CN112222902B - Clamp for clamping complex curved surface part - Google Patents
Clamp for clamping complex curved surface part Download PDFInfo
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- CN112222902B CN112222902B CN202011067238.8A CN202011067238A CN112222902B CN 112222902 B CN112222902 B CN 112222902B CN 202011067238 A CN202011067238 A CN 202011067238A CN 112222902 B CN112222902 B CN 112222902B
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- clamping
- intermediate layer
- main frame
- piston rod
- top cover
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
- B23Q3/082—Work-clamping means other than mechanically-actuated hydraulically actuated
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- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of clamps and discloses a clamp for clamping a complex curved surface part. The clamp pushes the piston rod through hydraulic oil, the piston rod is attached to the curved surface parts in a discrete form, parts with different curved surface types can be clamped, and the curved surface parts are not easy to damage. The clamp provided by the invention has four clamping positions, and can be used for simultaneously clamping four curved surface parts of the same type or four curved surface parts of different types. The clamp can be clamped on a general machine tool by clamping the main shaft. The clamp of the invention can clamp curved surface parts and is also suitable for common plane parts. The invention provides the clamping force through hydraulic pressure, and has the advantages of large clamping force, rapid clamping and disassembly, capability of ensuring constant clamping force by providing constant hydraulic pressure when the workpiece is repeatedly clamped, and the like. In addition, the clamp disclosed by the invention has the advantages of simple structure, strong universality, convenience in operation, quick action and the like.
Description
Technical Field
The invention belongs to the technical field of clamping tools, and particularly relates to a clamp for clamping a complex curved surface part.
Background
The machining, manufacturing and reprocessing of the complex curved surface part not only puts higher requirements on machining technology and machining equipment, but also puts new requirements on a clamp, and the clamp is required to have the characteristics of stable clamping, quick dismounting, strong universality and the like. At present, a common universal fixture is not easy to clamp a complex curved surface part, and a special fixture only can be suitable for a specific part and has no universality. Therefore, the clamp which can clamp the complex curved surface part and the common part has important significance.
Disclosure of Invention
The invention aims to solve the defects in the prior art, such as: the existing clamp is easy to damage workpieces when clamping curved surface workpieces, the clamping surface of the clamp is not tightly attached to the parts, the clamping is unstable, a plurality of workpieces cannot be clamped simultaneously, and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a clamp for clamping a complex curved surface part comprises a clamping part 1, an external oil supply pipeline 2 and a clamping main shaft 3.
The clamping part 1 comprises a nut 101, a top cover 102, a piston rod 103, a first middle layer 104, a second middle layer 105, a main frame 106 and a screw 107. The main frame 106 is of a cylindrical structure, a square hole is formed in one end face along a central axis and used for mounting the top cover 102, the first intermediate layer 104 and the second intermediate layer 105, and square holes are further formed in the center positions of four sides of the square hole in the end face direction and used as clamping positions 113 for clamping curved surface parts; the surface where the bottom of the square hole is located is called the surface A of the main frame 106, the end surface of the other side of the main frame 106 is called the surface B of the main frame 106, and the center of the main frame 106 is provided with a circular through hole which is used as an oil inlet a 109; the top cover 102, the first intermediate layer 104 and the second intermediate layer 105 are all of square plate-shaped structures, and the external dimensions of the square plate-shaped structures are the same as the square holes in the center of the main frame 106; the first middle layer 104 and the second middle layer 105 have the same structure, and a square through hole is formed in the center; the center of the end surface of the inner side of the top cover 102 is also provided with a square opening; the four corners of the square holes of the top cover 102, the first intermediate layer 104, the second intermediate layer 105 and the main frame 106 are respectively provided with a plurality of penetrating bolt mounting holes a110, the positions of the bolt mounting holes are mutually corresponding, the top cover 102, the first intermediate layer 104 and the second intermediate layer 105 are fixed in the square holes of the main frame 106 through a screw 107 and a nut 101, and a space formed between the central square through holes of the first intermediate layer 104 and the second intermediate layer 105 and the inner side end surface of the top cover 102 and the surface A of the main frame 106 is called as a hydraulic pressure cavity 115;
