WO2015149684A1 - Dispositif d'entraînement linéaire électromagnétique - Google Patents

Dispositif d'entraînement linéaire électromagnétique Download PDF

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Publication number
WO2015149684A1
WO2015149684A1 PCT/CN2015/075507 CN2015075507W WO2015149684A1 WO 2015149684 A1 WO2015149684 A1 WO 2015149684A1 CN 2015075507 W CN2015075507 W CN 2015075507W WO 2015149684 A1 WO2015149684 A1 WO 2015149684A1
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WO
WIPO (PCT)
Prior art keywords
winding
stator
mover
diode
core
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PCT/CN2015/075507
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English (en)
Chinese (zh)
Inventor
郑家伟
薛向党
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香港理工大学
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Filing date
Publication date
Application filed by 香港理工大学 filed Critical 香港理工大学
Publication of WO2015149684A1 publication Critical patent/WO2015149684A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/12—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moving in alternate directions by alternate energisation of two coil systems

Definitions

  • the present invention relates to an electromagnetic linear actuator, and more particularly to a sensorless electromagnetic linear actuator for reciprocating motion.
  • linear permanent magnet excitation coils have been used to drive compressors.
  • these linear permanent magnet excited excitation coils frequently collide with the mover/commutator structure using permanent magnets, resulting in a complicated and costly permanent magnet structure and potential unreliability, and shortening the service life.
  • some electromagnetic linear actuators use a position sensor inside the motor to detect the position of the mover.
  • the operating state of the entire motor is greatly dependent on the position of the mover.
  • These position sensors have linear displacement sensors and the like.
  • the position sensor detects a lot of defects in the position of the mover. For example, if the sensor is faulty, the entire system will not operate. This electromagnetic linear actuator is undoubtedly unstable and increases the cost and complexity of the entire drive system.
  • the technical problem to be solved by the present invention is to provide a high stability, long life, linear reciprocating frequency and stroke adjustable and low cost for the above-mentioned defects of the electromagnetic linear actuator in the prior art.
  • Electromagnetic linear actuator Problem solution
  • an electromagnetic linear drive comprising: a cylindrical outer casing and two end covers, the two end covers are fixedly connected with the outer casing, and the end caps respectively Fixedly provided with a seat; two stator cores fixed in the outer casing, the stator cores respectively comprise an annular stator yoke and formed by the stator yoke extending inwardly and uniformly distributed along the circumferential direction of the stator core An even number of stator poles, each of which is wound with an exciting coil, and the magnetic poles of the exciting coils on any adjacent two stator poles in the circumferential direction of the same stator core are opposite in direction; the moving stator and the two moving iron cores
  • the two ends of the mover shaft respectively form a connection with one of the supports for sliding along the axial direction of the mover shaft, and the two mover cores are fixedly disposed outside the mover shaft, a mover core extending inwardly to form an even number of stator
  • the exciting coils on the same stator core are connected in series.
  • the exciting coils on the same stator core are connected in parallel.
  • both ends of the mover shaft respectively form a connection rotatable in the circumferential direction of the mover shaft with a support.
  • the electric controller includes a rectifying and filtering circuit, a load circuit, a driving module, a control module, and a sampling module, wherein: the two ends of the load circuit and the rectifying and filtering circuit respectively The two output terminals are electrically connected; the load circuit is electrically connected to the first winding and the second winding respectively to supply power to the first winding and the second winding; The currents of the first winding and the second winding are sampled, and the obtained sampling signal is output to the control module; the control module calculates the pulse width modulation control signal according to the external command and the sampling signal And outputting the pulse width modulation control signal to the driving module; and the driving module respectively controlling on and off of the first winding and the second winding according to the pulse width modulation control signal.
