CN108945142B - Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle - Google Patents
Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle Download PDFInfo
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- CN108945142B CN108945142B CN201810945568.9A CN201810945568A CN108945142B CN 108945142 B CN108945142 B CN 108945142B CN 201810945568 A CN201810945568 A CN 201810945568A CN 108945142 B CN108945142 B CN 108945142B
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 133
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 230000005291 magnetic effect Effects 0.000 claims description 22
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 14
- 229910052782 aluminium Inorganic materials 0.000 claims description 14
- 230000005389 magnetism Effects 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- 229910000746 Structural steel Inorganic materials 0.000 claims description 2
- 229910052799 carbon Inorganic materials 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 description 10
- 230000009194 climbing Effects 0.000 description 6
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Manipulator (AREA)
Abstract
An adsorption force adjustable permanent magnet gap adsorption device based on an inner balance principle comprises an adsorption force adjusting mechanism, a permanent magnet gap adsorption mechanism and an inner balance spring mechanism; the adsorption force adjusting mechanism is fixedly connected with the robot body, the permanent magnet gap adsorption mechanism is arranged below the robot body and connected with the adsorption force adjusting mechanism, and the inner balance spring mechanism is fixedly arranged below the robot body and connected with the permanent magnet gap adsorption mechanism. The invention overcomes the defect that the adsorption force of the existing permanent magnet adsorption device is not adjustable, and realizes the adjustment of the adsorption force of the permanent magnet adsorption device; by adopting the internal balance principle, the adsorption force adjustment driving moment is effectively limited while the adsorption performance of the device is not influenced.
Description
Technical Field
The invention belongs to the technical field of robots.
Background
The adsorption device is a core component for realizing the stable and safe operation of the wall surface of the wall climbing robot. The adsorption device commonly used by the existing wall climbing robot can be divided into negative pressure adsorption and magnetic adsorption according to the adsorption principle, wherein the permanent magnet adsorption device is widely adopted by the wall climbing robot working in a ferromagnetic environment due to the characteristics of small structure, large adsorption force, no need of providing energy and the like.
The existing permanent magnet adsorption devices mainly comprise permanent magnet gap type permanent magnet wheel type permanent magnet crawler type permanent magnet adsorption devices, the permanent magnet adsorption devices generally do not have an adsorption force adjusting function, in order to enable a robot to have enough loading capacity to carry a working tool to stably work on a wall surface, the adsorption force of the permanent magnet adsorption devices needs to be designed to be large enough, however, the excessive adsorption force can increase the steering resistance of the robot, limit the flexibility of the movement of the robot, and are unfavorable for the robot to take off from the wall surface.
Application number CN201310424613.3 describes an adsorption force adjustable permanent magnet adsorption gap adsorption device, wherein a cam is rotated by a magnet adjusting handle, and an air gap between the permanent magnet adsorption device and a magnetic conductive workpiece is changed, so that the adjustment of the magnetic adsorption force is realized.
Although the patent application realizes the adjustment of magnetic adsorption force, the magnetic circuit magnetic energy utilization rate adopted by the patent application is not high, and the magnetic adsorption device has large volume and is only suitable for increasing the adhesive force of a robot, but is not suitable for being used as an adsorption device of a wall climbing robot.
Application number CN201010289541.2 describes that a wheel type obstacle surmounting mechanism for a wall climbing robot with adjustable magnetic adsorption force relates to a permanent magnet adsorption device with adjustable magnetic adsorption force, and the distance between the permanent magnet adsorption device and a wall surface is controlled through a screw rod mechanism, so that the adjustment of the magnetic adsorption force is realized.
This patent application has realized the regulation of magnetic adsorption device adsorption affinity through screw mechanism, but at adsorption affinity in-process of adjusting, adsorption affinity is on the nut, can produce very big frictional force between nut and screw rod, and along with the increase of adsorption affinity, frictional force also can increase, this needs driving motor to have enough big driving moment overcome frictional force and realize screw mechanism's drive, thereby cause driving motor's weight and volume great, be unfavorable for wall climbing robot's lightweight and miniaturization, also can make the energy consumption increase of robot simultaneously, reduced the duration of robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the adsorption force-adjustable permanent magnet gap adsorption device based on the internal balance principle, which can realize the adjustment of the magnetic adsorption force and can effectively limit the driving moment required by the adjustment of the magnetic adsorption force while not affecting the adsorption performance of the device.