the top cover 102, the first intermediate layer 104 and the second intermediate layer 105 are also divided into two end faces a and B; the surface B of the top cover 102 is matched with the surface A of the first middle layer 104, the surface B of the first middle layer 104 is matched with the surface A of the second middle layer 105, the surface B of the second middle layer 105 is matched with the surface A of the main frame 106;
the structures of the first middle layer 104, the second middle layer 105 and the surface A of the main frame 106 are completely the same, oil return ports a108 penetrating the surface B are arranged at four corners of the main frame, a circle of oil guide groove 111 is arranged to communicate the four oil return ports a108, a plurality of semi-cylindrical piston rod installation grooves 112 are symmetrically arranged around the inner side of the oil guide groove 111, the piston rod installation grooves 112 are perpendicular to the edge of the end surface, and no retaining shoulder is arranged at two ends of the piston rod installation groove 112; the structures of the surfaces B of the first middle layer 104 and the second middle layer 105 are completely the same, and the difference from the structure of the surface A of the first middle layer 104 is that two ends of the piston rod installation groove 112 are provided with piston rod blocking shoulders 116; the B-side of the top cover 102 differs from the B-side of the first intermediate layer 104 in that the oil return opening a108 on the B-side of the top cover 102 does not penetrate through to the a-side of the top cover 102; after the two matched surfaces are closed, the two opposite piston rod installation grooves 112 form a complete cylindrical space for installing the piston rod 103, the piston rod 103 moves back and forth along the piston rod installation grooves 112, and the stop shoulder limits the piston rod 103.
The peripheral oil supply pipeline 2 is of a symmetrical U-shaped structure and comprises a short oil pipe 201, a short tee 202, a long tee 203, a long oil pipe 204 and a two-way 205. The left end and the right end of the long tee 203 are respectively connected with one end of the short tee 202 through the short oil pipe 201, and the other end of the short tee 202 is connected with the two-way 205 through the long oil pipe 204. The two short tee joints 202 and the two joints 205 are respectively corresponding to the four oil return ports a108 of the main frame 106 and are communicated with each other; the long tee 203 corresponds to the position of the long tee mounting hole 302 for clamping the main shaft 3 and is communicated with each other.
The clamping main shaft 3 is of a three-section cylindrical structure, the middle cylinder is of a cylindrical structure, an oil return opening b303 and an oil inlet b304 are formed in the middle cylinder, corresponding pipelines are arranged inside the clamping main shaft, so that the oil return opening b303 is communicated with an oil return opening a108, and the oil inlet b304 is communicated with an oil inlet a 109; the cylinder on the left side and the cylinder on the right side are clamped in a chuck of the universal machine tool, the cylinder on the left side is provided with a long tee joint mounting hole 302 for mounting a long tee joint 203, so that an external oil supply pipeline 2 surrounds the clamping main shaft 3, and the cylinder on the left side is internally provided with corresponding pipelines so that the long tee joint mounting hole 302 is communicated with the pipeline of an oil return opening b 303; the outer end of the left cylinder is provided with a flange plate, the flange plate is provided with a plurality of bolt mounting holes B301, the bolt mounting holes B301 and the bolt mounting holes a110 on the main frame 106 are fixed into a whole with the B surface of the main frame 106 through the screw 107.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can clamp different curved surface parts, the piston rod can be attached to the curved surface in a discrete form according to the curved surface structure of the part during clamping, and the parts with different curved surface types can be clamped, so that the universality is high, and the parts are not easy to damage.
2. The invention has four clamping positions, and can simultaneously clamp at most four curved surface parts of the same type or four curved surface parts of different types. It is also possible to use only one or two or three of the clamping positions. The clamp can be clamped on a general machine tool by clamping the main shaft. Besides the capability of clamping curved surface parts, the clamp is also suitable for clamping common plane parts.
