CN106704474A - Highly integrated self-sensing hexa-axial conical vibration isolator - Google Patents
Highly integrated self-sensing hexa-axial conical vibration isolator Download PDFInfo
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- CN106704474A CN106704474A CN201710015762.2A CN201710015762A CN106704474A CN 106704474 A CN106704474 A CN 106704474A CN 201710015762 A CN201710015762 A CN 201710015762A CN 106704474 A CN106704474 A CN 106704474A
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- die springs
- ball pivot
- vibration
- baffle plate
- vibration isolator
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
A highly integrated self-sensing hexa-axial conical vibration isolator relates to a semi-active vibration isolator and contains an upper end frame, an upper ball hinge seat, upper ball hinges, support leg members, lower ball hinges, a lower ball hinge seat and a conical frame; on the support leg members, a magneto-rheological damper, a die spring, a pull pressure sensor, a displacement sensor and an acceleration sensor are integrated. The vibration isolator is mounted between a base and a load subjected to vibration isolation, when the base generates vibration, the sensor integrated in the vibration isolator collects a vibration signal and feeds back to the controller, the controller performs operation and controls the size of a current that leads into the magneto-rheological damper, and a damping power size of the magneto-rheological damper is adjusted in real time, such that a vibration environment of the load subjected to vibration isolation is improved and the purpose of vibration isolation of the load subjected to vibration isolation is realized. The vibration isolator has the characteristics of high integration, multi-freedom degree vibration isolation, adjustable damping force, low power consumption, self-sensing feedback and the like, and can be widely applied to the fields where the vibration isolation is applied, such as aerospace, automobiles and ships.
Description
Technical field
The present invention relates to vibration isolator, and in particular to a kind of axial cone shape vibration isolator of self-induction type six of Highgrade integration.
Background technology
Vibration isolator be it is a kind of loaded installed in pedestal and by vibration isolation between a kind of isolation mounting, usually contain stiffness elements
（Spring）, damping element（Damper）And actuating means（Such as piezoelectric actuator）, by change the dynamics of system come
Isolate the vibration for being delivered to from pedestal and being loaded by vibration isolation, so as to improve the vibration environment loaded by vibration isolation.
According to the type of the actuating means selected, vibration isolator can be divided three classes：Passive type vibration isolator, active vibration isolation
Device and semi-active vibration-isolating device.However, it is also possible to passive type and active vibration isolation principle are mixed, a kind of mixing is formed
Formula vibration isolation.Passive type vibration isolator generally only includes spring and hydraulic pressure（Or it is pneumatic）Damper, this vibration isolator structure is simple, but by
In without dynamic regulation function, it is impossible to meet the vibration isolation requirement under different vibration operating modes well.Active vibration isolation device be
Proposed on the basis of passive type vibration isolator, its structure type is similar, but can be substituted from a kind of active actuator passively
Rigidity-damping element.Active actuator, such as piezoelectric actuator, can be in different external world's inputs（Such as electric current）Under
The different active force in output size, direction, i.e., with Automatic adjusument function, by collection, the status signal of reponse system, and
By issuing an instruction to control actuator after calculation process.Therefore, active vibration insulator tend to according to the difference of exiting form come
Self-control and control are carried out, its vibration isolating effect passive vibration isolation device relative with adaptability is more preferable.
However, active vibration insulator generally requires to provide very huge energy supply to meet the activities necessary of actuator,
The electrical power of generally consumption is very big, this harsh requirement be under the special operation environment such as Aero-Space it is very inappeasable,
Even if also being difficult to realize in general fields such as automobiles.Therefore, the excessive scope of application for often limiting active vibration insulator of power consumption.It is mixed
Box-like vibration isolator combines active vibration isolation with passive type vibration isolation, can mutually be cut according to actual working situation
Change, the big problem of power consumption can be alleviated on the basis of vibration isolating effect is ensured to a certain extent.But, hybrid vibration isolator
Structure type is complicated, weight is big, and the reliability in practical work process is low, and these often limit it and use.
