CN106425434B - Bonding nut automatic assembling torque monitoring - Google Patents
Bonding nut automatic assembling torque monitoring Download PDFInfo
- Publication number
- CN106425434B CN106425434B CN201610952294.7A CN201610952294A CN106425434B CN 106425434 B CN106425434 B CN 106425434B CN 201610952294 A CN201610952294 A CN 201610952294A CN 106425434 B CN106425434 B CN 106425434B
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- Prior art keywords
- nut
- cylinder
- bonding
- bolt
- feeding equipment
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/065—Arrangements for torque limiters or torque indicators in screw or nut setting machines
- B23P19/066—Arrangements for torque limiters or torque indicators in screw or nut setting machines by electrical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
Abstract
The present invention provides a kind of bonding nut automatic assembling torque monitoring, including board, electric control box, nut feeding equipment, bolt feeding equipment, servo rotating mechanism and blanking device, electric control box is electrically connected in nut feeding equipment, bolt feeding equipment, servo rotating mechanism and blanking device；Servo rotating mechanism includes：Servo motor, transmission mechanism and rotating-table apparatus, wherein rotating-table apparatus includes：Nut holding tray, rotary shaft, by dynamic device and support device, it nut holding tray, rotary shaft and is sequentially connected by dynamic device, support device attaching nut holding tray and rotary shaft, nut holding tray has nut putting hole and at least two the screwed lock holes, nut holding tray and rotary shaft are fixedly connected with screw by the screwed lock hole.The device of the invention produces automatically, and speed improves, and substitutes artificial production, ensures quality, reach safety in production, improves market competitiveness of enterprises.
Description
Technical field
The present invention relates to a kind of nut rotary joint devices, and in particular to a kind of bonding nut orientation, the automatic combination that is screwed on
Bonding nut automatic assembling torque monitoring.
Background technology
With the development of science and technology, the progress of technology, automobile product makes rapid progress, and is also proposed to fastener products higher
It is required that and auto parts and components are the key areas that Domestic Automotive Industry participates in globalization.Rapid development in response to electronic technology and
Its extensive use in auto industry, the degree of automotive circuit diagram is higher and higher, while also requiring the safety of automobile to get over
Come higher.According to statistics, similar 70% it is caused by electric system in vehicle failure, the reason of causing electric system failure is very
It is more, but some of failures, then it is caused by bad earth, these failures gently then influence the function in terms of automobile,
Tragedy heavy then that car crash even occurs, thereby, it is ensured that the reliability of automobile bond just seems extremely important.
On automobile, bonding nut and play a very important role.Each circuit of automobile circuit passes through vehicle bonding nut
Circuit is constituted, battery terminal negative is finally flowed into.As automobile function is more and more, automobile circuit system becomes increasingly complex, whole
Bonding nut number is also more and more on vehicle, and bonding nut is the important link of automobile production assembly.
Prior art production bonding nut then with torque gun is beaten bonding bolt so that bonding nut is manually put into mould
Enter, everyone strength is different, and force direction is different, causes torque difference excessive, influences the consistency of product quality, separately
Outside, using manually nut is put, usually accidentally personnel is caused to injure.Therefore, prior art bonding bolt and bonding nut
Combined machining process unit, the place also promoted.
Invention content
In view of the foregoing drawbacks, the object of the present invention is to provide a kind of bonding nut automatic assembling torque monitoring, structures
Reliably, the consistent device of product quality, to solve the technical issues of existing bonding nut is screwed on.
To achieve the above object, present invention employs technical solutions below：
A kind of bonding nut automatic assembling torque monitoring, including a board, an electric control box, a nut charging dress
Set, a bolt feeding equipment, a servo rotating mechanism and a blanking device, connection relation therein are, the electric control box,
Board described in nut feeding equipment, bolt feeding equipment, servo rotating mechanism and blanking device assembly connection；The nut charging
The electric control box is electrically connected in device, bolt feeding equipment, servo rotating mechanism and blanking device；The servo turns
Motivation structure includes：One servo motor, a transmission mechanism and a rotating-table apparatus, wherein the servo motor connects the driver
Structure, the transmission mechanism connect the rotating-table apparatus, and the rotating-table apparatus includes：One nut holding tray, a rotary shaft, one are by dynamic
Device and a support device, the nut holding tray, rotary shaft and are sequentially connected by dynamic device, the support device connection
The nut holding tray and rotary shaft, the nut holding tray has a nut putting hole and at least two the screwed lock holes, described
Nut holding tray and rotary shaft are fixedly connected with screw by the screwed lock hole；It is described by dynamic device and the driver
Structure connects；The support device connects the board.
