CN211866296U - Flexible sheet electromagnetic forming system - Google Patents
Flexible sheet electromagnetic forming system Download PDFInfo
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- CN211866296U CN211866296U CN201821183732.9U CN201821183732U CN211866296U CN 211866296 U CN211866296 U CN 211866296U CN 201821183732 U CN201821183732 U CN 201821183732U CN 211866296 U CN211866296 U CN 211866296U
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Abstract
The utility model discloses a flexible sheet electromagnetic forming system, which comprises an electromagnetic forming machine, a sheet electromagnetic forming robot control device, a sheet clamping device and an integrated control system; the integrated control system is respectively connected with the electromagnetic forming machine and the control device of the sheet electromagnetic forming robot; the plate clamping device is arranged in front of the plate electromagnetic forming robot control device and is used for positioning and clamping a plate to be processed. Firstly, a plate clamping device clamps a plate to be formed; the robot control system controls the mechanical arm to move, the front end of the magnetic collector is directed to the part to be formed, the axis of the front end of the magnetic collector is consistent with the direction of the outer normal of the part to be formed, and the front end of the magnetic collector keeps a reasonable initial distance from the plate; and the electromagnetic forming control system controls the electromagnetic forming machine to charge and discharge so as to carry out electromagnetic forming on the plate. And finally, repeating the steps to perform point-by-point electromagnetic forming on the plate in sequence according to a set forming path. The scheme also has the advantages of simple structure, convenient operation, easy implementation, capability of realizing flexible sheet forming and the like.
Description
Technical Field
The utility model relates to a material processing takes shape technical field, especially relates to a flexible sheet material electromagnetic forming system.
Background
Electromagnetic forming is a processing method for carrying out high-speed forming on metal materials by utilizing electromagnetic force, and during forming, an instantaneous pulse strong magnetic field is generated in a coil through instantaneous pulse current, so that eddy current is generated in a corresponding workpiece, and then Lorentz force is generated through interaction, so that the high-speed forming processing of the metal materials is realized. Since the load is applied to the blank in a pulse manner during the forming process, it is also called magnetic pulse forming.
The basic principle of electromagnetic forming is Lenz's law, that is, an eddy current resisting the change of a magnetic field is induced in a metal workpiece through the magnetic field changing along with time, and the eddy current interact to generate a huge electromagnetic force instantly to deform the metal workpiece. A typical electromagnetic forming system is shown in fig. 1, and the forming process is as follows: the capacitor bank is first charged by a charging system, the electrical energy is stored in the capacitor, and then the discharge switch is closed, the capacitor bank, the coil and the circuit form an RLC oscillator circuit, thereby generating a momentary alternating large current in the coil. The current generates a strong pulse magnetic field, so that an induced eddy current is excited in the workpiece, and the induced eddy current and the magnetic field interact to generate a strong repulsive force to drive the workpiece to deform.
The electromagnetic forming apparatus is mainly composed of three components: power supply system, shaping coil, control system.
A power supply system: the power supply system is an energy source of the electromagnetic forming equipment, and needs to provide enough energy in a very short time to generate strong enough electromagnetic force to drive the workpiece to deform.
Forming a coil: the electromagnetic forming coil is a key component for converting electromagnetic energy in a power supply system into kinetic energy of a workpiece, the size and the configuration of a magnetic field of the electromagnetic forming coil directly influence the stress size and stress distribution of the workpiece to be formed, and finally, the machining forming effect is directly influenced.
The control system comprises: the control system is an important component of the electromagnetic forming device and controls the forming process, the charging and discharging time, the voltage and other process parameters.
Compared with the traditional metal forming process, the electromagnetic forming has the following advantages:
1) high strain rate: the whole forming process is generally about hundreds of microseconds to a few milliseconds, and the forming speed is generally more than 300 m/s. The high strain rate characteristic of electromagnetic forming can obviously improve the plastic deformation capacity and the deformation uniformity of the material, effectively reduce the rebound of parts and inhibit the wrinkling of the material.
2) Non-contact: the electromagnetic forming magnetic field acts on the workpiece as a medium, the deformation process is not in contact with the workpiece, the surface integrity of the formed workpiece is high, and the fatigue life is greatly prolonged.