Therefore, in recent years, a kind of new vibration isolation principle is suggested and is widely studied, i.e. semi-active vibration-isolating.Half actively every
Shake, generally using a kind of passive type controlled member（Such as MR damper）, rigidity or the damping spy for carrying out dynamic adjusting system
Property, so as to reach vibration isolation purpose.The vibration isolator developed using semi-active vibration-isolating principle has reliability high, simple structure, control
The good characteristics such as effect is good, applied widely, therefore, it is widely used in the vibration isolation such as machinery, building, vehicle, Aero-Space
Application field.
The content of the invention
In order to overcome the problem mentioned in background technology, based on semi-active vibration-isolating principle, and MR damper is combined
Actual operation requirements, the present invention proposes a kind of axial cone shape vibration isolator of self-induction type six of the Highgrade integration of compact conformation, its tool
There is the features such as Highgrade integration, multi-degree-of-freedom vibration isolation, damping force are dynamically adjustable, low in energy consumption, self-induction is fed back, be widely portable to boat
The vibration isolation application field such as empty space flight, automobile, ship.The vibration isolator for being proposed uses pyramidal structure, is dexterously integrated with rigidity unit
Part（Die springs）, semi active actuator part（MR damper）With self-induction feedback components（Pull pressure sensor, displacement are passed
Sensor and acceleration transducer）.
In order to realize foregoing invention purpose, the present invention is adopted the following technical scheme that：
A kind of self-induction type six axial cone shape vibration isolator of Highgrade integration, including upper end frame, upper ball pivot seat, upper ball pivot, leg member,
Lower ball pivot, lower ball pivot seat and dimension shape frame, it is characterised in that：Described upper end frame is connected with by vibration isolation load, and upper ball pivot seat is solid
It is scheduled on the lower surface of upper end frame, upper ball pivot is arranged on upper ball pivot seat, and lower ball pivot is arranged on lower ball pivot, lower ball pivot seat and dimension
Shape frame is connected；Described leg member comprising baffle plate I, die springs I, end cap, its shell, die springs II, baffle plate II,
Piston rod, piston bush, baffle plate III, die springs III, die springs IV, baffle plate IV, displacement transducer, pull pressure sensor, plus
Velocity sensor and coil, die springs I are arranged between overhead gage I and end cap, and end cap passes through screw thread with its shell
Link together, piston rod carries out axial restraint with piston bush by baffle plate II and baffle plate III, piston bush leads to its shell
Crossing interference fits carries out radial positioning, and die springs II are arranged between end cap and baffle plate II, and die springs III are arranged on baffle plate
Between III and the intermediate interlayer of its shell, die springs IV be arranged on its shell intermediate interlayer and baffle plate IV it
Between, one end of piston rod is connected with upper ball pivot, and the other end is connected with the induction rod of displacement transducer, and displacement transducer one end is fixed
On the interstitial hole of pull pressure sensor, pull pressure sensor is connected with lower ball pivot, and acceleration transducer is fixed on the upper of baffle plate I
Surface, coil winds on the piston rod.Its shell, end cap, piston rod, piston bush, baffle plate II, baffle plate III, coil and
Magnetic flow liquid constitutes MR damper.
When piston rod is moved downward relative to its shell, the die springs I and die springs III are in compression
State, and die springs II are in free state with die springs IV, now, die springs I and die springs III connect in parallel
Connect；When piston rod is moved upwards relative to its shell, die springs I and die springs III are in free state, and mould
Tool spring II is in compressive state with die springs IV, and now, die springs II are to be connected in parallel with die springs IV.
The leg member quantity is the even number more than or equal to 6.
Institute's stopper rod and piston bush are made up of permeability magnetic material, and remaining parts is made by non-magnet material.