Bonding nut automatic assembling torque monitoring described in the application preferred embodiment, the nut feeding equipment packet
Include a nut vibrating disk, one first cylinder and one first pneumatic clamper, bonding nut is placed in the nut vibrating disk, bonding nut according to
Sequence arranges, and first cylinder connects first pneumatic clamper.
Bonding nut automatic assembling torque monitoring described in the application preferred embodiment, the bolt feeding equipment packet
A bolt vibrating disk, a third cylinder, a bolt placement section, one second cylinder and one second pneumatic clamper are included, bonding bolt places institute
It states in bolt vibrating disk, bonding bolt sequential, the third cylinder connects the bolt placement section；Second cylinder connects
Connect second pneumatic clamper；Second cylinder connects the board, and after assembly, second pneumatic clamper is in the nut holding tray
Top.
Bonding nut automatic assembling torque monitoring described in the application preferred embodiment, the blanking device include one
4th cylinder and a discharge channel, the 4th cylinder connect the discharge channel, and the 4th cylinder drives the discharge channel to protrude out
Below to second pneumatic clamper.
Bonding nut automatic assembling torque monitoring described in the application preferred embodiment, further includes one the 5th cylinder,
5th cylinder is electrically connected the electric control box.
The design concept of the application be design it is a kind of can with the device of automatic assembling bonding bolt and bonding nut, and
And whether the sub-assembly that can be detected automatically after assembly meets the requirements, substitution is artificial, reaches safety in production, saves working hour reduction
Expense improves market competitiveness of enterprises.
As a result of above technical characteristic so that the present invention compared with the prior art, has the following advantages and accumulates
Pole effect：
The first, the application produces automatically, and speed improves, and alternative two people of an equipment reduce the generation of industrial injury；
The second, for the application by SERVO CONTROL, torque control is more accurate, and can separate torque and cross miscellaneous goods, protects
Demonstrate,prove quality；
Third, the application structure are reliable, easy to use, safeguard and are easy, versatile, reach safety in production, improve enterprise
The market competitiveness.
Certainly, implement any one specific embodiment of the content of present invention, there might not be the skill of all of the above simultaneously
Art effect.
Description of the drawings
Fig. 1 is the connection diagram of the application；
Fig. 2 is the structural schematic diagram of the application；
Fig. 3 is the other direction structural schematic diagram of the application；
Fig. 4 is the servo rotating mechanism schematic diagram of the application；
Fig. 5 is the nut holding tray schematic diagram of the application.
Specific implementation mode
Several preferred embodiments of the present invention are described in detail below in conjunction with attached drawing, but the present invention is not restricted to
These embodiments.The present invention covers any replacement, modification, equivalent method and side made in the spirit and scope of the present invention
Case.In order to make the public have thorough understanding to the present invention, it is described in detail in following present invention preferred embodiment specific thin
Section, and description without these details can also understand the present invention completely for a person skilled in the art.In addition, in order to avoid
To the present invention essence cause it is unnecessary obscure, be not described in detail well-known method, process, flow, element etc..
It please refers to Fig.1, Fig. 2 and Fig. 3, a kind of bonding nut automatic assembling torque monitoring, including 10, one electricity of a board
Gas control cabinet 12, a nut feeding equipment 20, a bolt feeding equipment 30, a servo rotating mechanism 50,40 and of a blanking device
One the 5th cylinder 43, connection relation therein be, the electric control box 12, nut feeding equipment 20, bolt feeding equipment 30,
Board 10 described in 43 assembly connection of servo rotating mechanism 50, blanking device 40 and the 5th cylinder；The nut feeding equipment 20, spiral shell
The electric control box is electrically connected in bolt feeding equipment 30, servo rotating mechanism 50, blanking device 40 and the 5th cylinder 43
12, electric control box 12 includes control program, and electric control box 12 receives nut feeding equipment 20, bolt feeding equipment 30, watches
The information that rotating mechanism 50, blanking device 40 and the 5th cylinder 43 transmit is taken, instruction is sent out, allows each device action.
In addition, as shown in figure 4, the servo rotating mechanism 50 includes：One servo motor 51, a transmission mechanism 52 and one turn
Disk device 53, wherein the servo motor 51 connects the transmission mechanism 52, and the transmission mechanism 52 connects the rotating-table apparatus
53, transmission mechanism 52 can be a kind of toothed timing belt or relay gear, as long as can transmit, notify immediately between two parties, so that it may with.
