CN110052631A - A kind of rotation clamp system - Google Patents
A kind of rotation clamp system Download PDFInfo
- Publication number
- CN110052631A CN110052631A CN201910422861.1A CN201910422861A CN110052631A CN 110052631 A CN110052631 A CN 110052631A CN 201910422861 A CN201910422861 A CN 201910422861A CN 110052631 A CN110052631 A CN 110052631A
- Authority
- CN
- China
- Prior art keywords
- revolving body
- venthole
- fixing shell
- piston
- plunger shaft
- 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.)
- Pending
Links
- 230000000712 assembly Effects 0.000 claims abstract description 19
- 238000000429 assembly Methods 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 238000009423 ventilation Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000004804 winding Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
- B24B41/061—Work supports, e.g. adjustable steadies axially supporting turning workpieces, e.g. magnetically, pneumatically
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
A kind of rotation clamp system.It is characterized by: being formed with first annular channel, the second circular passage between fixing shell and revolving body；The first venthole for leading to first annular channel and the second venthole for leading to the second circular passage are formed in fixing shell；It is formed with connection plunger shaft on revolving body with the third venthole in first annular channel and is connected to the 4th venthole of plunger shaft Yu the second circular passage；Piston is arranged in plunger shaft, and piston rod stretches out revolving body and is linked with clamp assemblies, can drive clamp assemblies clamp or release product.It the advantage is that and pneumatic pinch and revolution driving be combined into one formula structure, volume is smaller, and it is easy for installation, and be advantageously implemented automation and clamp rotary work, prevent to rotate tracheae winding problem, meets the automation process requirements of manufacturing.
Description
Technical field
The present invention relates to a kind of manufacture manufacture fields, are specifically related to a kind of rotation clamp system.
Background technique
With the continuous development of robot automation, conventionally manufactured industry is constantly improved, and manufactures processing industry to meet
Automation, especially polishing industry, traditional common chuck manually locks, and hand chuck can not with meet robot
Automate feeding condition.
Summary of the invention
In order to overcome the shortcomings of that background technique, the present invention provide a kind of rotation clamp system.
The technical solution adopted in the present invention: a kind of rotation clamp system, including fixing shell, revolving body, the revolution
Body is rotatably installed in fixing shell；
It further include piston, piston rod, clamp assemblies；The clamp assemblies are connect with revolving body, can be with revolving body synchronous rotary；Institute
It states and is formed with plunger shaft in revolving body, the piston is arranged in plunger shaft, and seals sliding cooperation with piston cavity wall, described
Piston can be along revolving body axial direction toward polyslip；The piston rod and the concentric setting of revolving body, described piston rod one end connect
It takes over a job plug, the other end stretches out revolving body and is linked with clamp assemblies, can drive clamp assemblies clamp or release product；
First annular channel, the second circular passage are formed between the fixing shell and revolving body；Shape in the fixing shell
At the second venthole for having the first venthole for leading to first annular channel and leading to the second circular passage；On the revolving body
It is formed with connection plunger shaft and the third venthole in first annular channel and is connected to the 4th of plunger shaft and the second circular passage
Venthole, and the connectivity part of the third venthole, the 4th venthole and plunger shaft is located at the two sides of piston.
The clamp assemblies include mounting base, clamping jaw, and the mounting base is fixedly mounted on revolving body, in the mounting base
The sliding slot for being uniformly distributed and being arranged radially equipped with several circumferential directions, the clamping jaw are arranged in sliding slot, and slide and cooperate with sliding slot；Institute
The one end for stating clamping jaw is equipped with inclined-plane T-slot, and the end of the piston rod is equipped with inclined-plane T-type convex block compatible with inclined-plane T-slot.
At least formed with 3 layers of sealing structure, the first annular channel and second between the fixing shell and revolving body
Circular passage is separately positioned between adjacent two layers sealing structure.
The revolving body includes main body and the first end cover and second end cover for being fixed on main body both ends；The fixing shell
Inner wall is formed with annular convex platform close to the position at middle part, if being additionally provided with dry bearing between the main body and fixing shell, the axis
It holds and is separately positioned on annular convex platform both ends, and cooperate with first end cover, second end cover axial limiting.
