CN109759905A - A kind of Magnetorheological Polishing system of processing - Google Patents
A kind of Magnetorheological Polishing system of processing Download PDFInfo
- Publication number
- CN109759905A CN109759905A CN201711068834.6A CN201711068834A CN109759905A CN 109759905 A CN109759905 A CN 109759905A CN 201711068834 A CN201711068834 A CN 201711068834A CN 109759905 A CN109759905 A CN 109759905A
- Authority
- CN
- China
- Prior art keywords
- magnetorheological
- mechanical arm
- polishing wheel
- magnetorheological polishing
- processing according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Magnetorheological Polishing system of processing provided by the invention, including mechanical arm, it is mounted on the Work fixing device of described mechanical arm one end, workbench with magnetorheological polishing wheel and the magnetorheological circulatory system, the magnetorheological circulatory system provides magnetorheological fluid to the magnetorheological polishing wheel, the workbench is mounted on the base, the magnetorheological polishing wheel stretches out the workbench, the Work fixing device is realizing the change in location between the magnetorheological polishing wheel under the drive of the mechanical arm, pass through the space multiple degrees of freedom using mechanical arm, velocity and acceleration advantage, workbench, which is arranged in, in conjunction with magnetorheological polishing wheel can reduce the load-bearing of mechanical arm, so that mechanical arm wait during processing operating it is more flexible, and the bigger magnetorheological polishing wheel of the bigger weight of diameter can be used and processed, so that processing is efficiently and quick , also further improve the whole efficiency of sanding and polishing.
Description
Technical field
The present invention relates to optical precision manufacture field, in particular to a kind of Magnetorheological Polishing system of processing.
Background technique
With the development of modern science and technology, the optical element being applied in various optical systems is proposed higher and higher
Requirement.Require the optical element of final production that there is high surface figure accuracy, good surface quality and subtract as far as possible under normal conditions
Few sub-surface destroys layer.The image quality that high surface figure accuracy can guarantee, smooth surface can reduce scattering, lower
Sub-surface destroys layer can be to avoid the destruction in high-energy applications.Thus the performance of optical element depends greatly on system
Make process.High-precision finished surface can be obtained by having developed a variety of processing methods, wherein typical processing method has modeling
Property grinding, chemical polishing, floating polishing, elastic emission machining, particle beams polishing, Jet Polishing etc..These processing methods or
Person's polishing efficiency is too low, or generates biggish sub-surface and destroy layer, or polishing is difficult to control, and certain lack is individually present
It falls into.
Magnetorheological fluid be disperse the magnetic-particle of micron-scale in insulation carrier fluid in formed have controllable rheology behavior
Suspension liquid, rheological behavior with externally-applied magnetic field change and change.Magnetorheological fluid is in rheological behavior not plus when magnetic field and common
Newtonian fluid is similar, when by some strength magnetic fields, can generate apparent magnetic rheology effect under the influence of a magnetic field,
Apparent viscosity coefficient increases by 2 orders of magnitude or more, will become the state of similar solid, and after removing magnetic field, and becoming can be with
The liquid of flowing.Magnetic rheology effect under magnetic fields makes magnetic rheological liquid change between liquid and solid-state, has
Reversible, controllable, the advantages of being swift in response.The shear yield stress of magnetorheological fluid is more order of magnitude greater than ER fluid and magnetic current
Becoming liquid has good dynamics and temperature stability, therefore application range is more extensive.
Magnetorheological Polishing module is mainly integrated on cradle-type numerically-controlled machine tool by existing Magnetorheological Polishing machining center, but
Since numerically-controlled machine tool generally realizes movement feeding by linear axis, there are many limits in terms of movement velocity, acceleration and freedom degree
System.
Summary of the invention
In view of this, passing through the sky using mechanical arm the embodiment of the invention provides a kind of Magnetorheological Polishing system of processing
Between six degree of freedom, velocity and acceleration advantage, workbench, which is arranged in, in conjunction with magnetorheological polishing wheel can reduce the load-bearing of mechanical arm,
So that wait operating during processing more flexible for mechanical arm, and the bigger Magnetorheological Polishing of the bigger weight of diameter can be used
Wheel processed so that process more preferably efficiently and high speed, also further improve the whole efficiency of sanding and polishing, meanwhile,
For the same range of work, system cost is far below gantry or cradle-type machining center.
A kind of Magnetorheological Polishing system of processing provided by the invention including mechanical arm, is mounted on described mechanical arm one end
Work fixing device, the workbench with magnetorheological polishing wheel and the magnetorheological circulatory system, the magnetorheological circulatory system is to institute
It states magnetorheological polishing wheel and magnetorheological fluid is provided, the magnetorheological polishing wheel stretches out the workbench, and the Work fixing device exists
The change in location between the magnetorheological polishing wheel is realized under the drive of the mechanical arm.
Optionally, the mechanical arm is the mechanical arm with six degree of freedom.
Optionally, the Work fixing device uses vacuum chuck.