One end of the leg member intersect at two-by-two be fixed on the frame of upper end upper ball pivot seat, the other end respectively with one
Lower ball pivot seat is connected.The central angle of the three ball pivots seat distribution being fixed on the frame of upper end is in 120 °, and six lower ball pivot seats are adjacent
The central angle of distribution is in 60 °.
Power dispersion edge of the described upper ball pivot seat and lower ball pivot seat with arc, can disperse to concentrated force, change
Distribution situation of the kind vibration isolator to the power of pedestal.
Described dimension shape frame is six sections of arc structures, and its two ends is connected by bolt with lower ball pivot seat respectively, is detachable
Formula is designed.When vibration isolator is individually tested or carried, dimension shape frame is linked into an integrated entity with vibration isolator, now, tie up shape frame
Play a part of that vibration isolator is carried out to maintain shape；After vibration isolator is installed in the device or system of need vibration isolation, can be with
Dimension shape frame is disassembled, mitigates the weight of vibration isolator.
The baffle plate II and baffle plate III are band boss structure, and this configuration design can be between die springs and baffle plate
For magnetic flow liquid reserves the flowing space, so as to prevent die springs from blocking the flow channel of magnetic flow liquid.
There is following superiority due to using technical scheme as described above, the present invention：
（1）The axial cone shape vibration isolator of self-induction type six of the Highgrade integration, is dexterously integrated with stiffness elements, semi active actuator part
With self-induction feedback components, the structure type of traditional semi-active vibration-isolating device is greatly simplified.Compared to traditional passive vibration isolation
Device, with stronger environmental suitability and more preferable vibration isolating effect；Compared to traditional active vibration isolation device, with structure type
Simply, the advantages of energy consumption is low, reliability is high.
（2）The axial cone shape vibration isolator of self-induction type six of the Highgrade integration, employs modularized design and detachable design,
Greatly optimize the installation process of vibration isolator and alleviate its weight.In the axial cone shape vibration isolator of self-induction type six of the Highgrade integration
Six roots of sensation supporting leg be modularized design, be easy to integral disassembly, assembly, replace, and its dimension shape frame employ detachable design, ensure
The overall weight of vibration isolator can be mitigated while dimension shape function again.
（3）The axial cone shape vibration isolator of self-induction type six of the Highgrade integration, is different from traditional cube structure configuration design,
But pyramidal structure is used, leg member is also different from the head and the tail connected mode of traditional vibration isolator.It is this to be designed to preferably
Meet the installation requirement of the vibrating isolation system of different size requirement, and can simultaneously be risen in three translations and three rotation directions
To vibration isolating effect.
（4）The axial cone shape vibration isolator of self-induction type six of the Highgrade integration, is integrated with four die springs, in the course of work,
When piston rod is relative to its shell back and forth movement, can always ensure wherein two die springs be it is in running order,
And the spring of two work is that working spring is also very flat with the handoff procedure of inoperative spring in parallel connectivity
Suitable.This design can solve the fixed problem of spring, furthermore it is possible to the rigidity of vibrating isolation system is greatly increased, to meet picture
The vibration isolation demand of the super-heavy load load such as space flight, ship.
Brief description of the drawings
Fig. 1 is the structural representation of the axial cone shape vibration isolator of self-induction type six of Highgrade integration of the present invention.
Fig. 2 is the upward view of the axial cone shape vibration isolator of self-induction type six of Highgrade integration of the present invention.
Fig. 3 is the sectional view of leg member of the present invention.
Fig. 4 is the enlarged drawing at the A of Fig. 1.
Fig. 5 is the enlarged drawing at the B of Fig. 1.
Fig. 6 is the enlarged drawing at the C of Fig. 3.