The first end cover is equipped with the positive stop lug boss for protruding into plunger shaft, and limit pad is equipped between the piston and piston rod
Block.
The first sealing ring and the second sealing ring are equipped between the annular convex platform and main body；The first annular channel and the
One venthole is arranged between the first sealing ring and the second sealing ring.
The first end cover is equipped with annular groove, and the fixing shell end is inserted into annular groove, the fixation
Third sealing ring and the 4th sealing ring are respectively equipped between the Internal and external cycle of shell and the two sidewalls of annular groove.
It further include bracket, decelerating motor, the fixing shell, decelerating motor are fixedly mounted on bracket, and the deceleration
Motor driven connects revolving body.
The bracket includes pedestal, upper cover, and the fixing shell is folded between pedestal and upper cover, and the upper lid is equipped with
Respectively with the stomata of the first venthole, the second venthole.
The beneficial effects of the present invention are: using above scheme, pneumatic pinch and revolution driving are combined into one formula structure,
Volume is smaller, easy for installation, and is advantageously implemented automation and clamps rotary work, meets the automation processing need of manufacturing
It asks.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the embodiment of the present invention rotates clamp system belt supporting frame and decelerating motor.
Fig. 2 is the structural schematic diagram that the embodiment of the present invention rotates clamp system.
Fig. 3 is the cross-sectional view that the embodiment of the present invention rotates clamp system.
Fig. 4 is the enlarged diagram in Fig. 3 at A.
Fig. 5 is the structural schematic diagram of bracket of the embodiment of the present invention.
Fig. 6 is the structural schematic diagram of fixing shell of the embodiment of the present invention.
Fig. 7 is the structural schematic diagram of clamp assemblies of the embodiment of the present invention.
Fig. 8 is the structural schematic diagram of mounting base of the embodiment of the present invention.
Fig. 9 is the structural schematic diagram of piston rod of the embodiment of the present invention.
Figure 10 is the structural schematic diagram of clamping jaw of the embodiment of the present invention.
Specific embodiment
Embodiments of the present invention is further illustrated with reference to the accompanying drawing:
As shown, a kind of rotation clamp system, including decelerating motor 1, bracket 2, fixing shell 3, revolving body, piston 7, piston
Bar 8, clamp assemblies 9.
The decelerating motor 1 include pedestal 21, upper cover 22, motor cabinet 23, the upper cover 22 be equipped with respectively with subsequent institute
The corresponding stomata 24 of the first venthole, the second venthole stated.
The decelerating motor 1 is fixedly mounted on motor cabinet 23.
The fixing shell 3 is folded between pedestal 21 and upper cover 22, is fixedly mounted on bracket 2.
The revolving body is rotatably installed in fixing shell 3, and is connect with the output end of decelerating motor 1, described to subtract
Speed motor 1 is able to drive revolving body and does spinning movement.
The other end of the revolving body with respect to decelerating motor 1 is arranged in the clamp assemblies 9, connect with revolving body, for clamping
Product, with revolving body synchronous rotary.
First annular channel 31, the second circular passage 32, the fixation are formed between the fixing shell 3 and revolving body
The second ventilation for being formed with the first venthole 33 for leading to first annular channel 31 on shell 3 and leading to the second circular passage 32
Hole 34；It is formed with plunger shaft 41 in the revolving body, connection plunger shaft 41 and first annular channel are formed on the revolving body
31 third venthole 42 and the 4th venthole 43 for being connected to plunger shaft 41 and the second circular passage 32, and the third is ventilated
Hole 42, the 4th venthole 43 are located at the both ends of plunger shaft 41 with the connectivity part of plunger shaft 41.
The piston 7 is arranged in plunger shaft 41, and seals sliding cooperation with 41 inner wall of plunger shaft, and the piston 7 can edge
Revolving body axial direction is toward polyslip；The piston rod 8 and the concentric setting of revolving body, described 8 one end of piston rod connect piston
7, the other end stretches out revolving body and is linked with clamp assemblies 9, can drive 9 clamp or release product of clamp assemblies.