  • the load circuit includes a first winding circuit and a second winding circuit;
  • the first winding circuit includes a first bypass transistor, a second bypass transistor, and a diode, a second diode, and the first winding; one end of the first winding is connected to a first end of the first bypass tube and a negative end of the first diode, The other end of the first winding is connected to the second end of the second bypass tube and the anode of the second diode; the positive output end of the rectifying and filtering circuit and the second end of the first bypass tube The end is connected to the cathode of the second diode, and the anode output end of the rectifier filter circuit is connected to the first end of the second bypass tube and the anode of the first diode;
  • the winding circuit includes a third bypass transistor, a fourth bypass transistor, a third diode, a fourth diode, and the second winding; one end of the second winding and the third bypass
  • the electromagnetic linear driver of the invention can conveniently control the movement frequency and the stroke size of the driver by adjusting the driving frequency of the electric controller, and does not need a sensor, thereby saving the cost; replacing the mechanical control with the electric control commutation
  • the permanent magnet is not used, so that no permanent magnet frequently reciprocates the damage caused by the mover/commutator structure, so the stability is high, the service life is long, and the energy conversion efficiency is high.
  • FIG. 1 is a perspective structural view of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • FIG. 2 is a schematic longitudinal structural view of an electromagnetic linear actuator according to a preferred embodiment of the present invention
  • 3 is a schematic view showing a lateral structure of a stator core and a mover core of an electromagnetic linear actuator according to a preferred embodiment of the present invention
  • FIG. 4 is a schematic view showing the transverse structure of another stator core and another mover core of the electromagnetic linear actuator according to a preferred embodiment of the present invention
  • FIG. 5 is a schematic diagram of current and magnetic paths in a transverse section of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • FIG. 6 is a schematic circuit diagram of an electric controller of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • FIG. 7 is a schematic view showing typical magnetic characteristics of a first winding under current excitation according to a preferred embodiment of the present invention.
  • FIG. 8 is a schematic view showing typical magnetic characteristics of a second winding under current excitation according to a preferred embodiment of the present invention.
  • FIG. 9 is a schematic diagram showing typical waveforms of an electromagnetic linear actuator and an electric controller according to a preferred embodiment of the present invention.
  • the electromagnetic linear actuator of the embodiment includes a casing 1, a stator core 2, a stator core 3, a mover core 4, a mover core 5, an exciting coil 6-13, a mover pole, a mover shaft 14, an end cover 15, and an end cover. 16, support 17, support 18.
  • FIG. 1 and FIG. 2 are a schematic view showing the longitudinal structure of an electromagnetic linear actuator in accordance with a preferred embodiment of the present invention.
  • the outer casing 1 has a cylindrical shape, and the end covers 15, 16 are fixedly coupled to both ends of the outer casing 1.
  • the outer casing 1 and the end cover 15 and the end cover 16 form a cylindrical accommodation space.
  • the center of the end cap 15 is respectively provided with a seat 17, and a center 18 of the end cap 16 is provided with a seat 18.
  • Both ends of the mover shaft 14 are respectively pierced with a support 17 and a support 18, and the mover shaft 14 is movable left and right along the axial direction of the mover shaft 14.
  • the mover shaft 14 is also rotatable in the circumferential direction of the mover shaft 14 to facilitate positioning of the mover shaft 14.
  • the mover shaft 14 is further fixedly provided with a mover core 4 and a mover core 5, and the mover core 4 and the mover core 5 can drive the axis of the mover shaft 14 along the mover shaft 14. Move to the left or right in the direction.
  • An air gap 19 is formed between the stator pole 21, the mover core 4, and the mover core 5, respectively.
  • the distance between the two moving poles is smaller than the stator iron The distance between the core 2 and the stator core 3.
  • FIG. 3 is a schematic diagram showing the lateral structure of a stator core and a mover core of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the stator core 2 includes an annular stator yoke 22 and four stator poles 21 extending inwardly from the stator yoke 22, and the four stator poles 21 are evenly distributed along the circumferential direction of the stator yoke 22.
  • the exciting coil 6, the exciting coil 7, the exciting coil 8, and the exciting coil 9 are wound around the four stator poles 21 extending inward from the inner circumference of the stator yoke.
  • FIG. 4 is a schematic diagram showing the lateral structure of another stator core and another mover core of the electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the stator core 3 includes an annular stator yoke 26 and four stator poles 25 extending inwardly from the stator yoke 26, and the four stator poles 25 are evenly distributed along the circumferential direction of the stator core 3.
  • the exciting coil 10, the exciting coil 11, the exciting coil 12, and the exciting coil 13 are wound around the four stator poles 25 extending downward from the inner circumference of the stator yoke, respectively.