3. The invention provides clamping force through hydraulic pressure, and has the advantages of large clamping force, rapid clamping and disassembly, capability of ensuring constant clamping force by providing constant hydraulic pressure when a workpiece is repeatedly clamped, and the like.
4. The invention has the advantages of simple structure, convenient operation, quick action and the like.
Drawings
FIG. 1(a) is a schematic three-dimensional assembly of the apparatus of the present invention;
FIG. 1(b) is a three-dimensional general assembly right side view of the apparatus of the present invention;
FIG. 2 is an exploded view of the clamp installation;
FIG. 3 is a schematic view of the installation of peripheral oil supply lines;
FIG. 4 is a schematic view of a clamping spindle configuration;
FIG. 5 is a schematic view of the top cover construction;
FIG. 6 is a schematic view of a type A mating surface configuration;
FIG. 7 is a schematic view of a type B mating surface configuration;
FIG. 8 is a cross-sectional view of a first interlayer structure;
FIG. 9 is a top view of the main frame;
FIG. 10 is a cross-sectional view of the main frame structure;
FIG. 11 is an axial cross-sectional view of the clamping spindle;
FIG. 12 is a schematic view of a piston rod construction;
FIG. 13 is a piston rod axial cross-sectional view;
FIG. 14 is a schematic view of a short tee configuration;
FIG. 15 is a schematic view of a two-way configuration;
FIG. 16 is a schematic view of a long tee structure;
FIG. 17 is a schematic view of the fixture for clamping curved parts;
fig. 18 is a partially schematic view showing a case where a curved surface part is sandwiched.
In the figure: 1, a clamping part; 2, an oil supply pipeline is arranged outside; 3 clamping the main shaft; 101 a nut; 102 a top cover; 103 a piston rod; 104 a first intermediate layer; 105 a second intermediate layer; 106, a main frame; 107 screw rods; 108 oil return port a; 109 oil inlet a; 110 bolt mounting holes a; 111 oil guide grooves; 112 a piston rod mounting groove; 113 clamping positions; 114 a reference plane; 115 a hydraulic chamber; 116 a piston rod shoulder; 201 short oil pipe; 202 short tee joint; 203 long tee joint; 204 long oil pipe; 205 a two-way; 301 bolt mounting holes b; 302 long tee mounting holes; 303 oil return port b; 304 oil inlet b.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
A clamp for clamping a complex curved surface part comprises a clamping part 1, an external oil supply pipeline 2 and a clamping main shaft 3, as shown in figure 1 (a). The clamping portion 1 includes a nut 101, a top cover 102, a piston rod 103, a first intermediate layer 104, a second intermediate layer 105, a main frame 106, and a screw 107, as shown in fig. 2. The peripheral oil supply lines include a short oil pipe 201, a short tee 202, a long tee 203, a long oil pipe 204 and a two-way 205, as shown in fig. 3. The mating surfaces between the main frame 106 and the second intermediate layer 105, between the second intermediate layer 105 and the first intermediate layer 104, and between the first intermediate layer 104 and the top cover 102 are a-type mating surface and B-type mating surface, as shown in fig. 2. The A-type matching surface is provided with an oil guide groove 111 and a penetrating oil return port a108, and the oil guide groove 111 is connected with the oil return port a 108; a semicircular piston rod installation groove 112 is further provided, and piston rod retaining shoulders are not arranged at two ends of the semicircular piston rod installation groove 112, as shown in fig. 6. The B-type matching surface is provided with an oil guide groove 111 and a penetrating oil return port a108, and the oil guide groove 111 is connected with the oil return port a 108; a semicircular piston rod mounting groove 112 is further provided, and piston rod shoulders 116 are provided at both ends of the semicircular piston rod mounting groove 112, as shown in fig. 7, and a cross-sectional view thereof is shown in fig. 8. After the semicircular piston rod mounting grooves 112 between the surface a of the main frame 106 and the surface B of the second intermediate layer 105, the surface a of the second intermediate layer 105 and the surface B of the first intermediate layer 104, and the surface a of the first intermediate layer 104 and the surface B of the top cover 102 are fastened and attached to each other, the two opposite piston rod mounting grooves 112 form a complete cylindrical space, and the complete cylindrical space is in clearance fit with the piston rod 103, as shown in fig. 1(a) and 1 (B). The second intermediate layer 105 has the same structural dimensions as the first intermediate layer 104, and the second intermediate layer 105, the first intermediate layer 104, and the top cover 102 are all inscribed in the mainframe 106 after installation. The top cover 102 is constructed as shown in fig. 5. A cross-sectional view of the main frame 106 is shown in fig. 10. The structure of the piston rod 103 is shown in fig. 12 and 13.
