described mobile device.
4. hard and soft mixing fixture as claimed in claim 3, is characterized in that, the sliding shoe that described mobile device comprises the first slideway being installed on described rigidity grip slipper, the second slideway being slidably mounted on described first slideway and is installed on described second slideway; Described first slideway is provided with the first line slideway paralleled with it, and the leading screw of described first line slideway connects the first drive motors, and described second slideway is connected with the nut of described first line slideway; Described second slideway is provided with the second line slideway paralleled with it, and the leading screw of described second line slideway connects the second drive motors, and described sliding shoe is connected with the nut of described second line slideway; Described hydraulic cylinder is installed on sliding shoe, and described second drive motors and the first drive motors are connected with the output of controller respectively.
5. hard and soft mixing fixture as claimed in claim 3, it is characterized in that, described mobile device comprises several symmetrical 3-dof parallel robots, each described symmetrical 3-dof parallel robot installs a described hydraulic cylinder, and the output of controller is connected with symmetrical 3-dof parallel robot respectively.
6. hard and soft mixing fixture as claimed in claim 5, it is characterized in that, described in several, symmetrical 3-dof parallel robot is arranged in array.
7. hard and soft mixing fixture as claimed in claim 5, is characterized in that, described symmetrical 3-dof parallel robot is Delta parallel mechanism.
8. hard and soft mixing fixture as claimed in claim 1, is characterized in that, this hard and soft mixing fixture also comprises display unit, and the lateral surface that described powder capsule is relative with described push rod is provided with cell pressure sensor, and the end of described push rod is also provided with pressure sensor; Described display unit is connected with described pressure sensor and magnetic field generator respectively, for showing electric current and the magnitude of voltage of force value that pressure sensor detects and magnetic field generator.
9. hard and soft mixing fixture as claimed in claim 1, is characterized in that, described magnetic is ferroferric oxide powder.
10. hard and soft mixing fixture as claimed in claim 1, it is characterized in that, described magnetic field generator comprises power regulator and magnet exciting coil, described magnet exciting coil laminating is installed on described flexible clamping seat, described power regulator is connected with described magnet exciting coil, for regulating the voltage and current value of magnet exciting coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510201033.7A CN104772727B (en) | 2015-04-24 | 2015-04-24 | Rigid-flexible blended clamp |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510201033.7A CN104772727B (en) | 2015-04-24 | 2015-04-24 | Rigid-flexible blended clamp |
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| Publication Number | Publication Date |
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| CN104772727A true CN104772727A (en) | 2015-07-15 |
| CN104772727B CN104772727B (en) | 2017-05-17 |
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| CN201510201033.7A Active CN104772727B (en) | 2015-04-24 | 2015-04-24 | Rigid-flexible blended clamp |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751116A (en) * | 2016-04-11 | 2016-07-13 | 湖州圣龙汽车动力系统有限公司 | Clamping device for cam sheet on assembly type cam shaft |
| CN105936015A (en) * | 2016-06-25 | 2016-09-14 | 袁林 | Gold ware machining fixture |
| CN106181184A (en) * | 2016-08-25 | 2016-12-07 | 刘书雄 | A kind of electric welding lathe of scalable fixed component shape |
| CN106768754A (en) * | 2016-11-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | Vibration test fixture |
| CN106903533A (en) * | 2017-03-31 | 2017-06-30 | 苏州亚思科精密数控有限公司 | A kind of precision machine tool upper fixture locking method |
| CN107695222A (en) * | 2017-11-27 | 2018-02-16 | 广西大学 | A kind of flexible pipe clamping device |
| CN108360347A (en) * | 2018-05-06 | 2018-08-03 | 吉林大学 | Become the vehicle-mounted road surface flaw detection system verifying attachment on pose road surface based on seven bars |
| CN109465650A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | Air-cylinder type rigidity switching device and the Rigid-flexible Coupled Motion platform and method for using it |
| CN109664219A (en) * | 2018-12-17 | 2019-04-23 | 中国航发动力股份有限公司 | A kind of type surface self-adaption fixture and its application method |
| CN114535577A (en) * | 2022-01-18 | 2022-05-27 | 中国工程物理研究院激光聚变研究中心 | Mechanical fixing and pressing device for in-situ forming sintered material |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105936015A (en) * | 2016-06-25 | 2016-09-14 | 袁林 | Gold ware machining fixture |
| CN106181184B (en) * | 2016-08-25 | 2018-11-16 | 新昌县林昱机械科技有限公司 | A kind of electric welding lathe of adjustable fixation member shape |
| CN106181184A (en) * | 2016-08-25 | 2016-12-07 | 刘书雄 | A kind of electric welding lathe of scalable fixed component shape |
| CN106768754A (en) * | 2016-11-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | Vibration test fixture |
| CN106903533A (en) * | 2017-03-31 | 2017-06-30 | 苏州亚思科精密数控有限公司 | A kind of precision machine tool upper fixture locking method |
| CN107695222A (en) * | 2017-11-27 | 2018-02-16 | 广西大学 | A kind of flexible pipe clamping device |
| CN108360347A (en) * | 2018-05-06 | 2018-08-03 | 吉林大学 | Become the vehicle-mounted road surface flaw detection system verifying attachment on pose road surface based on seven bars |
| CN109465650A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | Air-cylinder type rigidity switching device and the Rigid-flexible Coupled Motion platform and method for using it |
| CN109465650B (en) * | 2018-11-30 | 2023-07-25 | 广东工业大学 | Cylinder type rigidity switching device, rigid-flexible coupling motion platform using same and rigid-flexible coupling motion method |
| CN109664219A (en) * | 2018-12-17 | 2019-04-23 | 中国航发动力股份有限公司 | A kind of type surface self-adaption fixture and its application method |
| CN114535577A (en) * | 2022-01-18 | 2022-05-27 | 中国工程物理研究院激光聚变研究中心 | Mechanical fixing and pressing device for in-situ forming sintered material |
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|---|---|
| CN104772727B (en) | 2017-05-17 |
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