  • the movable sub-shaft 14 is slidably disposed through the inner rings of the stator yoke 22 and the stator yoke 26.
  • the annular faces of the stator yoke 22 and the stator yoke 26 are perpendicular to the mover shaft 14.
  • the exciting coils 6-13 are respectively wound from copper wires.
  • stator core 2 and the stator core 3 are respectively laminated by a plurality of magnetic conductive sheets in a longitudinal direction, such as a silicon steel sheet or the like.
  • the mover core 4 and the mover core 5 are respectively formed by laminating a plurality of magnetic conductive sheets in a longitudinal direction, such as a silicon steel sheet or the like.
  • the exciting coil 6, the exciting coil 7, the exciting coil 8, and the exciting coil 9 on the stator core 2 constitute a first winding 39
  • the exciting coil 10 on the stator core 3 constitutes a second winding 40
  • the exciting coil 6, the exciting coil 7, the exciting coil 8 and the exciting coil 9 may be connected in series with each other, or in parallel with each other, or partially connected in parallel.
  • the excitation coil 10, the excitation coil 11, the excitation coil 12 and the excitation coil 13 may be connected in series with each other, or in parallel with each other, or partially connected in parallel.
  • the circuit connection manner of the exciting coil corresponds, that is, when the exciting coil 6, the exciting coil 7, the exciting coil 8 and the exciting coil 9 are connected in series with each other, The exciting coil 10, the exciting coil 11, the exciting coil 12, and the exciting coil 13 are also connected in series with each other; when the exciting coil 6, the exciting coil 7, the exciting coil 8, and the exciting coil 9 are connected in parallel with each other, the exciting coil 10 and the exciting coil 11.
  • the exciting coil 12 and the exciting coil 13 are also connected in parallel with each other; when the exciting coil 6, the exciting coil 7, and the exciting line
  • the coil 8 and the exciting coil 9 are partially connected in parallel, and the corresponding partial series of the exciting coil 10, the exciting coil 11, the exciting coil 12 and the exciting coil 13 are connected in parallel, the purpose of which is to make the first winding 39 and the second winding 40
  • the magnetic properties are balanced to make the system of the electromagnetic linear drive more stable.
  • FIG. 5 is a schematic diagram of current and magnetic paths in a transverse section of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the magnetic flux line excited by the windings is formed in the magnetic path 29 of the stator pole as shown by the dashed path in Fig. 5.
  • the four stator poles 25 are divided into a left stator pole, a right stator pole, an upper stator pole and a lower stator pole according to their azimuth zones in Fig. 5.
  • the magnetic path 29 of the first quadrant is circulated around the counter-needle direction, and the magnetic induction line passes through the mover core 5, the air gap 19, the right stator pole, and the stator yoke 26
  • the upper right portion, the upper stator pole then returns to the mover core 5 via the air gap 19.
  • the current in the transverse section of the stator core 2 and the stator core 3 is the same as the magnetic path, or the opposite: that is, the corresponding current is opposite, and the direction of the generated magnetic field is also opposite.
  • the exciting coil winding directions on any adjacent two stator poles in the circumferential direction of the stator core 2 and the stator core 3 are opposite; specifically, in the present embodiment, the exciting coil 10 and the exciting coil 11
  • the exciting coils 12 are adjacent to each other, and the exciting coils 10 are opposite to the magnetic poles of the exciting coils 11 and the exciting coils 12, and one end of the exciting coil 10 close to the mover core 5 is an N pole, and the exciting coil 11 and the exciting coil 12 are close to the mover core 5 One end is the S pole.
  • the magnetic path 29 shown by the dotted arrow in Fig. 5 is formed in the mover core 5, the air gap 19, and the stator core 3.
  • the mover core 5 extends to form a left mover pole, a right mover pole, an upper mover pole, and a lower move corresponding to the left stator pole, the right stator pole, the upper stator pole, and the lower stator pole, respectively.
  • Sub-pole In the same magnetic permeability effect, the volume and mass of the mover core 5 can be correspondingly reduced to help reduce energy loss and save cost.