When the clamping part 1 is installed, the piston rod 103 is firstly placed into the semicircular piston rod installation grooves 112 of the surface A of the main frame 106, the surface A of the second intermediate layer 105 and the surface A of the first intermediate layer 104, and the end A of the piston rod 103 abuts against the piston rod shoulder close to the hydraulic cavity 115 side. Then, the contact outer surfaces of the matching surfaces of the main frame 106, the second intermediate layer 105 and the first intermediate layer 104 are coated with the sealant, and the semicircular piston rod mounting groove 112 and the oil guide groove 111 are not coated with the sealant. Finally, the second intermediate layer 105 inserted into the piston rod 103, the first intermediate layer 104 inserted into the piston rod 103, and the top cover 102 are sequentially fitted into the main frame 106, and the main frame 106 is mounted on the clamp main shaft 3 by fitting the screw 107 and the nut 101 to the bolt mounting hole a110 and the bolt mounting hole b301, and is fastened, as shown in fig. 1(a) and 1 (b). When installing the external oil supply line 2, the long tee 203 is first installed in the long tee installation hole 302 of the clamping main shaft 3 by bolt connection, then the short tee 202 and the two-way 205 are respectively installed in the oil return port a108 of the B surface of the main frame 106 by bolt connection, finally the long tee 203 and the short tee 202 are connected by the short oil pipe 201 through a universal joint, and the short tee 202 and the two-way 205 are connected by the long oil pipe 204 through a universal joint, as shown in fig. 3. FIG. 14 shows the structure of a short tee 202 as shown in FIG. 14, a two-way 205 as shown in FIG. 15, and a long tee 203 as shown in FIG. 16.
The structure of the holding spindle 3 is shown in fig. 4 and 11. During clamping, hydraulic oil is supplied from an oil inlet B304 of the clamping main shaft 3 and enters a hydraulic cavity 115 of the main frame 106 through an oil inlet a109 of the main frame 106, and further, the hydraulic oil simultaneously pushes the A ends of the piston rods 103 between layers to move outwards until the B ends of the piston rods 103 are abutted by the piston rod retaining shoulders on the side of the oil guide groove 111, and at the moment, the piston rods 103 are positioned at the maximum stroke. When the main frame 106 is unloaded, hydraulic oil is supplied from the oil return port b303 of the clamping main shaft 3, the hydraulic oil is supplied to the oil return port a108 of the main frame 106 through the oil return port b303 of the clamping main shaft 3, the long tee joint 203, the short oil pipe 201 and the short tee joint 202 in sequence, and part of the hydraulic oil is divided to the long oil pipe 204 at the short tee joint 202 and is supplied to the oil return port a108 of the main frame 106 through the two-way 205. The hydraulic oil further passes through the oil return port a108 of the second intermediate layer 105 and the first intermediate layer 104 in this order and the oil guide groove 111 of the main frame 106, the second intermediate layer 105, and the first intermediate layer 104. Further hydraulic oil will simultaneously push the B end of the piston rod 103 between the layers to move it inward until the a end of the piston rod 103 is held against by the piston rod shoulder near the side of the hydraulic chamber 115, at which time the piston rod 103 is retracted.