3) Single mould: the electromagnetic forming only needs an independent male die or a female die generally, has simple tooling requirements and strong equipment flexibility, and is suitable for processing and manufacturing parts with various specifications.
4) Electro-plastic effects: in electromagnetic forming, the deformation behavior of a metal material under the action of electricity (current, electric field or electron irradiation and the like) is different from the conventional deformation behavior, the microstructure of the metal material is changed, the changes can reduce the flow stress in the metal deformation process, and the forming limit of the material is greatly improved, namely the electro-plastic effect is generated.
5) The process repeatability is good: compared with other high-speed forming technologies (such as explosion forming, electro-hydraulic forming and the like), the intensity of the magnetic pulse in the electromagnetic forming can be accurately controlled, the mechanization and the automation are easy to realize, the repeatability is good, and the stability is high.
Due to the technological characteristics of electromagnetic forming, the process is applied to the fields of tube blank forming, slab forming, volume forming, powder forming and the like.
Although electromagnetic forming has corresponding advantages, the existing electromagnetic forming system needs to manufacture corresponding devices such as a male die or a female die, a coil, a blank holder and the like according to the shape and the size of a workpiece for forming the workpiece with the characteristic shape and the size, so that the production cost is increased, the manufacturing period is prolonged, and the application of the electromagnetic forming is limited. Therefore, the utility model relates to an electromagnetic forming system of flexible intelligence only needs to adopt general coil and standard terrace die or die just can carry out the electromagnetic forming of different shape size complicated work pieces, and this electromagnetic forming to the especially single small batch volume part of forming process of metal part has very important meaning, also has important meaning to popularizing and applying the electromagnetic forming technology.
Accordingly, further improvements and improvements are needed in the art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide a flexible sheet material electromagnetic forming system.
The purpose of the utility model is realized through the following technical scheme:
a flexible sheet electromagnetic forming system mainly comprises an electromagnetic forming machine, a sheet electromagnetic forming robot control device, a sheet clamping device and an integrated control system. And the integrated control system is respectively connected with the electromagnetic forming machine and the plate electromagnetic forming robot control device. The plate clamping device is arranged in front of the plate electromagnetic forming robot control device and is used for positioning and clamping a plate to be processed.
Specifically, the sheet electromagnetic forming robot control device comprises a robot, a robot control system, a coil and a magnetic collector. The robot is fixedly installed, and the robot control system is connected with the robot and controls the movement of mechanical arms of the robot. The coil is installed on a mechanical arm of the robot and is electrically connected with the electromagnetic forming machine. The magnetic collector is arranged on a mechanical arm of the robot, is positioned in front of the coil and is fixedly connected with the coil.
Specifically, the plate clamping device comprises a plate clamping seat, a plate clamping support seat and a plate clamping movable damper. The plate clamping and supporting seat is fixedly arranged. The plate clamping movable damper is arranged on the plate clamping support seat. The plate clamping is used for positioning and clamping a plate to be processed, penetrates through the plate clamping movable damper and realizes damping reciprocating motion in the processing process.
Specifically, the electromagnetic forming machine comprises an electromagnetic forming charging and discharging system for generating instantaneous electric pulses and an electromagnetic forming control system for controlling the frequency and voltage of the electric pulses. The electromagnetic forming control system is electrically connected with the electromagnetic forming charging and discharging system. The electromagnetic forming charging and discharging system is electrically connected with the coil.
As the utility model discloses an optimal scheme, the sheet material centre gripping dynamics if too loose can lead to the unstable, the location of course of working sheet material centre gripping inaccurate, and press from both sides too tightly then be unfavorable for metal sheet material's plasticity to flow, consequently the sheet material clamping-force is established to being less than 10 Mpa.
As the preferred scheme of the utility model, treat that the processing sheet material can remove in the sheet material centre gripping when electromagnetic forming.
As the utility model discloses an optimal scheme still can control along the centre gripping axial on the supporting seat in order to the sheet material centre gripping under the effect of electromagnetic forming force to coordinate the deformation of sheet material, the damping force size that the attenuator was removed in the sheet material centre gripping is established to 1 to 2 times of electromagnetic forming force, and can carry out the adjustment of damping force according to the size of electromagnetic forming force.