The rotating-table apparatus 53 includes：One nut holding tray 531, a rotary shaft 532, one are supported by dynamic device 533 and one
Device 534, the nut holding tray 531, rotary shaft 532 and is sequentially connected by dynamic device 533, and the support device 534 supports
The nut holding tray 531 and rotary shaft 532 are connected, as shown in figure 5, the nut holding tray 531 has a nut putting hole
5311 and at least two the screwed lock holes 5312, in the present embodiment, the quantity in the screwed lock hole 5312 is three, but cannot be used
The application is limited, is paid as long as can uniformly lock.The nut holding tray 531 and rotary shaft 532 pass through institute with screw
The screwed lock hole 5312 is stated to be fixedly connected；Nut putting hole 5311 after connection is in the center of rotating-table apparatus 53；It is described by dynamic
Device 533 and the transmission mechanism 52 connect；The support device 534 connects the board 10.
When work, nut putting hole 5311 is used for placing bonding nut 1, after nut feeding equipment 20 captures bonding nut 1,
Bonding nut 1 is put into nut putting hole 5311, the angle faces of 1 outer rim of bonding nut are corresponded in nut putting hole 5311, if
It is equipped with supporting surface, during this implementation is sharp, there are six angles for 1 outer rim of bonding nut, so there are six supports for 5311 the inside of nut putting hole
Face.When bonding nut 1 is put into nut putting hole 5311, not necessarily six angle faces just correspond to six supporting surfaces, so
Servo motor 51 rotates, and transmission mechanism 52 and nut holding tray 531 is driven to rotate, during the rotation of nut holding tray 531 carries out so that
Bonding nut 1, which is stablized, to be entered in nut putting hole 5311, and six angle faces just correspond to six supporting surfaces.
In addition, as shown in Fig. 2, the nut feeding equipment 20 includes a nut vibrating disk (not shown), one first cylinder
22 and one first pneumatic clamper 23, bonding nut 1 place in the nut vibrating disk, bonding nut 1 is shaken by nut vibrating disk
Sequential flows out nut vibrating disk, comes bonding nut setting position；First cylinder 22 connects first pneumatic clamper 23,
When work, after the first pneumatic clamper 23 captures bonding nut 1, the first cylinder 22 releases the first pneumatic clamper 23, projects to nut putting hole
5311 top, the first pneumatic clamper 23 decontrol bonding nut 1, and bonding nut 1 drops to 5311 the inside of nut putting hole.
In addition, the bolt feeding equipment 30 is put including a bolt vibrating disk (not shown), a third cylinder 32, a bolt
Portion 33, one second cylinder 34 and one second pneumatic clamper 35, bonding bolt 2 is set to place in the bolt vibrating disk, bonding bolt 2 by
The vibrations sequential of bolt vibrating disk flows out bolt vibrating disk, comes bolt placement section 33, and the third cylinder 32 connects institute
State bolt placement section 33；In addition, second cylinder 34 connects second pneumatic clamper 35；Second cylinder 34 connects the machine
Platform 10, after assembly, second pneumatic clamper 35 is in the top of the nut holding tray 531.When work, third cylinder 32 pushes described
Bolt placement section 33 forward, projects to the correspondence position of the second pneumatic clamper 35, and the second pneumatic clamper 35 captures the tail portion of bonding bolt 2, bonding
The tail portion of bolt 2 is angled face, and in this implementation profit, the tail portion of bonding bolt 2 is there are six angle, so the second pneumatic clamper 35 can be with
Stable crawl bonding bolt 2, then, third cylinder 32 drive bolt placement section 33 backward, return to original position；Second gas
Pawl 35 grasps bonding bolt 2, is pushed down on by the second cylinder 34, and bonding bolt 2 connects the threaded portion of bonding nut 1.Herein,
It can be seen that coming, what is done due to the second cylinder 34 is straight reciprocating motion, so the bonding bolt 2 that the second pneumatic clamper 35 grasps, and
The threaded portion of fixed bonding nut 1 below is in a straight line, thus, which moving downward each time is all with straight line
It downwards, will not deviation.When bonding bolt 2 connects the threaded portion of bonding nut 1, servo motor 51 rotates, and drives transmission mechanism 52
It is rotated with nut holding tray 531, during the rotation of nut holding tray 531 carries out so that bonding bolt 2, which is stablized, to be entered in bonding nut 1；
When servo motor 51 reaches torque feedback point, servo motor 51 stops rotating, and completes current screw-in work.At this point, the second gas
Pawl 35 grasps bonding bolt 2, is brought up by the second cylinder 34, returns to original position.