When clamping a curved surface part, the B end of the clamping main shaft 3 is clamped in a chuck of a general machine tool, the oil inlet B304 and the oil return port B303 are connected with a hydraulic source, the curved surface part is placed in the clamping position 113 and is positioned by the reference surface 114 of the main frame 106, and the positions of the clamping position 113 and the reference surface 114 are shown in FIG. 9. In the clamping action, the unloaded piston rod 103 is preferentially moved to the maximum stroke, which plays a role in auxiliary positioning. The C-end of the loaded piston rod 103 abuts against the curved part to further tighten the curved part as shown in fig. 18, at which time the piston rod 103 simultaneously performs the positioning and clamping functions as shown in fig. 17. During the unloading action, the piston rod 103 is retracted in turn and the part can be removed from the clamping position.
The number and the structural size of the piston rods 103 and the number and the array layout mode of the corresponding semicircular piston rod mounting grooves 112 can be designed according to different use conditions and types of clamped curved surface parts.
Claims (1)
1. The clamp for clamping the complex curved surface part is characterized by comprising a clamping part (1), an external oil supply pipeline (2) and a clamping main shaft (3);
the clamping part (1) comprises a nut (101), a top cover (102), a piston rod (103), a first intermediate layer (104), a second intermediate layer (105), a main frame (106) and a screw (107); the main frame (106) is of a cylindrical structure, a square hole is formed in one end face along a middle axis and used for mounting the top cover (102), the first middle layer (104) and the second middle layer (105), and square holes serving as clamping positions (113) are formed in the center positions of four sides of the square hole in the end face direction and used for clamping curved surface parts; the surface where the bottom of the square hole is located is called the surface A of the main frame (106), the end surface of the other side of the main frame (106) is called the surface B of the main frame (106), and the center of the main frame (106) is provided with a circular through hole which is used as an oil inlet a (109); the top cover (102), the first middle layer (104) and the second middle layer (105) are all of square plate-shaped structures, and the external dimensions of the square plate-shaped structures are the same as those of a square hole in the center of the main frame (106); the first intermediate layer (104) and the second intermediate layer (105) have the same structure, and a square through hole is formed in the center; the center of the inner side end surface of the top cover (102) is also provided with a square opening; the four corners of the square hole of the top cover (102), the first intermediate layer (104), the second intermediate layer (105) and the main frame (106) are respectively provided with a plurality of through bolt mounting holes a (110), the positions of the bolt mounting holes correspond to each other, the top cover (102), the first intermediate layer (104) and the second intermediate layer (105) are fixed in the square hole of the main frame (106) through a screw (107) and a nut (101), and a space formed between the central square through hole of the first intermediate layer (104) and the central square through hole of the second intermediate layer (105) and the inner side end surface of the top cover (102) and the surface A of the main frame (106) is called as a hydraulic pressure cavity (115);
the top cover (102), the first intermediate layer (104) and the second intermediate layer (105) are also divided into two end faces A and B; the surface B of the top cover (102) is matched with the surface A of the first intermediate layer (104), the surface B of the first intermediate layer (104) is matched with the surface A of the second intermediate layer (105), the surface B of the second intermediate layer (105) is matched with the surface A of the main frame (106), and every two surfaces are mutually matched;
the surface A of the first middle layer (104), the surface A of the second middle layer (105) and the surface A of the main frame (106) are completely the same in structure, oil return ports a (108) penetrating through the surface B are arranged at four corners of the main frame, a circle of oil guide groove (111) is arranged to communicate the four oil return ports a (108), a plurality of semi-cylindrical piston rod installation grooves (112) are symmetrically arranged on the periphery of the inner side of the oil guide groove (111), the piston rod installation grooves (112) are perpendicular to the edge of the end face, and no retaining shoulder is arranged at two ends of each piston rod installation groove (112); the structures of the surface B of the first middle layer (104) and the surface B of the second