As the preferred scheme of the utility model, the effect ability that receives the electromagnetic force of sheet material centre gripping when electromagnetic forming is in remove in the sheet material centre gripping removal attenuator.
As the utility model discloses an optimal scheme makes the even atress of sheet material warp in order to guarantee the perpendicular sheet material of produced electromagnetic force, the axis of collection magnetism ware is unanimous with the outer normal direction at sheet material position of treating to take shape, and is equipped with initial distance between collection magnetism ware front end and sheet material.
The integrated control system is connected with the electromagnetic forming control system and the robot control system, and carries out coordination control on the electromagnetic forming machine and the plate electromagnetic forming robot control device according to the requirements of the electromagnetic forming process of the workpiece. The integrated control system transmits the charging and discharging technological parameters of the electromagnetic forming such as charging and discharging period, charging and discharging voltage, discharging frequency and the like to the electromagnetic forming control system, and controls the pulse charging and discharging of the electromagnetic forming machine to carry out single or sequential electromagnetic forming. The integrated control system transmits the tracks of the electromagnetic forming coil and the front end of the magnetic collector to the robot control system, the front end of the magnetic collector is directed at the part of the plate to be formed by controlling the movement of the mechanical arm, the axial directions of the coil and the magnetic collector are adjusted to be basically consistent with the normal direction of the formed part, the reasonable initial distance between the magnetic collector and the workpiece is controlled, and the sequential point-by-point electromagnetic forming of the workpiece is realized.
The utility model discloses a working process and principle are: firstly, inputting forming process parameters such as electromagnetic forming charge-discharge period, voltage, frequency and the like, an initial distance between a magnetic collector and a workpiece, a point-by-point electromagnetic forming path of a sheet material, a forming point sheet material normal direction and the like into an equipment integrated control system, transmitting relevant parameters to the electromagnetic forming control system and a robot control system by the equipment integrated control system, and carrying out coordination control on an electromagnetic forming machine and a robot control device. Then, the following specific steps are performed: 1. the plate clamping device clamps a plate to be formed; 2. the robot control system controls the movement of a mechanical arm of the robot, the front end of the magnetic collector is directed at the part to be formed of the plate, the axis of the magnetic collector is basically consistent with the direction of an outer normal of the part to be formed of the plate, and the reasonable initial distance between the front end of the magnetic collector and the plate is kept; 3. and the electromagnetic forming control system controls the electromagnetic forming machine to charge and then discharge to perform electromagnetic forming on the plate. And finally, repeating the step 2 and the step 3 to carry out the sequential point-by-point electromagnetic forming of the plate according to a preset forming path. The utility model discloses still have simple structure, convenient operation, easy advantage of implementing.
Compared with the prior art, the utility model discloses still have following advantage:
(1) the utility model provides a flexible sheet material electromagnetic forming system adopts and only needs to adopt general coil and need not the mould just can carry out the electromagnetic forming of the complicated work piece of different shape size, and this electromagnetic forming to the especially single small batch part of the shaping processing of metal part has very important meaning, also has important meaning to popularizing and applying the electromagnetic forming technology.
Drawings
Fig. 1 is a schematic structural diagram of a flexible sheet electromagnetic forming system provided by the present invention.
The reference numerals in the above figures illustrate:
the method comprises the following steps of 1-an electromagnetic forming machine, 2-a robot, 3-a coil, 4-a magnetism collector, 5-a plate, 6-a plate clamp, 7-a plate clamp support seat, 8-a plate clamp moving damper and 9-an integrated control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1, the present embodiment discloses a flexible electromagnetic sheet forming system, which mainly includes an electromagnetic forming machine 1, a robot control device of the electromagnetic sheet forming machine 1, a sheet clamping device, and an integrated control system 9. The integrated control system 9 is respectively connected with the electromagnetic forming machine 1 and the robot control device of the plate electromagnetic forming machine 1. The plate clamping device is arranged in front of the robot control device of the plate electromagnetic forming machine 1 and is used for positioning and clamping a plate 5 to be processed.