  • the current and magnetic path of the electromagnetic linear actuator at the cross section of the mover core 4 and the stator core 2 are similar to those at the mover core 5 and the stator core 3. It is mainly used to attract the mover core 4 when the first winding 39 is energized, and the second winding 40 is energized to attract the mover core 5 to drive the mover shaft 14 to move back and forth.
  • the magnetic induction lines of the stator core and the mover core are mainly located in the transverse magnetic circuit structure, and the magnetic induction line distribution in the air gap 19 between the stator core and the mover core is mainly located in the longitudinal magnetic field.
  • the road structure In the road structure.
  • FIG. 6 is a schematic diagram showing the circuit principle of an electric controller of an electromagnetic linear actuator according to a preferred embodiment of the present invention.
  • the electric controller 102 includes a rectifying and filtering circuit, a load circuit, a driving module, a control module, and Sample module.
  • the alternating current is supplied to the first winding 39 and the second winding 40 by a simple rectifying and filtering circuit.
  • the load circuit includes two parallel winding circuits: a first winding circuit and a second winding circuit.
  • the first winding circuit controls the on and off of the current of the first winding 39; the second winding circuit controls the on and off of the current of the second winding 40.
  • the electrical controller 102 can receive external commands from the external 30 input control module, and the information carried by the external commands 30 is the required magnetic force or current.
  • the sampling module is configured to filter the current signal 31 obtained by the current sensor in the first winding 39 and the current signal 32 obtained by the current sensor in the second winding 40 to obtain a control signal 33 and control the signal 3 3 Output to the control module.
  • the control module generates a pulse width modulation control signal 34 based on the control signal 33 and the external command 30 and outputs it to the drive module.
  • the driving module of the electric controller 102 generates amplified and independent signals 35, 36, 37, 38 to drive the load circuit to control the first winding 39 and the second
  • the windings 40 are alternately turned on and off.
  • the first winding 39 and the second winding 40 are alternately switchable between power-off and energization: when the first winding 39 is energized, the second winding 40 is de-energized; when the first winding 39 is de-energized, second Winding 40 is energized.
  • the two ends of the first winding 39 are electrically connected to the first output end and the second output end of the load circuit, respectively, and the two ends of the second winding 40 are electrically connected to the third output end and the fourth output end of the load circuit, respectively.
  • the load circuit is supplied with power to the first winding 39 and the second winding 40.
  • the first winding circuit includes a first bypass transistor, a second bypass transistor, a first diode, a second diode, and a first winding;
  • the first end of the bypass tube is connected to the anode of the first diode, and the other end of the first winding is connected to the second end of the second bypass tube and the anode of the second diode;
  • the positive output terminal of the rectifier filter circuit Connected to the second end of the first shunt tube and the cathode of the second diode, the negative output end of the rectifying and filtering circuit is connected to the first end of the second shunt tube and the anode of the first diode
  • the second winding circuit includes a third bypass transistor, a fourth bypass transistor, a third diode, a fourth diode, and a second winding; one end of the second winding and the first of the third bypass transistor The anode and the third diode are connected to each other, and the other end of the second winding is connected to the second end of the fourth bypass tube and the anode of the fourth diode; the positive output terminal of the rectifier filter circuit and the third bypass transistor The second end is connected to the negative pole of the fourth diode, and the rectifying and filtering circuit The negative output terminal is connected to the first end of the fourth shutoff tube and the anode of the third diode.
  • the third end of the first shutoff tube, the third end of the second shutoff tube, the third end of the third shutoff tube, and the third end of the fourth shutoff tube are connected to the output end of the drive module.
  • Signals 35, 36, 37, 38 generated by the drive modules of electrical controller 102 control the first, second, third, and fourth ports, respectively.
  • the thyristor can employ a metal oxide semiconductor field effect transistor (MOSFET).
  • MOSFET metal oxide semiconductor field effect transistor
  • the bypass transistor is a MOSFET.
  • the first end of the bypass tube is the source, the second end is the drain, and the third end is the gate.
  • the bypass tube can also be another type of manifold such as an electronic triode.
  • the mover core 4 moves toward the magnetic path having the smallest reluctance, that is, the mover core 4 is close to the first winding 39.