The invention is realized by the following technical scheme.
The invention discloses an adsorption force adjustable permanent magnet gap adsorption device based on an internal balance principle, which comprises an adsorption force adjusting mechanism, a permanent magnet gap adsorption mechanism and an internal balance spring mechanism. The adsorption force adjusting mechanism is fixedly connected with the robot body, the permanent magnet gap adsorption mechanism is arranged below the robot body and connected with the adsorption force adjusting mechanism, and the inner balance spring mechanism is fixedly arranged below the robot body and connected with the permanent magnet gap adsorption mechanism.
The adsorption force adjusting mechanism comprises a screw rod bearing seat, a screw rod, a locking nut and a nut. Wherein: the screw rod bearing seat is fixedly arranged on the robot body, one end of the screw rod is sleeved on the screw rod bearing seat, the locking nut is sleeved on the screw rod and abuts against the screw rod bearing seat, and the nut is sleeved below the screw rod and fixedly connected with the permanent magnet gap adsorption mechanism.
The permanent magnet gap adsorption mechanism comprises: two narrow permanent magnets, two wide permanent magnets, a yoke, three magnetism isolating aluminum blocks, two supporting plates and two limiting aluminum plates. Wherein: two narrow permanent magnets are respectively arranged on two sides of the bottom surface of the yoke, two wide permanent magnets are respectively arranged in the middle of the bottom surface of the yoke, three magnetism isolating aluminum blocks are respectively arranged between the four permanent magnets and fixedly connected with the yoke, two supporting plates are respectively arranged on the outer sides of the two narrow permanent magnets and fixedly connected with the yoke, and two limiting aluminum plates are respectively fixedly arranged on the front end surface and the rear end surface of the yoke.
The inner balance spring mechanism comprises: two connecting plates, four sets of first spring mechanisms and four sets of second spring mechanisms. Wherein: the two connecting plates are respectively fixedly arranged at two sides below the robot body, the four groups of first spring mechanisms are respectively fixedly arranged at the outer sides of the two connecting plates, and the four groups of second spring mechanisms are respectively fixedly arranged at the inner sides of the two connecting plates.
The first spring mechanism comprises: spring supporting seat I, spring guide sleeve I, spring III, spring clamp plate I and spring depression bar I. Wherein: the spring guide sleeve I is arranged on the spring support seat I, the spring I is placed in the spring guide sleeve I, the spring III is placed in the spring I, the spring pressing plate I is placed at the top end of the spring I, one end of the spring pressing rod I is fixedly connected with the spring pressing plate I, and the other end of the spring pressing rod I penetrates through the spring III to be fixedly connected with the support plate in the permanent magnet gap adsorption mechanism.
The second spring mechanism comprises: spring supporting seat II, spring guide sleeve II, spring clamp plate II and spring depression bar II. Wherein: the spring guide sleeve II is arranged on the spring support seat II, the spring II is placed in the spring guide sleeve II, the spring pressing plate II is placed above the spring II and fixedly connected with one end of the spring pressing rod II, and the other end of the spring pressing rod II penetrates through the spring II and is fixedly connected with a yoke iron in the permanent magnet gap adsorption mechanism.
The working principle of the invention is as follows: the screw rod is driven to drive the nut to drive the permanent magnetic gap adsorption mechanism to move up and down relative to the robot body, so that the distance between the permanent magnetic gap adsorption mechanism and the wall surface is changed, and the adjustment of magnetic adsorption force is realized; in the moving process of the permanent magnet gap adsorption mechanism, a compression bar in the spring mechanism is driven to move together, so that the elasticity of the spring mechanism changes along with the adsorption force, the adsorption force acting on the nut is converted into elasticity by the spring mechanism and finally acts on the robot body, and as the adsorption force of the permanent magnet gap adsorption mechanism changes along with the wall surface distance into nonlinearity, in order to enable the elasticity of the spring mechanism to be as close to the adsorption force as possible, three springs with different rigidities are adopted to be matched with each other, so that the change of the elasticity of the spring mechanism is consistent with the change of the adsorption force, and the adsorption force acting on the nut and the friction force between the nut and the screw rod are as small as possible, so that the moment required by the adsorption force adjustment is effectively limited; the elasticity of the spring mechanism is internal force for the whole device, the elasticity of the spring mechanism, the adsorption force acting on the nut and the adsorption force generated by the permanent magnetic gap adsorption mechanism are balanced internally, and the force born by the robot body is always equal to the adsorption force generated by the permanent magnetic gap adsorption mechanism, so that the adsorption performance of the device is not affected.