Specifically, the robot control device of the sheet electromagnetic forming machine 1 comprises a robot 2, a robot control system, a coil 3 and a magnetic collector 4. The robot 2 is fixedly installed, and the robot control system is connected with the robot 2 and controls the movement of mechanical arms of the robot 2. The coil 3 is mounted on a robot arm of the robot 2 and electrically connected to the electromagnetic forming machine 1. And the magnetic collector 4 is arranged on a mechanical arm of the robot 2, is positioned in front of the coil 3 and is fixedly connected with the coil 3.
Specifically, the plate clamping device comprises a plate clamping seat 6, a plate clamping support seat 7 and a plate clamping movable damper 8. And the plate clamping and supporting seat 7 is fixedly arranged. The plate clamping movable damper 8 is arranged on the plate clamping support seat 7. The plate clamping device 6 positions and clamps a plate 5 to be processed, penetrates through the plate clamping movable damper 8 and achieves damping reciprocating motion in the processing process.
Specifically, the electromagnetic forming machine 1 includes an electromagnetic forming charge-discharge system for generating an instantaneous electric pulse and an electromagnetic forming control system for controlling the frequency and voltage of the electric pulse. The electromagnetic forming control system is electrically connected with the electromagnetic forming charging and discharging system. The electromagnetic forming charge-discharge system is electrically connected with the coil 3.
As the utility model discloses an optimal scheme, 6 dynamics of sheet material centre gripping if too pine can lead to 5 centre grippings of course of working sheet material unstability, location inaccurate, and press from both sides too tightly then be unfavorable for the plasticity of metal sheet material 5 to flow, consequently 6 power of sheet material centre gripping are established to being less than 10 Mpa.
As the preferred scheme of the utility model, treat that processing sheet material 5 can remove in sheet material centre gripping 6 when electromagnetic forming.
As the utility model discloses an optimal scheme still can control along the centre gripping axial on the supporting seat in order to control under the effect of electromagnetic forming force the sheet material centre gripping 6 to coordinate the deformation of sheet material 5, the damping force size that the attenuator 8 was removed in the sheet material centre gripping is established to 1 to 2 times of electromagnetic forming force, and can carry out the adjustment of damping force according to the size of electromagnetic forming force.
As the preferred scheme of the utility model, the effect ability that receives the electromagnetic force of sheet material centre gripping 6 when electromagnetic forming is in the sheet material centre gripping removes removal attenuator 8 and removes.
As the utility model discloses an optimal scheme makes 5 even atress deformations of sheet material in order to guarantee the perpendicular sheet material 5 of produced electromagnetic force, the outer normal direction at position is treated to take shape unanimously with sheet material 5 to the axis of collection magnetism ware 4, and is equipped with initial distance between 4 front ends of collection magnetism ware and sheet material.
The integrated control system 9 is connected with the electromagnetic forming control system and the robot control system, and carries out coordination control on the electromagnetic forming machine 1 and the robot control device of the plate electromagnetic forming machine 1 according to the requirements of the electromagnetic forming process of the workpiece. According to the shape, size and material of the workpiece, the process of electromagnetic forming is designed and determined, the integrated control system 9 transmits the charging and discharging process parameters of the electromagnetic forming, such as charging and discharging period, charging and discharging voltage and discharging frequency, to the electromagnetic forming control system, and the pulse charging and discharging of the electromagnetic forming machine 1 are controlled to carry out single or sequential electromagnetic forming. The integrated control system 9 transmits the tracks of the front ends of the electromagnetic forming coil 3 and the magnetic collector 4 to a robot control system, adjusts the axial directions of the coil 3 and the magnetic collector 4 to be basically consistent with the normal direction of a forming part by controlling the movement of a mechanical arm to enable the front end of the magnetic collector 4 to be directed at the part to be formed of the plate 5, controls the reasonable initial distance between the magnetic collector 4 and a workpiece, and achieves sequential point-by-point electromagnetic forming of the workpiece.