Reference：1-upper end frame, 2-upper ball pivot seat, 3-upper ball pivot, 4-leg member, 5-lower ball pivot, 6-under
Ball pivot seat, 7-dimension shape frame, 8-baffle plate I, 9-die springs I, 10-end cap, 11-its shell, 12-die springs
IIth, 13-baffle plate II, 14-piston rod, 15-piston bush, 16-baffle plate III, 17-die springs III, 18-die springs IV,
19-baffle plate IV, 20-displacement transducer, 21-pull pressure sensor, 22-acceleration transducer, 23-coil.
Specific embodiment
Technical scheme is described further with reference to the accompanying drawings and examples.
Fig. 1 show the structural representation of the axial cone shape vibration isolator of self-induction type six of Highgrade integration of the present invention, mainly includes：
Upper end frame 1, upper ball pivot seat 2, upper ball pivot 3, leg member 4, lower ball pivot 5, lower ball pivot seat 6 and dimension shape frame 7.
Fig. 2 show the upward view of the axial cone shape vibration isolator of self-induction type six of Highgrade integration of the present invention, fixed on upper end frame 1
Three upper ball pivots seats 2 in a circumferential direction to be evenly arranged, central angle two-by-two is 120 °；Six be connected with dimension shape frame 7
In a circumferential direction to be evenly arranged, the central angle of adjacent lower ball pivot seat 6 is 60 ° to lower ball pivot seat 6.
Fig. 3 show the sectional view of leg member of the present invention, mainly includes：Baffle plate I 8, die springs I 9, end cap 10, resistance
Buddhist nun's device shell 11, die springs II 12, baffle plate II 13, piston rod 14, piston bush 15, baffle plate III 16, die springs III 17, mould
Spring IV 18, baffle plate IV 19, displacement transducer 20, pull pressure sensor 21, acceleration transducer 22 and coil 23.
Fig. 4 show the enlarged drawing at the A of Fig. 1, and two leg members 4 are by two upper ball pivots 3 and a upper ball pivot seat 2
It is connected.
Fig. 5 show the enlarged drawing at the B of Fig. 1, and a leg member 4 is by a lower ball pivot 5 and a lower ball pivot seat 6
It is connected.
Fig. 6 show the enlarged drawing at the C of Fig. 3, magnetorheological when the opposing damper shell 11 of piston rod 14 comes and goes to be slided
Liquid passes through ring-shaped throttling passage（The annular gap formed by piston rod 14 and piston bush 15）Two chambers in its shell 11
Flowing is exchanged in room.After coil 23 is passed through electric current, the magnetic field perpendicular through throttling passage can be formed.
Above-mentioned piston rod（14）And piston bush（15）It is made up of permeability magnetic material, remaining parts is by non-magnet material system
Into.
Operation principle of the invention is as follows：
Vibration isolator is arranged on the pedestal of vibrating isolation system, by vibration isolation load on the upper end frame 1 of vibration isolator, its shell
Magnetic flow liquid, displacement transducer 20, pull pressure sensor 21, acceleration transducer 22 and the Access Control of coil 23 are full of in 11
System.In the course of work, piston rod 14 is moved back and forth relative to its shell 11, wherein two springs are in work shape
State, another two springs are to be in off working state, and the springs of two work are in parallel connectivity, the spring of work
Smoothed out with inoperative spring and switched.
When electric current is not passed through in coil 23, the MR damper hydraulic damper traditional equivalent to is vibrated
Vibrational energy is converted to heat energy and is dissipated by Cheng Zhong, vibration isolator by damping action, so as to isolate vibration, is improved by vibration isolation
The vibration environment of load.