Compared with the prior art, the invention overcomes the defect that the adsorption force of the existing permanent magnet adsorption device is not adjustable, and realizes the adjustment of the adsorption force of the permanent magnet adsorption device; by adopting the internal balance principle, the adsorption force adjustment driving moment is effectively limited while the adsorption performance of the device is not influenced.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a schematic diagram of the operation of the present invention.
FIG. 4 is a graph showing the change of the adsorption force and the elastic force according to the present invention.
The robot comprises a permanent magnet gap adsorption mechanism 1, a permanent magnet gap adsorption mechanism 2, an inner balance spring mechanism 3, a robot body 4, a screw rod bearing seat 5, a screw rod 6, a locking nut 7, a nut 8, a narrow permanent magnet 9, a wide permanent magnet 10, a yoke 11, a magnetism isolating aluminum block 12, a supporting plate 13, a position limiting aluminum plate 14, a connecting plate 15, a first spring mechanism 16, a second spring mechanism 17, a spring supporting seat I18, a spring guide sleeve I19, a spring I20, a spring III 21, a spring pressing plate I23, a spring pressing rod I24, a spring supporting seat II, a spring guide sleeve II 25, a spring II 26, a spring pressing plate II 27 and a spring pressing rod II 28.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the present invention includes: the device comprises an adsorption force adjusting mechanism 1, a permanent magnet gap adsorption mechanism 2 and an inner balance spring mechanism 3, wherein: the adsorption force adjusting mechanism 1 is fixedly connected with the robot body 4, the permanent magnet gap adsorption mechanism 2 is placed below the robot body 4 and is connected with the adsorption force adjusting mechanism 1, and the inner balance spring mechanism 3 is fixedly arranged below the robot body 4 and is connected with the permanent magnet gap adsorption mechanism 2.
As shown in fig. 1 and 2, the adsorption force adjustment mechanism 1 includes: screw bearing frame 5, lead screw 6, lock nut 7 and nut 8, wherein: the screw rod bearing seat 5 is fixedly arranged on the robot body 4, one end of the screw rod 6 is sleeved on the screw rod bearing seat 5, the lock nut 7 is meshed with the screw rod 6 through threads and is abutted against the screw rod bearing seat 5 to prevent the screw rod 6 from axially moving, the nut 8 is meshed with the screw rod 6 through threads, and the bottom end of the nut is fixedly connected with the permanent magnet gap adsorption mechanism 2.
The screw rod 6 and the nut 8 have a self-locking function, and the nut 8 can drive the permanent magnet gap adsorption mechanism 2 to move up and down relative to the robot body 4 by driving the screw rod 6.
As shown in fig. 1 and 2, the permanent magnet gap adsorption mechanism 2 includes: two narrow permanent magnets 9, two wide permanent magnets 10, a yoke 11, three magnetism isolating aluminum blocks 12, two supporting plates 13 and two spacing aluminum plates 14, wherein: the two narrow permanent magnets 9 are respectively arranged on two sides of the bottom surface of the yoke 11, the two wide permanent magnets 10 are respectively arranged in the middle of the bottom surface of the yoke 11, the three magnetism isolating aluminum blocks 12 are respectively arranged between the four permanent magnets and fixedly connected with the yoke 11, the two supporting plates 13 are respectively arranged on the outer sides of the two narrow permanent magnets 9 and fixedly connected with the yoke 11, and the two limiting aluminum plates 14 are respectively fixedly arranged on the front end surface and the rear end surface of the yoke 11.
The narrow permanent magnet 9 and the wide permanent magnet 10 are made of neodymium iron boron N45SH and are magnetized in the thickness direction, the installation polarities of two adjacent permanent magnets are opposite, the yoke 11 is made of high magnetic conduction material common carbon structural steel Q235, and the supporting plate 13 is made of non-magnetic 304 stainless steel.
As shown in fig. 1, the inner balance spring mechanism 3 includes: two connection plates 15, four sets of first spring means 16 and four sets of second spring means 17, wherein: the two connecting plates 15 are respectively and fixedly arranged at two sides below the robot body 4, the four groups of first spring mechanisms 16 are respectively and fixedly arranged at the outer sides of the two connecting plates 15, and the four groups of second spring mechanisms 17 are respectively and fixedly arranged at the inner sides of the two connecting plates 15.