The utility model discloses a working process and principle are: firstly, the forming process parameters such as the charging and discharging period, the voltage and the frequency of electromagnetic forming, the initial distance between the magnetic collector 4 and a workpiece, the point-by-point electromagnetic forming path of the plate 5, the normal direction of the plate 5 at the forming point and the like are input into an equipment integrated control system 9, the equipment integrated control system 9 transmits relevant parameters to the electromagnetic forming control system and a robot control system, and the electromagnetic forming machine 1 and the robot control device are coordinately controlled. Then, the following specific steps are performed: 1. the plate clamping device clamps a plate 5 to be formed; 2. the robot control system controls the movement of a mechanical arm of the robot 2, the front end of the magnetic collector 4 is directed at the part to be formed of the plate 5, the axis of the magnetic collector 4 is basically consistent with the direction of the outer normal of the part to be formed of the plate 5, and the reasonable initial distance between the front end of the magnetic collector and the plate 5 is kept; 3. and the electromagnetic forming control system controls the electromagnetic forming machine 1 to charge and then discharge to carry out electromagnetic forming on the plate 5. And finally, repeating the step 2 and the step 3 to carry out the sequential point-by-point electromagnetic forming of the plate 5 according to a preset forming path. The utility model discloses still have simple structure, convenient operation, easy advantage of implementing.
Example 2:
the embodiment discloses a flexible intelligent electromagnetic forming system which comprises 4 parts, namely an electromagnetic forming machine 1, a panel electromagnetic forming machine 1 robot control device, a panel clamping device, an integrated control system 9 and the like.
The electromagnetic forming machine 1 is a typical electromagnetic forming apparatus, and includes an electromagnetic forming charge-discharge system that generates an instantaneous electric pulse and an electromagnetic forming control system that controls the frequency and voltage of the electric pulse.
The robot control device of the plate electromagnetic forming machine 1 is composed of a robot 2, a robot control system, a coil 3 and a magnetic collector 4, wherein the coil 3 is installed on a mechanical arm of the robot 2, and the magnetic collector 4 is connected with the coil 3. The robot control system controls the movement of the mechanical arm of the robot, the front end of the magnetic collector 4 is aligned to the part needing electromagnetic forming, the axis of the magnetic collector 4 is basically consistent with the direction of the outer normal of the part to be formed of the plate 5, the reasonable initial distance between the front end of the magnetic collector 4 and the plate 5 is adjusted, and the front end of the magnetic collector 4 can be controlled to move according to a set track.
The plate clamping device consists of a plate clamp 6, a plate clamp support seat 7 and a plate clamp movable damper 8; the plate clamping device comprises a plate clamping device 6, a plate 5 is clamped when electromagnetic forming is conducted, the clamping force is smaller than 10Mpa, the electromagnetic forming plate 5 can move in the clamping device when deforming, a plate clamping moving damper 8 is installed on the plate clamping device 6, the plate clamping device 6 can move left and right on a supporting seat along the clamping axial direction under the action of electromagnetic forming force to coordinate the deformation of the plate 5, the plate clamping moving damper 8 provides movement damping force for the plate clamping device 6 to move left and right in the axial direction, and the damping force is 1-2 times of the electromagnetic forming force.
The integrated control system 9 is connected with the electromagnetic forming control system and the robot control system, and carries out coordination control on the electromagnetic forming machine 1 and the robot control device of the plate electromagnetic forming machine 1 according to the requirements of the electromagnetic forming process of the workpiece. According to the shape, size and material of the workpiece, the process of electromagnetic forming is designed and determined, the integrated control system 9 transmits the charging and discharging process parameters of the electromagnetic forming, such as charging and discharging period, charging and discharging voltage and discharging frequency, to the electromagnetic forming control system, and the pulse charging and discharging of the electromagnetic forming machine 1 are controlled to carry out single or sequential electromagnetic forming. The integrated control system 9 transmits the tracks of the front ends of the electromagnetic forming coil 3 and the magnetic collector 4 to a robot control system, adjusts the axial directions of the coil 3 and the magnetic collector 4 to be basically consistent with the normal direction of a forming part by controlling the movement of a mechanical arm to enable the front end of the magnetic collector 4 to be directed at the part to be formed of the plate 5, controls the reasonable initial distance between the magnetic collector 4 and a workpiece, and achieves sequential point-by-point electromagnetic forming of the workpiece.