Wherein, the clamp assemblies 9 include mounting base 91, clamping jaw 92, and the mounting base 91 is fixedly mounted on revolving body,
The mounting base 91 is equipped with the sliding slot 911 that 3 circumferential directions are uniformly distributed and are arranged radially, and the clamping jaw 92 is arranged in sliding slot 911
It is interior, and slide and cooperate with sliding slot 911；One end of the clamping jaw 92 is equipped with inclined-plane T-slot 921, and the end of the piston rod 8 is equipped with
Inclined-plane T-type convex block 81 compatible with inclined-plane T-slot 921.
Certainly, the quantity of the sliding slot 911 and clamping jaw 92, which is not limited to, 3, is also possible to 2,4 and differs, the cunning
Slot 911 is also possible to T-slot, and the correspondence of clamping jaw 92 is T-shaped, is easily installed and position restriction.
When above-mentioned rotation clamp system works, it is connected respectively with two groups of external gas sources by stomata 24, when the second ventilation
When hole 34 is ventilated, gas passes sequentially through the second venthole 34, the second circular passage 32, the 4th venthole 43 enter plunger shaft 41
Interior, to push piston 7, one end is mobile thereto, and piston 7 drives piston rod 8 to act, and piston rod 8 passes through its inclined-plane T-type convex block
81 cooperate with the inclined-plane of the inclined-plane T-slot 921 of clamping jaw 92, realize that each clamping jaw 92 is protruding simultaneously, realize the folder to product
Tightly.
After clamping product, decelerating motor 1 starts, and revolving body rotation, revolving body is driven to drive product rotation by clamp assemblies 9
Turn, realizes the revolution movement of product.
When the ventilation of the first venthole 33, gas passes sequentially through the first venthole 33, first annular channel 31, third ventilation
Hole 42 enters in plunger shaft 41, to push piston 7 mobile to the other end, realizes that piston 7 drives piston rod 8 to act, piston
Bar 8 is cooperated by the inclined-plane of the inclined-plane T-slot 921 of its inclined-plane T-type convex block 81 and clamping jaw 92, realizes each clamping jaw 92 simultaneously inwardly
It withdraws, realizes the release to product.
Pneumatic pinch and revolution driving are combined into one formula structure by above-mentioned rotation clamp system, and volume is smaller, installation side
Just, and it is advantageously implemented automation clamping rotary work, meets the automation process requirements of manufacturing.
Further, the revolving body includes main body 4 and the first end cover 5 and second end cover for being fixed on 4 both ends of main body
6；3 inner wall of fixing shell is formed with annular convex platform 35 close to the position at middle part, between the main body 4 and fixing shell 3 also
If the bearing 10 is separately positioned on 35 both ends of annular convex platform, and axial with first end cover 5, second end cover 6 equipped with dry bearing 10
Limit cooperation.
Revolving body is mounted in fixing shell 3 by the structure of both sides end cap and bearing, structure is simple, and it is easy for installation,
And setting bearing greatly reduces the frictional force in revolving body rotary course.
Bearing is generally ball bearing, can better adapt to its revolution at a high speed.
Wherein, the first end cover 5 is additionally provided with the positive stop lug boss 51 for protruding into plunger shaft 41, the piston 7 and piston rod 8 it
Between be equipped with limiting cushion block 11, two ends of piston 7 and plunger shaft 41 are made always by positive stop lug boss 51 and limiting cushion block 11
It is able to maintain certain gap, third venthole 42 and the 4th venthole 43 are identical as two gaps respectively, guarantee third ventilation
Hole 42 is unobstructed with the 4th venthole 43, it is ensured that the operation is stable.
Further, described first annular at least formed with 4 layers of sealing structure between the fixing shell 3 and revolving body
Channel 31 and the second circular passage 32 are separately positioned between adjacent two layers sealing structure, by sealing structure, guarantee leakproofness
Can, guarantee the stability of pneumatic operation, it is ensured that it is clamped and release movement.
Wherein, the first sealing ring 12 and the second sealing ring 13 are equipped between the annular convex platform 35 and main body 4；Described first
Circular passage 31 and the first venthole 33 are arranged between the first sealing ring 12 and the second sealing ring 13.