After electric current is passed through in coil 23, toroidal magnetic field will be formed in piston rod 14 and piston bush 15, magnetic field path will
Perpendicular through annular gap, the magnetic flow liquid in annular gap can form magnetic linkage under the influence of a magnetic field, during by annular gap
The damping force related to the shear strength of magnetic flow liquid will be produced, and its shear strength is related to magnetic field intensity, therefore, it can
By changing the size for being passed through electric current in coil 23 come the damping force size of dynamic regulation MR damper.In the course of work,
Pull pressure sensor 21 is gathered and feeds back the force-bearing situation of leg member 4；The collection of displacement transducer 20 and the phase of feedback piston bar 14
To the relative displacement state of its shell, by obtaining relative velocity signal after treatment of differentiating；Acceleration transducer 22
The acceleration condition of simultaneously feedback piston bar 14 is gathered, by obtaining absolute velocity signal after integral operation treatment.Feedback or computing
After obtain signal transmission to controller, by after semi-active control strategy computing and decision-making, real-time regulation is input in coil 23
The size of electric current, so as to realize the dynamic regulation to the damping force of vibration isolator.Make in the semi- active control of this self-induction reaction type
Under, vibration isolator carries out self adaptation vibration isolation according to vibration environment, makes to be greatly improved by the vibration environment that vibration isolation is loaded.
Claims (4)
1. a kind of axial cone shape vibration isolator of self-induction type six of Highgrade integration, including upper end frame（1）, upper ball pivot seat（2）, upper ball pivot
（3）, leg member（4）, lower ball pivot（5）, lower ball pivot seat（6）And dimension shape frame（7）, it is characterised in that：Described upper end frame（1）
It is connected with by vibration isolation load, upper ball pivot seat is fixed on upper end frame（1）Lower surface on, upper ball pivot（3）Installed in upper ball pivot seat（2）
On, lower ball pivot（5）Installed in lower ball pivot（6）On, lower ball pivot seat（6）With dimension shape frame（7）It is connected；Described leg member（4）Bag
Containing baffle plate I（8）, die springs I（9）, end cap（10）, its shell（11）, die springs II（12）, baffle plate II（13）, it is living
Stopper rod（14）, piston bush（15）, baffle plate III（16）, die springs III（17）, die springs IV（18）, baffle plate IV（19）, displacement
Sensor（20）, pull pressure sensor（21）, acceleration transducer（22）And coil（23）, die springs I（9）Installed in upper
Baffle plate I（8）And end cap（10）Between, end cap（10）With its shell（11）It is together by a threaded connection, piston rod（14）
With piston bush（15）By baffle plate II（13）With baffle plate III（16）Carry out axial restraint, piston bush（15）With its shell（11）
Radial positioning, die springs II are carried out by interference fits（12）Installed in end cap（10）With baffle plate II（13）Between, mould bullet
Spring III（17）Installed in baffle plate III（16）With its shell（11）Intermediate interlayer between, die springs IV（19）Installed in resistance
Buddhist nun's device shell（11）Intermediate interlayer and baffle plate IV（19）Between, piston rod（14）One end and upper ball pivot（5）Connection, the other end
With displacement transducer（20）Induction rod connection, displacement transducer（20）One end is fixed on pull pressure sensor（21）Interstitial hole
On, pull pressure sensor（20）With lower ball pivot（6）Connection, acceleration transducer（22）It is fixed on baffle plate I（8）Upper surface, line
Circle（23）It is wrapped in piston rod（14）On.
2. the axial cone shape vibration isolator of self-induction type six of Highgrade integration according to claim 1, it is characterised in that：Work as piston rod
（14）Relative to its shell（11）During to left movement, the die springs I（8）With die springs III（17）In compression shape
State, and die springs II（12）With die springs IV（18）In free state, now, die springs I（8）With die springs III
（17）To be connected in parallel；Work as piston rod（14）Relative to its shell（11）When moving right, die springs I（8）And mould
Spring III（17）In free state, and die springs II（12）With die springs IV（18）In compressive state, now, mould
Spring II（12）With die springs IV（18）To be connected in parallel.
3. the axial cone shape vibration isolator of self-induction type six of Highgrade integration according to claim 1, it is characterised in that：The supporting leg
Component（4）Quantity is the even number more than or equal to 6.
4. the axial cone shape vibration isolator of self-induction type six of Highgrade integration according to claim 1, it is characterised in that：The piston
Bar（14）And piston bush（15）It is made up of permeability magnetic material, remaining parts is made by non-magnet material.