As shown in fig. 1 and 2, the first spring mechanism 16 includes: spring supporting seat I18, spring guide pin bushing I19, spring I20, spring III 21, spring clamp plate I22 and spring depression bar I23, wherein: the spring support seat I18 is fixedly arranged at the bottom of the connecting plate 15, the spring guide sleeve I19 is arranged on the spring support seat I18, the spring I20 is arranged in the spring guide sleeve I19, the spring III 21 is arranged in the spring I20, the spring pressing plate I22 is arranged at the top end of the spring I20, one end of the spring pressing rod I23 is fixedly connected with the spring pressing plate I22, and the other end of the spring pressing rod I23 penetrates through the spring III 21 and is fixedly connected with the supporting plate 13 in the permanent magnet gap adsorption mechanism 2.
As shown in fig. 1 and 2, the second spring mechanism 17 includes: spring supporting seat II 24, spring guide pin bushing II 25, spring II 26, spring clamp plate II 27 and spring depression bar II 28, wherein: the spring support seat II 24 is fixedly arranged on the inner side of the connecting plate 15, the spring guide sleeve II 25 is arranged on the spring support seat II 24, the spring II 26 is arranged in the spring guide sleeve II 25, the spring pressing plate II 27 is arranged above the spring II 26 and fixedly connected with one end of the spring pressing rod II 28, and the other end of the spring pressing rod II 28 penetrates through the spring II 26 and is fixedly connected with the yoke 11 in the permanent magnet gap adsorption mechanism 2.
The spring compression bar I23 is in clearance fit with the spring support seat I18, the spring compression bar II 28 is in clearance fit with the spring support seat II 24, and a guiding function can be provided for the adsorption force adjusting mechanism 1.
The springs I20, the springs II 26 and the springs III 21 are cylindrical helical compression springs, but the spring parameters are different, the spring stiffness is 15.56N/mm, 31.39N/mm and 58.45N/mm in sequence, the free heights of the springs are 55mm, 35mm and 18mm in sequence, and when the permanent magnet gap adsorption mechanism 2 moves downwards relative to the robot body 4, the springs I23 and the springs II 28 are driven to move together, and the springs I20, the springs II 26 and the springs III 21 are compressed in sequence.
Fig. 3 shows a working schematic diagram of the invention, an initial state of the device is shown in the figure, an initial distance between a permanent magnet gap adsorption mechanism 2 and a wall surface is 19mm, at the moment, a spring I20 is already compressed, a spring II 26 and a spring III 21 are not contacted with a spring pressing plate II 27 and a spring pressing plate I22, distances of 9mm and 15mm exist respectively, elastic force in the spring mechanism 3 is generated by the spring I20, when a screw rod 6 is driven to enable the permanent magnet gap adsorption mechanism 2 to move downwards, a spring pressing rod I23 and a spring pressing rod II 28 are driven to move together, after the permanent magnet gap mechanism 2 moves downwards for 9mm, the spring II 26 is contacted with the spring pressing plate II 27 and gradually compressed, elastic force in the spring mechanism 3 is jointly generated by the spring I20 and the spring II 26, after the permanent magnet gap mechanism 2 moves downwards for 15mm, the elastic force in the spring mechanism 3 is jointly generated by the spring I20, the spring II 26 and the spring III 21, elastic force in the spring mechanism 3, the absorption force acting on a nut 8 and the absorption mechanism 2 always act on the absorption mechanism, and the absorption force in the whole device is equal to the absorption force of the permanent magnet gap adsorption mechanism 2 is always influenced by the absorption force of the machine, and the absorption force in the whole device is not equal to the absorption force of the absorption device is generated by the absorption force of the machine. Through simulation calculation, in the process that the distance between the opposite wall surfaces of the permanent magnet gap adsorption mechanism 2 is changed from 19mm to 0mm, the adsorption force of the permanent magnet gap adsorption mechanism 2 and the elastic force of the spring mechanism 3 are changed as shown in fig. 4, a solid line in the drawing is an adsorption force change curve, a broken line in the drawing is an elastic force change curve, the change range of the adsorption force of the permanent magnet gap adsorption mechanism is 300N-3760N, and the maximum adsorption force acting on the nut 8 in the process is only 180N, so that the driving torque required by magnetic adsorption force adjustment is effectively limited.