Optionally, the vacuum chuck includes sucker, sucker hoop, connecting tube and vacuum generator, and the sucker passes through
The connecting tube is connected to the vacuum generator, and the sucker hoop is mounted on the end of the mechanical arm and is resisted against the suction
On disk, the vacuum generator is arranged on the mechanical arm.
Optionally, the magnetorheological circulatory system includes fluid reservoir, the blender being arranged in the fluid reservoir, conveying
Pump, recovery pump and circulation supply circuit, the circulation supply circuit include the liquid injection pipe being connected to the fluid reservoir and recovery tube,
The nozzle of the fluid injection pipe end is set and the collector of the recycling pipe end is set, the delivery pump is arranged described
On liquid injection pipe on the liquid injection pipe, the recovery pump is arranged on the recovery tube, the nozzle and collector difference
It is symmetricly set on the mechanical arm of the two sides of the magnetorheological polishing wheel.
Optionally, the nozzle is directed at the edge of the magnetorheological polishing wheel.
Optionally, the nozzle is directed at the tangential direction of the magnetorheological polishing wheel.
Optionally, gap is bonded or had between the collector and the magnetorheological polishing wheel.
Optionally, the telescopic direction of the mechanical arm is parallel with plane where the magnetorheological polishing wheel.
Optionally, the magnetorheological circulatory system further includes pressure flow measuring device, the pressure flow measuring device
It is connected to the liquid injection pipe.
Magnetorheological Polishing system of processing provided by the invention including mechanical arm, is mounted on the workpiece of described mechanical arm one end
Fixed device, the workbench with magnetorheological polishing wheel and the magnetorheological circulatory system, the magnetorheological circulatory system is to the magnetic
Rheology polishing wheel provides magnetorheological fluid, and the magnetorheological polishing wheel stretches out the workbench, and the Work fixing device is described
The change in location between the magnetorheological polishing wheel is realized under the drive of mechanical arm, by how free using the space of mechanical arm
Degree, velocity and acceleration advantage, workbench, which is arranged in, in conjunction with magnetorheological polishing wheel can reduce the load-bearing of mechanical arm, so that mechanical
It is more flexible that arm waits operating during processing, and the bigger magnetorheological polishing wheel of the bigger weight of diameter can be used and added
Work also further improves the whole efficiency of sanding and polishing so that processing is efficiently and quick.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the Magnetorheological Polishing system of processing provided in the embodiment of the present invention.
Appended drawing reference: mechanical arm 1, magnetorheological polishing wheel 2, Work fixing device 3, pedestal 4, workbench 5, workpiece 6.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
Magnetorheologicai polishing liquid principle: the suspension that magnetorheological fluid is made of magnetic-particle, base fluid and stabilizer.It is magnetorheological
It is flowable liquid when magnetic field is not added that effect, which is magnetorheological fluid, and under the action of high-intensity magnetic field, rheological behavior occurs anxious
The phenomenon that acute transformation shows as the property of similar solid, restores its flow behavior when removing magnetic field again.Magnetorheological Polishing skill
Art exactly utilizes the flexibility " small abrasive nose " with glutinous modeling behavior that in gradient magnetic rheology occurs for Magnetorheologicai polishing liquid and is formed
There is quick relative motion between workpiece, make workpiece surface by very big shearing force, to make workpiece surface material quilt
Removal.Magnetorheological Polishing (MRF) is that electromagnetic theory, hydrodynamics, analytical chemistry etc. are applied to optical surface processing and are formed
One complex art.Magnetorheological fluid is a kind of intellectual material, under the influence of a magnetic field, can be realized within the time of 1ms it is solid-
The reversible transformation of liquid two-phase.
A kind of Magnetorheological Polishing system of processing provided by the invention, including mechanical arm 1, it is mounted on described 1 one end of mechanical arm
Work fixing device 3, the workbench 5 with magnetorheological polishing wheel 2 and magnetorheological circulatory system (not shown), the magnetic
The rheology circulatory system provides magnetorheological fluid to the magnetorheological polishing wheel 2, and the magnetorheological polishing wheel 2 stretches out the workbench 5,
The Work fixing device 3 is realizing the change in location between the magnetorheological polishing wheel 2 under the drive of the mechanical arm 1,
I.e. workpiece 6 is polished on magnetorheological polishing wheel 2 under being driven under motor program control by mechanical arm 1, by changing workpiece
Change in location of the workpiece 6 on magnetorheological polishing wheel 2 is realized in the position of fixed device 3, realizes uniform polish, utilizes magnetorheological throwing
Halo 3 carries out material removal, meanwhile, the magnetorheological circulatory system being embedded in workbench 5 realizes the liquid to magnetorheological polishing wheel 2
Body guarantees magnetorheological system worked well for giving circulatory support.
The direction that magnetorheological polishing wheel 2 stretches out the workbench 5 can be side or top, can use in the present embodiment
Magnetorheological polishing wheel 2 stretches out the mode at 5 top of workbench, specifically without limitation.
Using 2 positively fixed type structure of magnetorheological polishing wheel, mechanical arm 1 does not need that magnetorheological polishing wheel 2 is driven to move, and mitigates machine
Tool arm load-bearing can process workpiece using the bigger magnetorheological polishing wheel 2 of the bigger weight of diameter, can be bigger to size
Workpiece polish, and then improve grinding efficiency.