The first end cover 5 is equipped with annular groove, and 3 end of fixing shell is inserted into annular groove, described solid
Determine to be respectively equipped with third sealing ring 14 and the 4th sealing ring 15 between the Internal and external cycle of shell 3 and the two sidewalls of annular groove, it is described
Second circular passage 32 and the second venthole 34 are arranged between the second sealing ring 13 and third sealing ring 14.
It is equipped with stop collar 16 between the first end cover 5 and bearing 10, is formed between the stop collar 16 and fixing shell 3
Second circular passage 32 is formed with third circular passage, the 4th venthole 43 and between the stop collar 16 and main body 4
Three circular passages are corresponding, and there are also the second circular passages of connection 32 on the stop collar 16 leads to the 5th of third circular passage
Hole.
The stop collar 16 is sliding bearing, and the rotational positioning being further ensured that between its end face is further ensured that its work
The stability of work.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than.
Every technical staff's notice: of the invention although the present invention is described according to above-mentioned specific embodiment
Invention thought be not limited in the invention, any repacking with inventive concept will all be included in this patent protection of the patent right
In range.
Claims (9)
1. a kind of rotation clamp system, including fixing shell (3), revolving body, the revolving body is rotatably installed in fixed outer
In shell (3)；
It is characterized by also including piston (7), piston rod (8), clamp assemblies (9)；
The clamp assemblies (9) connect with revolving body, can be with revolving body synchronous rotary；
Be formed in the revolving body plunger shaft (41), the piston (7) setting in plunger shaft (41), and with plunger shaft (41)
Inner wall sealing sliding cooperation, the piston (7) can be along revolving body axial directions toward polyslip；
The piston rod (8) and the concentric setting of revolving body, described piston rod (8) one end connect piston (7), and the other end stretches out back
Swivel is linked with clamp assemblies (9), can drive clamp assemblies (9) clamp or release product；
First annular channel (31), the second circular passage (32) are formed between the fixing shell (3) and revolving body；
It is formed with the first venthole (33) for leading to first annular channel (31) on the fixing shell (3) and leads to the second ring
Second venthole (34) in shape channel (32)；
It is formed with the third venthole (42) of connection plunger shaft (41) and first annular channel (31) on the revolving body and connects
4th venthole (43) of logical plunger shaft (41) and the second circular passage (32), and the third venthole (42), the 4th ventilation
The connectivity part of hole (43) and plunger shaft (41) is located at the two sides of piston (4).
2. rotation clamp system according to claim 1, it is characterised in that: the clamp assemblies (9) include mounting base
(91), clamping jaw (92), the mounting base (91) are fixedly mounted on revolving body, and it is equal that the mounting base (91) is equipped with several circumferential directions
Even distribution and the sliding slot (911) being arranged radially, clamping jaw (92) setting are matched in sliding slot (911), and with sliding slot (911) sliding
It closes；
One end of the clamping jaw (92) is equipped with inclined-plane T-slot (921), and the end of the piston rod (8) is equipped with and inclined-plane T-slot
(921) compatible inclined-plane T-type convex block (81).
3. rotation clamp system according to claim 1 or 2, it is characterised in that: the fixing shell (3) and revolving body it
Between at least formed with 3 layers of sealing structure, the first annular channel (31) is separately positioned on adjacent with the second circular passage (32)
Between two layers of sealing structure.
4. rotation clamp system according to claim 1 or 2, it is characterised in that: the revolving body include main body (4) and
It is fixed on first end cover (5) and second end cover (6) at main body (4) both ends；Position of fixing shell (3) inner wall close to middle part
Be formed with annular convex platform (35), the main body (4) and fixing shell (3) if between be additionally provided with dry bearing (10), the bearing
(10) annular convex platform (35) both ends are separately positioned on, and are cooperated with first end cover (5), second end cover (6) axial limiting.
5. rotation clamp system according to claim 4, it is characterised in that: the first end cover (5) is equipped with and protrudes into piston
The positive stop lug boss (51) of chamber (41) is equipped with limiting cushion block (11) between the piston (7) and piston rod (8).