Then blanking device 40 are said, as shown in figure 3, the blanking device 40 includes one the 4th cylinder 41 and a blanking
Road 42, the 4th cylinder 41 connect the discharge channel 42, when the second pneumatic clamper 35 grasps bonding bolt 2, by the second cylinder 34 to
Upper drive, after returning to original position, the 4th cylinder 41 drives the discharge channel 42 to project under second pneumatic clamper 35
Side, the second pneumatic clamper 35 decontrol bonding bolt 2, and bonding bolt 2 drops in discharge channel 42, are stored in area into non-defective unit.If servo
Motor 51 is fed back, and rotary feeding process torque is abnormal, then the 5th cylinder 43 declines, and finished product bonding nut 1 is imported waste material track,
It is stored in area into waste product.
The technological process of the application includes,
One, feeding：Bonding nut feeding：Nut vibrating disk》Vibrations》Bonding nut sets position；Bonding bolt feeding：Bolt
Vibrating disk》Vibrations》Bolt placement section.
Two, nut tightening process：
Bonding nut to setting position》First pneumatic clamper clamps》First cylinder is pushed forward》First cylinder is pushed forward in place》First pneumatic clamper
It decontrols》Bonding nut falls into nut putting hole》First cylinder retreats (several circles of servo rotating mechanism pre-rotation)》Bonding bolt is to putting
Set portion》Third cylinder is pushed forward in place》Second pneumatic clamper clamps (just catching bonding bolt tail portion)》Third cylinder retreats》Third gas
Cylinder retreats in place》Second cylinder declines, the rotation of servo rotating mechanism》Second cylinder is fallen into place, and it is anti-that servo motor reaches torque
Feed point》Servo rotating mechanism stops rotating》Second cylinder rises》Second cylinder rises in place.
Three, blanking process：
4th cylinder drives discharge channel to advance》4th cylinder advances in place》Second pneumatic clamper is decontroled》Finished product bonding nut is fallen into
Discharge channel is stored into non-defective unit in area》4th cylinder retreats》Repetitive cycling.If servo motor feeds back rotary feeding process torque
Abnormal, the 5th cylinder declines, and finished product bonding nut is imported waste material track.
It may also be noticed that linear relation：First cylinder and third cylinder advance in place, with the second pneumatic clamper, nut putting hole
Center, on same vertical line；Servo rotating mechanism pre-rotation, can adjust the position of bonding nut, if fall down
It is out of alignment, it can adjust in due course.
In conclusion as a result of above technical characteristic so that the present invention compared with the prior art, has as follows
Advantage and good effect：
The first, the application produces automatically, and speed improves, and alternative two people of an equipment reduce the generation of industrial injury；
The second, for the application by SERVO CONTROL, torque control is more accurate, and can separate torque and cross miscellaneous goods, protects
Demonstrate,prove quality；
Third, the application structure are reliable, easy to use, safeguard and are easy, versatile, reach safety in production, improve enterprise
The market competitiveness.
Invention preferred embodiment is only intended to help to illustrate the present invention.There is no all thin of detailed descriptionthe for preferred embodiment
Section, does not limit the invention to the specific embodiments described.Obviously, according to the content of this specification, many repair can be made
Change and changes.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the principle of the present invention and reality
Using to enable skilled artisan to utilize the present invention well.The present invention is only by claims and its complete
The limitation of portion's range and equivalent.Disclosed above is only presently preferred embodiments of the present invention, but is not used for limiting itself,
It is any to be familiar with the equivalent change and change that those skilled in the art is done without prejudice to spirit of that invention intension,
It should all be within the scope of the present invention.
Claims (4)
1. a kind of bonding nut automatic assembling torque monitoring, which is characterized in that including a board, an electric control box, one
Nut feeding equipment, a bolt feeding equipment, a servo rotating mechanism and a blanking device, connection relation therein is, described
Board described in electric control box, nut feeding equipment, bolt feeding equipment, servo rotating mechanism and blanking device assembly connection；
The electrical control is electrically connected in the nut feeding equipment, bolt feeding equipment, servo rotating mechanism and blanking device
Case；The servo rotating mechanism includes：
One servo motor, a transmission mechanism and a rotating-table apparatus, wherein
The servo motor connects the transmission mechanism, and the transmission mechanism connects the rotating-table apparatus,
The rotating-table apparatus includes：By dynamic device and a support device, the nut is put by one nut holding tray, a rotary shaft, one
It sets disk, rotary shaft and is sequentially connected by dynamic device, the support device connects the nut holding tray and rotary shaft,
The nut holding tray has a nut putting hole and at least two the screwed lock holes, the nut holding tray and rotary shaft with
Screw is fixedly connected by the screwed lock hole；
It is described to be connected with the transmission mechanism by dynamic device；
The support device connects the board；
The bolt feeding equipment includes a bolt vibrating disk, a third cylinder, a bolt placement section, one second cylinder and one the
Two pneumatic clampers, bonding bolt are placed in the bolt vibrating disk, and bonding bolt sequential, the third cylinder connects the bolt
Placement section；Second cylinder connects second pneumatic clamper；Second cylinder connects the board, after assembly, described second
Pneumatic clamper is in the top of the nut holding tray.