  • the mover core 5 moves toward the magnetic path having the smallest reluctance, and the mover core 5 approaches the second winding 40.
  • the first winding 39 is in an energized state ⁇ , and the magnetic circuit has the smallest magnetic resistance at a position where the mover core 4 and the stator core 2 are completely engaged (the mover pole of the mover core 4 is opposite to the mover pole of the stator core 2).
  • the second winding 40 is in an energized state ⁇ similar to the case.
  • the first winding 39 is in the energized state
  • the second winding 40 is in the non-energized state
  • the leftward electromagnetic force is generated, and the stator pole 14 is moved to the left
  • the first winding 39 is in the non-energized state
  • the first winding 39 is in the energized state
  • the electromagnetic force to the right is generated, and the mover pole 14 is moved to the right.
  • the stator core is a magnetically permeable material rather than a permanent magnet, the direction of the electromagnetic force generated is independent of the current direction of the winding.
  • the magnetic characteristics of the sensorless linear electromagnetic actuator of the present invention are shown in FIGS. 7 and 8.
  • the magnetic characteristic curve 41 46 shown in FIG. 7 has a magnetic force value of negative, indicating that the electromagnetic force direction is to the left; the magnitude of the displacement is relative to the stator core 2 in the axial direction of the mover shaft 4;
  • the moving iron core 4 has a positive displacement on the right side of the stator core 2.
  • Each of the magnetic characteristic curves 41 46 is obtained with a constant current to the first winding 39.
  • the magnetic force value of the magnetic characteristic curve 41 46 increases as the current of the first winding 39 increases.
  • the magnetic characteristic curves 47-52 shown in FIG. 8 have positive magnetic force values indicating that the electromagnetic force direction is to the right; the magnitude of the displacement is relative to the moving core 5 in the axial direction of the mover axis.
  • the mover core 5 has a positive displacement on the left side of the stator core 3.
  • Each of the magnetic characteristic curves 47-52 is obtained with a constant current to the second winding 40.
  • the magnetic force value of the magnetic characteristic curves 47-52 increases as the current of the second winding 40 increases.
  • the distance between the mover core 4 and the mover core 5 is smaller than the distance between the stator core 2 and the stator core 3. Therefore, the first winding 39 is in the excited state and the second winding 40 is in the non-excited state ⁇ , and the electromagnetic force applied to the mover core 4 causes the mover shaft 14 to move to the left; when the mover core 4 and the stator core 2 are completely engaged That is, since the distance between the mover core 4 and the mover core 5 is smaller than the distance between the stator core 2 and the stator core 3, the mover core 5 is located to the left of the stator core 3.
  • the excitation state of the first winding 39 and the second winding 40 is reversed even if the first winding 39 is in the non-excited state and the second winding 40 is in the excited state; thus the electromagnetic force applied to the mover core 5 drives the mover shaft 14 moves to the right; when the mover core 5 and the stator core 3 are completely engaged, the mover core 4 has moved to the right of the stator core 2. Then, the excitation state of the first winding 39 and the second winding 40 is reversed, and the electromagnetic force applied to the mover core 4 again drives the mover shaft 14 to move to the left; thus, the mover shaft 14 can be reciprocated linearly. .
  • stator core is not a permanent magnet, the direction of the electromagnetic force generated by it is independent of the current direction of the winding.
  • the distance between the mover core 4 and the mover core 5 can also be greater than the distance between the stator core 2 and the stator core 3.
  • the mover core 5 is located to the right of the stator core 3, Similarly, after the excitation state of the first winding 39 and the second winding 40 is reversed, an electromagnetic force to the left is generated. I will not repeat them here.
  • a typical waveform of the electromagnetic linear actuator of this embodiment is as shown in FIG. 9.
  • the electromagnetic force reference generated by the control module based on the input command 30 is as shown by curve 53, and the input command 30 can also be used to adjust the magnitude of the electromagnetic force.
  • the control module then calculates a desired current value reference curve 54 based on the magnetic property reference curve 53.
  • the control module then generates a pulse width modulation control signal 34 based on the current value reference curve 54 to control the on-off switching of the first winding 39 and the second winding 40.