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| CN201710015762.2A CN106704474B (en) | 2017-01-10 | 2017-01-10 | The six axial cone shape vibration isolator of self-induction type of Highgrade integration |
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Cited By (11)
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| CN107781345A (en) * | 2017-12-05 | 2018-03-09 | 华东交通大学 | A kind of Novel magneto-rheological damper of detectable piston displacement |
| CN107882915A (en) * | 2017-12-13 | 2018-04-06 | 华东交通大学 | Built-in range sensor carries out the integrated-type MR damper of displacement detecting |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN109027114A (en) * | 2018-09-20 | 2018-12-18 | 上海大学 | A kind of electromagnetic type six degree of freedom stiffness variable vibrating isolation system |
| CN109630602A (en) * | 2019-01-18 | 2019-04-16 | 上海大学 | A kind of quasi- zero stiffness vibrating isolation system of electromagnetism based on Stewart platform |
| CN110185702A (en) * | 2019-05-10 | 2019-08-30 | 上海交通大学 | Bearing assembly and the bearing of the active rod-type stern of electromagnetic drive |
| CN110360065A (en) * | 2019-07-15 | 2019-10-22 | 大连理工大学 | A kind of vibration absorber for Large Scale Oceanic Wind Power Generation machine tower top |
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| CN114215872A (en) * | 2021-12-17 | 2022-03-22 | 盐城工学院 | Active and passive integrated damper based on piezoelectric array and vibration isolation method |
| CN114607722A (en) * | 2022-03-31 | 2022-06-10 | 长光卫星技术股份有限公司 | Semi-active vibration isolation platform for optical remote sensing satellite micro-vibration and assembly method |
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| CN107882915B (en) * | 2017-12-13 | 2023-12-12 | 华东交通大学 | Integrated magneto-rheological damper with built-in distance sensor for displacement detection |
| CN108693382B (en) * | 2018-04-28 | 2020-05-15 | 北京林业大学 | Parallel six-dimensional acceleration sensor |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
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| CN109630602A (en) * | 2019-01-18 | 2019-04-16 | 上海大学 | A kind of quasi- zero stiffness vibrating isolation system of electromagnetism based on Stewart platform |
| CN109630602B (en) * | 2019-01-18 | 2020-01-07 | 上海大学 | Electromagnetic quasi-zero stiffness vibration isolation system based on Stewart platform |
| CN110185702A (en) * | 2019-05-10 | 2019-08-30 | 上海交通大学 | Bearing assembly and the bearing of the active rod-type stern of electromagnetic drive |
| CN110360065A (en) * | 2019-07-15 | 2019-10-22 | 大连理工大学 | A kind of vibration absorber for Large Scale Oceanic Wind Power Generation machine tower top |
| CN111677810A (en) * | 2020-05-27 | 2020-09-18 | 哈尔滨工业大学 | Passive vibration isolation system for optical payload |
| CN114215872A (en) * | 2021-12-17 | 2022-03-22 | 盐城工学院 | Active and passive integrated damper based on piezoelectric array and vibration isolation method |
| CN114215872B (en) * | 2021-12-17 | 2023-08-29 | 盐城工学院 | Active and passive integrated damper based on piezoelectric array and vibration isolation method |
| CN114623184A (en) * | 2022-03-04 | 2022-06-14 | 西安热工研究院有限公司 | Intelligent adjusting system suitable for electromagnetic shock absorber |
| CN114607722A (en) * | 2022-03-31 | 2022-06-10 | 长光卫星技术股份有限公司 | Semi-active vibration isolation platform for optical remote sensing satellite micro-vibration and assembly method |
| CN114607722B (en) * | 2022-03-31 | 2024-04-02 | 长光卫星技术股份有限公司 | Semi-active vibration isolation platform for micro-vibration of optical remote sensing satellite and assembly method |
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