The general process of using the system to carry out electromagnetic forming of the plate comprises the following steps: the forming process parameters such as the electromagnetic forming charging and discharging period, the voltage, the frequency and the like, the initial distance between the magnetic collector 4 and the workpiece, the point-by-point electromagnetic forming path of the plate 5, the normal direction of the plate 5 at the forming point and the like are input into an equipment integrated control system 9, the equipment integrated control system 9 transmits related parameters to the electromagnetic forming control system and a robot control system, and the electromagnetic forming machine 1 and the robot control device are coordinately controlled. The method comprises the following specific steps: 1. the plate clamping device clamps a plate 5 to be formed; 2. the robot control system controls the movement of a mechanical arm of the robot 2, the front end of the magnetic collector 4 is directed at the part to be formed of the plate 5, the axis of the magnetic collector 4 is basically consistent with the direction of the outer normal of the part to be formed of the plate 5, and the reasonable initial distance between the front end of the magnetic collector and the plate 5 is kept; 3. and the electromagnetic forming control system controls the electromagnetic forming machine 1 to charge and then discharge to carry out electromagnetic forming on the plate 5. And repeating the step 2 and the step 3 to carry out the sequential point-by-point electromagnetic forming of the plate 5 according to a preset forming path.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (7)
1. A flexible sheet electromagnetic forming system is characterized by comprising an electromagnetic forming machine, a sheet electromagnetic forming robot control device, a sheet clamping device and an integrated control system; the integrated control system is respectively connected with the electromagnetic forming machine and the control device of the sheet electromagnetic forming robot; the plate clamping device is arranged in front of the plate electromagnetic forming robot control device and is used for positioning and clamping a plate to be processed;
the plate electromagnetic forming robot control device comprises a robot, a robot control system, a coil and a magnetic collector; the robot is fixedly installed, and the robot control system is connected with the robot and controls the motion of a mechanical arm of the robot; the coil is arranged on a mechanical arm of the robot and is electrically connected with the electromagnetic forming machine; the magnetic collector is arranged on a mechanical arm of the robot, is positioned in front of the coil and is fixedly connected with the coil;
the plate clamping device comprises a plate clamp, a plate clamp supporting seat and a plate clamp movable damper; the plate clamping support seat is fixedly arranged; the plate clamping movable damper is arranged on the plate clamping support seat; the plate clamping is used for positioning and clamping a plate to be processed, penetrates through the plate clamping movable damper and realizes damping reciprocating motion in the processing process.
2. The flexible sheet electromagnetic forming system according to claim 1, wherein the electromagnetic forming machine comprises an electromagnetic forming charging and discharging system and an electromagnetic forming control system; the electromagnetic forming control system is electrically connected with the electromagnetic forming charging and discharging system; the electromagnetic forming charging and discharging system is electrically connected with the coil.
3. The flexible sheet electromagnetic forming system of claim 1, wherein the sheet clamping force is set to less than 10 Mpa.
4. The flexible sheet electromagnetic forming system according to claim 1, wherein the sheet to be processed is movable within the sheet clamp during electromagnetic forming.
5. The flexible electromagnetic sheet forming system according to claim 1, wherein the damping force of the sheet clamping movement damper is set to be 1 to 2 times of the electromagnetic forming force, and the damping force can be adjusted according to the electromagnetic forming force.
6. The flexible sheet electromagnetic forming system according to claim 1, characterized in that said sheet clamp is subjected to electromagnetic forces during electromagnetic forming to move within said sheet clamp movement dampers.
7. The flexible sheet electromagnetic forming system according to claim 1, wherein the axis of the magnetic collector is aligned with the direction of the outer normal of the portion to be formed of the sheet, and an initial distance is provided between the front end of the magnetic collector and the sheet.
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| CN201821183732.9U CN211866296U (en) | 2018-07-24 | 2018-07-24 | Flexible sheet electromagnetic forming system |
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| CN201821183732.9U CN211866296U (en) | 2018-07-24 | 2018-07-24 | Flexible sheet electromagnetic forming system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971312A (en) * | 2018-07-24 | 2018-12-11 | 广东工业大学 | A kind of flexibility plate electro-magnetic forming system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971312A (en) * | 2018-07-24 | 2018-12-11 | 广东工业大学 | A kind of flexibility plate electro-magnetic forming system |
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