  • the control module adjusts the pulse width modulation control signal 34 according to the current of the first winding 39 and the second winding 40 to track the analog current reference curve 54 to obtain the current curve 55 and the second of the first winding 39.
  • the current curve 56 of the winding 40 i.e., the current reference curve 54, is the target curve, while the curve 55 and curve 56 are true curves.
  • the peaks of the curve 55 and the peaks of the curve 56 alternate with each other, that is, the alternating currents of the exciting coils on the first winding 39 and the second winding 40 alternately excite the first winding 39 and the second winding 40 to generate a magnetic field.
  • the sensorless linear electromagnetic actuator produces an electromagnetic force as shown by curve 57, causing the mover shaft 14 to produce a linear reciprocating motion as shown by the displacement graph 58.
  • the electromagnetic linear driver of the invention can conveniently control the movement frequency and the stroke of the driver by adjusting the driving frequency and current of the electric controller, and does not need a sensor, thereby saving the cost; replacing the mechanical control with the electric control commutation Reversing, no permanent magnets, so no permanent magnets frequently reciprocate impact damage caused by the mover / commutator structure, so high stability, long service life, high energy conversion efficiency.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

L'invention concerne un dispositif d'entraînement linéaire électromagnétique, comprenant : une enveloppe cylindrique (1) et deux couvercles d'extrémité (15, 16), les deux couvercles d'extrémité étant reliés de manière fixe à l'enveloppe, et un siège de support (17, 18) étant agencé de manière fixe sur les deux couvercles d'extrémité respectivement ; deux noyaux de fer de stator (2, 3) fixés dans l'enveloppe, les noyaux de fer de stator comprenant respectivement un nombre pair de pôles de stator (21, 25), et des bobines d'excitation (6, 7, 8, 9, 10, 11, 12, 13) étant enroulées sur chaque pôle de stator ; un arbre de rotor (14) et deux noyaux de fer de rotor (4, 5), une liaison qui peut glisser dans la direction axiale de l'arbre de rotor étant formée entre deux extrémités de l'arbre de rotor respectivement et l'un des sièges de support, et les deux noyaux de fer de rotor étant manchonnés de manière fixe à l'extérieur de l'arbre de rotor ; et un dispositif de commande électrique (102), le dispositif de commande électrique étant utilisé pour commander un premier enroulement (39) composé de toutes les bobines d'excitation présentes sur l'un des noyaux de fer de stator et un second enroulement (40) composé de toutes les bobines d'excitation présentes sur l'autre noyau de stator en fer de manière qu'ils soient excités en alternance ; et les noyaux de fer de stator et les noyaux de fer de rotor sont faits de matériaux conducteurs magnétiques. La fréquence de mouvement et la course d'un dispositif d'entraînement linéaire électromagnétique peuvent être commodément commandées sans capteur, ce qui permet de réduire les coûts et d'offrir les avantages d'une grande stabilité, d'une longue durée de vie et d'un haut rendement de conversion d'énergie.
PCT/CN2015/075507 2014-03-31 2015-03-31 Dispositif d'entraînement linéaire électromagnétique WO2015149684A1 (fr)

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WO2020038988A1 (fr) * 2018-08-21 2020-02-27 nui lab GmbH Actionneur linéaire électromagnétique

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CN107919781B (zh) * 2017-11-30 2020-02-21 歌尔股份有限公司 线性振动马达
CN111091947A (zh) * 2019-12-14 2020-05-01 深圳先进技术研究院 梯度磁场发生装置和空间伺服运动系统
CN112039277A (zh) * 2020-08-24 2020-12-04 珠海格力电器股份有限公司 电机转轴轴端支撑结构、电机
CN112324563B (zh) * 2020-09-27 2022-01-07 山东休普动力科技股份有限公司 一种双绕组自由活塞直线发电机及控制方法
CN115138082B (zh) * 2022-06-27 2023-10-10 福州大学 一种直线式航模舵机
CN115446136A (zh) * 2022-10-11 2022-12-09 哈尔滨工业大学（威海） 高强钨合金极细丝拉拔装置

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US11967875B2 (en) 2018-08-21 2024-04-23 nui lab GmbH Electromagnetic linear actuator

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