6. rotation clamp system according to claim 4, it is characterised in that: the annular convex platform (35) and main body (4) it
Between be equipped with the first sealing ring (12) and the second sealing ring (13)；
The first annular channel (31) and the first venthole (33) are arranged in the first sealing ring (12) and the second sealing ring (13)
Between.
7. rotation clamp system according to claim 6, it is characterised in that: it is recessed that the first end cover (5) is equipped with annular
Slot, fixing shell (3) end are inserted into annular groove, and the two of the Internal and external cycle of the fixing shell (3) and annular groove
Third sealing ring (14) and the 4th sealing ring (15) are respectively equipped between side wall.
8. rotation clamp system according to claim 1, it is characterised in that: further include bracket (2), decelerating motor (1), institute
State fixing shell (3), decelerating motor (1) is fixedly mounted on bracket (2), and the decelerating motor (1) be drivingly connected revolving body.
9. rotation clamp system according to claim 8, it is characterised in that: the bracket (2) includes pedestal (21), upper cover
(22), the fixing shell (3) is folded between pedestal (21) and upper cover (22), and the upper cover (22) is equipped with respectively with first
The stomata (24) of venthole (33), the second venthole (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910422861.1A CN110052631A (en) | 2019-05-21 | 2019-05-21 | A kind of rotation clamp system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910422861.1A CN110052631A (en) | 2019-05-21 | 2019-05-21 | A kind of rotation clamp system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110052631A true CN110052631A (en) | 2019-07-26 |
Family
ID=67323877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910422861.1A Pending CN110052631A (en) | 2019-05-21 | 2019-05-21 | A kind of rotation clamp system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110052631A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112466805A (en) * | 2020-11-13 | 2021-03-09 | 北京北方华创微电子装备有限公司 | Semiconductor cleaning equipment and bearing device thereof |
| CN113108034A (en) * | 2021-04-27 | 2021-07-13 | 哈尔滨工业大学 | Small-size solid of revolution rotation release |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10242757A1 (en) * | 2002-09-13 | 2004-03-18 | Sobatec Gmbh | Pneumatic clamping tool for use in clamping samples, e.g. test bars during tensile testing, said tool having a clamping head with a piston arrangement with two piston rods that operate sample clamping elements to form a force-fit |
| CN204171479U (en) * | 2014-08-27 | 2015-02-25 | 陕西秦川机械发展股份有限公司 | Compact ring shaped axial hi-Fix clamp system |
| CN206153603U (en) * | 2016-08-22 | 2017-05-10 | 昆山允可精密工业技术有限公司 | Utilize chuck of pneumatic rotation axis driving control |
| CN209953831U (en) * | 2019-05-21 | 2020-01-17 | 嘉兴协创自动化科技有限公司 | Rotary clamping mechanism |
-
2019
- 2019-05-21 CN CN201910422861.1A patent/CN110052631A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10242757A1 (en) * | 2002-09-13 | 2004-03-18 | Sobatec Gmbh | Pneumatic clamping tool for use in clamping samples, e.g. test bars during tensile testing, said tool having a clamping head with a piston arrangement with two piston rods that operate sample clamping elements to form a force-fit |
| CN204171479U (en) * | 2014-08-27 | 2015-02-25 | 陕西秦川机械发展股份有限公司 | Compact ring shaped axial hi-Fix clamp system |
| CN206153603U (en) * | 2016-08-22 | 2017-05-10 | 昆山允可精密工业技术有限公司 | Utilize chuck of pneumatic rotation axis driving control |
| CN209953831U (en) * | 2019-05-21 | 2020-01-17 | 嘉兴协创自动化科技有限公司 | Rotary clamping mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112466805A (en) * | 2020-11-13 | 2021-03-09 | 北京北方华创微电子装备有限公司 | Semiconductor cleaning equipment and bearing device thereof |
| CN112466805B (en) * | 2020-11-13 | 2024-05-17 | 北京北方华创微电子装备有限公司 | Semiconductor cleaning equipment and bearing device thereof |
| CN113108034A (en) * | 2021-04-27 | 2021-07-13 | 哈尔滨工业大学 | Small-size solid of revolution rotation release |
| CN113108034B (en) * | 2021-04-27 | 2022-06-21 | 哈尔滨工业大学 | Small-size solid of revolution rotation release |
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