Claims (1)
1. An adsorption force adjustable permanent magnet gap adsorption device based on an internal balance principle is characterized by comprising an adsorption force adjusting mechanism, a permanent magnet gap adsorption mechanism and an internal balance spring mechanism; the adsorption force adjusting mechanism is fixedly connected with the robot body, the permanent magnet gap adsorption mechanism is arranged below the robot body and connected with the adsorption force adjusting mechanism, and the inner balance spring mechanism is fixedly arranged below the robot body and connected with the permanent magnet gap adsorption mechanism;
the adsorption force adjusting mechanism comprises a screw rod bearing seat, a screw rod, a locking nut and a nut; the screw rod bearing seat is fixedly arranged on the robot body, one end of the screw rod is sleeved on the screw rod bearing seat, the locking nut is sleeved on the screw rod and abuts against the screw rod bearing seat, and the nut is sleeved below the screw rod and fixedly connected with the permanent magnet gap adsorption mechanism; the screw rod and the nut have a self-locking function;
the permanent magnet gap adsorption mechanism comprises two narrow permanent magnets, two wide permanent magnets, a yoke, three magnetism isolating aluminum blocks, two support plates and two limiting aluminum plates; two narrow permanent magnets are respectively arranged on two sides of the bottom surface of the yoke, two wide permanent magnets are respectively arranged in the middle of the bottom surface of the yoke, three magnetism isolating aluminum blocks are respectively arranged between the four permanent magnets and fixedly connected with the yoke, two supporting plates are respectively arranged on the outer sides of the two narrow permanent magnets and fixedly connected with the yoke, and two limiting aluminum plates are respectively fixedly arranged on the front end surface and the rear end surface of the yoke; the narrow permanent magnet and the wide permanent magnet are made of NdFeB N45SH, and are magnetized in the thickness direction, the mounting polarities of the two adjacent permanent magnets are opposite, and the yoke is made of high magnetic conduction material common carbon structural steel Q235;
the inner balance spring mechanism comprises two connecting plates, four groups of first spring mechanisms and four groups of second spring mechanisms; the two connecting plates are respectively and fixedly arranged at two sides below the robot body, the four groups of first spring mechanisms are respectively and fixedly arranged at the outer sides of the two connecting plates, and the four groups of second spring mechanisms are respectively and fixedly arranged at the inner sides of the two connecting plates;
the first spring mechanism comprises a spring supporting seat I, a spring guide sleeve I, a spring III, a spring pressing plate I and a spring pressing rod I; the spring guide sleeve I is arranged on the spring support seat I, the spring I is placed in the spring guide sleeve I, the spring III is placed in the spring I, the spring pressing plate I is placed at the top end of the spring I, one end of the spring pressing rod I is fixedly connected with the spring pressing plate I, and the other end of the spring pressing rod I penetrates through the spring III to be fixedly connected with the support plate in the permanent magnet gap adsorption mechanism;
the second spring mechanism comprises a spring supporting seat II, a spring guide sleeve II, a spring pressing plate II and a spring pressing rod II; the spring guide sleeve II is arranged on the spring support seat II, the spring II is placed in the spring guide sleeve II, the spring pressing plate II is placed above the spring II and fixedly connected with one end of the spring pressing rod II, and the other end of the spring pressing rod II penetrates through the spring II and is fixedly connected with a yoke iron in the permanent magnet gap adsorption mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945568.9A CN108945142B (en) | 2018-08-20 | 2018-08-20 | Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945568.9A CN108945142B (en) | 2018-08-20 | 2018-08-20 | Permanent magnet gap adsorption device with adjustable adsorption force based on internal balance principle |
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| CN108945142A CN108945142A (en) | 2018-12-07 |
| CN108945142B true CN108945142B (en) | 2023-10-31 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109494043A (en) * | 2019-01-05 | 2019-03-19 | 湖南省三联磁电设备有限公司 | One kind magnetizes the adjustable magnetizer in gap |
| CN111661192B (en) * | 2020-07-13 | 2021-09-17 | 上海工程技术大学 | Permanent-magnet adsorption wheel-leg composite wall-climbing robot |
| CN112519911A (en) * | 2020-12-04 | 2021-03-19 | 上海海事大学 | Electromagnetism and permanent magnetism compound adsorption equipment |
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| CN108945142A (en) | 2018-12-07 |
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