2. bonding nut automatic assembling torque monitoring as described in claim 1, which is characterized in that the nut charging dress
It sets including a nut vibrating disk, one first cylinder and one first pneumatic clamper, bonding nut is placed in the nut vibrating disk, bonding spiral shell
Female sequential, first cylinder connect first pneumatic clamper.
3. bonding nut automatic assembling torque monitoring as described in claim 1, which is characterized in that the blanking device packet
One the 4th cylinder and a discharge channel are included, the 4th cylinder connects the discharge channel, and the 4th cylinder drives the discharge channel
It projects to below second pneumatic clamper.
4. bonding nut automatic assembling torque monitoring as described in claim 1, which is characterized in that further include one the 5th gas
Cylinder, the 5th cylinder are electrically connected the electric control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952294.7A CN106425434B (en) | 2016-10-27 | 2016-10-27 | Bonding nut automatic assembling torque monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952294.7A CN106425434B (en) | 2016-10-27 | 2016-10-27 | Bonding nut automatic assembling torque monitoring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106425434A CN106425434A (en) | 2017-02-22 |
| CN106425434B true CN106425434B (en) | 2018-08-07 |
Family
ID=58179323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610952294.7A Active CN106425434B (en) | 2016-10-27 | 2016-10-27 | Bonding nut automatic assembling torque monitoring |
Country Status (1)
| Country | Link |
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| CN (1) | CN106425434B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0346179A1 (en) * | 1988-06-07 | 1989-12-13 | Renault Automation | Autonomous stand for the robotised assembly of parts by screwing in flexible installations |
| CN102729038A (en) * | 2012-07-06 | 2012-10-17 | 闻金普 | Full-automatic combination assembly machine for adjusting screws and nuts |
| CN202639813U (en) * | 2012-06-28 | 2013-01-02 | 德尔福电子(苏州)有限公司 | Universal type screw assembling device |
| CN203003466U (en) * | 2013-01-06 | 2013-06-19 | 襄阳东昇机械有限公司 | Device for assembling nut and bolt by automatically setting torque |
| CN103170834A (en) * | 2013-03-27 | 2013-06-26 | 刘伟锋 | Bolt and nut automated assembly machine |
| CN103447813A (en) * | 2013-09-03 | 2013-12-18 | 舟山市7412工厂 | Automatic tightening machine for screws and nuts |
| CN206153872U (en) * | 2016-10-27 | 2017-05-10 | 宁波长华长盛汽车零部件有限公司 | Bonding nut automatic assembly moment of torsion monitoring device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013086222A (en) * | 2011-10-20 | 2013-05-13 | Bridgestone Corp | Assembling device and assembling method for joint |
-
2016
- 2016-10-27 CN CN201610952294.7A patent/CN106425434B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0346179A1 (en) * | 1988-06-07 | 1989-12-13 | Renault Automation | Autonomous stand for the robotised assembly of parts by screwing in flexible installations |
| CN202639813U (en) * | 2012-06-28 | 2013-01-02 | 德尔福电子(苏州)有限公司 | Universal type screw assembling device |
| CN102729038A (en) * | 2012-07-06 | 2012-10-17 | 闻金普 | Full-automatic combination assembly machine for adjusting screws and nuts |
| CN203003466U (en) * | 2013-01-06 | 2013-06-19 | 襄阳东昇机械有限公司 | Device for assembling nut and bolt by automatically setting torque |
| CN103170834A (en) * | 2013-03-27 | 2013-06-26 | 刘伟锋 | Bolt and nut automated assembly machine |
| CN103447813A (en) * | 2013-09-03 | 2013-12-18 | 舟山市7412工厂 | Automatic tightening machine for screws and nuts |
| CN206153872U (en) * | 2016-10-27 | 2017-05-10 | 宁波长华长盛汽车零部件有限公司 | Bonding nut automatic assembly moment of torsion monitoring device |
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| Publication number | Publication date |
|---|---|
| CN106425434A (en) | 2017-02-22 |
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