middle layer (105) are completely the same, and the difference from the structure of the surface A of the first middle layer (104) is that piston rod blocking shoulders (116) are arranged at two ends of a piston rod installation groove (112); the surface B of the top cover (102) is different from the surface B of the first intermediate layer (104) in that an oil return opening a (108) on the surface B of the top cover (102) does not penetrate through the surface A of the top cover (102); after the two matched surfaces are closed, the two opposite piston rod installation grooves (112) form a complete cylindrical space for installing the piston rod (103), the piston rod (103) moves back and forth along the piston rod installation grooves (112), and the stop shoulder limits the piston rod (103);
the external oil supply pipeline (2) is of a symmetrical U-shaped structure and comprises a short oil pipe (201), a short tee joint (202), a long tee joint (203), a long oil pipe (204) and a two-way joint (205); the left end and the right end of the long tee joint (203) are respectively connected with one end of the short tee joint (202) through a short oil pipe (201), and the other end of the short tee joint (202) is connected with a two-way joint (205) through a long oil pipe (204); the positions of the two short tee joints (202) and the two ways (205) are respectively corresponding to the four oil return ports a (108) of the main frame (106) and are communicated with each other; the long tee joint (203) corresponds to the position of a long tee joint mounting hole (302) of the clamping main shaft (3) and is communicated with the long tee joint mounting hole;
the clamping main shaft (3) is of a three-section cylindrical structure, the middle cylinder is of a cylindrical structure, an oil return opening b (303) and an oil inlet b (304) are formed in the middle cylinder, corresponding pipelines are arranged inside the clamping main shaft, the oil return opening b (303) is communicated with the oil return opening a (108), and the oil inlet b (304) is communicated with the oil inlet a (109); the cylinder body on the left side and the right side is clamped in a chuck of the universal machine tool, the cylinder body on the left side is provided with a long tee joint mounting hole (302) for mounting a long tee joint (203), so that an external oil supply pipeline (2) surrounds the clamping main shaft (3), and the cylinder body on the left side is internally provided with a corresponding pipeline, so that the long tee joint mounting hole (302) is communicated with a pipeline of an oil return opening b (303); the outer end of the left cylinder is provided with a flange plate, the flange plate is provided with a plurality of bolt mounting holes B (301), the bolt mounting holes B (301) and the bolt mounting holes a (110) on the main frame (106) are fixed into a whole with the B surface of the main frame (106) through a screw (107).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011067238.8A CN112222902B (en) | 2020-10-05 | 2020-10-05 | Clamp for clamping complex curved surface part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011067238.8A CN112222902B (en) | 2020-10-05 | 2020-10-05 | Clamp for clamping complex curved surface part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112222902A CN112222902A (en) | 2021-01-15 |
| CN112222902B true CN112222902B (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011067238.8A Active CN112222902B (en) | 2020-10-05 | 2020-10-05 | Clamp for clamping complex curved surface part |
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| CN (1) | CN112222902B (en) |
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| DE102017118650A1 (en) * | 2017-08-16 | 2019-02-21 | Volkswagen Aktiengesellschaft | Hydraulic contour piece and clamping device with at least one hydraulic contour piece |
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2020
- 2020-10-05 CN CN202011067238.8A patent/CN112222902B/en active Active
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| WO2005049278A1 (en) * | 2003-11-21 | 2005-06-02 | Hainbuch Gmbh Spannende Technik | Clamping jaws and clamping device for clamping workpieces |
| CN105058126A (en) * | 2015-09-07 | 2015-11-18 | 庞勇 | Hydraulic type self-adaptive vices with multiple supporting rods and replaceable chucks |
| CN106514371A (en) * | 2016-11-25 | 2017-03-22 | 广西大学 | Workpiece clamp |
| DE102017118650A1 (en) * | 2017-08-16 | 2019-02-21 | Volkswagen Aktiengesellschaft | Hydraulic contour piece and clamping device with at least one hydraulic contour piece |
| CN107263365A (en) * | 2017-08-21 | 2017-10-20 | 泰安华鲁锻压机床有限公司 | Support Position and the adjustable multi-point flexibly board supporting device of quantity |
| CN108423191A (en) * | 2018-02-28 | 2018-08-21 | 上海交通大学 | Blade root processing flexible apparatus |
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| CN112222902A (en) | 2021-01-15 |
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