In the present embodiment, mechanical arm 1 is used to that the workpiece 6 on Work fixing device 3 is driven to fix in the workpiece of workbench 5
Processing on device 3, in order to preferably provide a variety of machining angles, mechanical arm 1 can be using the mechanical arm with six degree of freedom
1, the mechanical arm 1 of other freedom degrees can also be selected as needed certainly, Work fixing device 3 may be implemented to Magnetorheological Polishing
The change in location of wheel 2.
Optionally, the Work fixing device 3 uses vacuum chuck, and the material of vacuum chuck can use polyurethane, silicon
Rubber, nitrile rubber or the polymer containing vinyl, sucker made of rubber can be operated at high temperature, be made of silicon rubber
Sucker be very suitable for catching shaggy product, the sucker made of polyurethane is very durable.In addition, in actual production,
If it is required that sucker has oil resistivity, it is contemplated that using the materials such as polyurethane, nitrile rubber or polymer containing vinyl
To manufacture sucker.In general, being preferably selected made of nitrile rubber or silicon rubber to avoid the surface of product from being scratched with wave
The sucker of line pipe, sucker material are manufactured using nitrile rubber, have biggish breaking tenacity, can according to need when in use flexibly
Selection, does not limit this.
The vacuum chuck includes sucker, sucker hoop, connecting tube and vacuum generator, and the sucker passes through the connection
Pipe is connected to the vacuum generator, and the sucker hoop is mounted on the end of the mechanical arm 1 and is resisted against on the sucker, institute
It states vacuum generator to be arranged on the mechanical arm 1, after sucker is connected by adapter tube with vacuum generator, mechanical arm 1 is driven
Sucker is contacted with workpiece 6, starts vacuum generator suction, makes to generate negative pressure in sucker, by workpiece 6 under the action of sucker hoop
It sucks, can start to process workpiece 6, when workpiece 6 is moved to rest area after processing is completed by workpiece 6, smoothly inflate
Into in sucker, make to become zero air pressure or slightly positive air pressure by negative pressure in sucker, sucker is just detached from workpiece 6, to complete work
The fixed function of part 6.
For the structure of the magnetorheological circulatory system, in a kind of embodiment provided by the invention, the magnetorheological circulatory system includes
Fluid reservoir, the blender being arranged in the fluid reservoir, delivery pump, recovery pump and circulation supply circuit, the circulation are supplied back to
Road includes the liquid injection pipe being connected to the fluid reservoir and recovery tube, the nozzle of the fluid injection pipe end is arranged in and is arranged described
The collector of pipe end is recycled, the delivery pump is arranged on the liquid injection pipe on the liquid injection pipe, the recovery pump setting
On the recovery tube, the nozzle and the collector are symmetrically arranged at the machine of the two sides of the magnetorheological polishing wheel 2
On tool arm 1, it is bonded between the collector and the polishing wheel or has gap by using this structure can be by magnetic current
Become liquid and a certain amount of recycling is contacted and can carried out with polishing wheel, meets normal retrofit needs, magnetorheological fluid can also be reduced
Waste.
The magnetorheological circulatory system further includes pressure flow measuring device, and pressure flow measuring device is connected to liquid injection pipe can be with
Measure the pressure flow of the magnetorheological fluid in liquid injection pipe.
In order to preferably magnetorheological fluid is convenient for preferably to contact with magnetorheological polishing wheel 2, the injection direction aligned magnetic of nozzle
The edge of rheology polishing wheel 2, so that the magnetorheological fluid that nozzle sprays directly is contacted with polishing wheel, preferred scheme, nozzle can
To be directed at the tangential direction of magnetorheological polishing wheel 2, it should be noted that the spray angle of nozzle can carry out according to actual needs
Adjustment, does not limit this.
The telescopic direction of mechanical arm 1 is parallel with the 2 place plane of magnetorheological polishing wheel, and mechanical arm 1 can drive workpiece 2
Process operation is carried out on magnetorheological polishing wheel 2, can shorten manipulator motion stroke to a certain extent, improves processing effect
Rate.
Workbench 5 has shell, and inside the housing by the setting of the magnetorheological circulatory system, 2 part of magnetorheological polishing wheel is stretched out
The convenient processing to workpiece 6 of shell, it is preferable that shell can use cube structure, and part magnetorheological polishing wheel 2 is from shell
Top is stretched out.
Magnetorheological Polishing system of processing also has pedestal 4, and mechanical arm 1 may be mounted on pedestal 4, and the pedestal 4 is ground
Face or metal plate, metal plate can be made of cast iron, and workbench 5 can also be mounted on the pedestal 4 together with mechanical arm 1
On, the stability of system is improved, certainly, other forms yet can be used in pedestal 4, specifically without limitation.
Of course for the mobility for improving device, four universal wheels and locking system can also be set on pedestal 4, are convenient for
It carries and fixed, it is to be appreciated that certainly, the other end of mechanical arm 1 can also be carried with mobile platform etc. by ability and those of ordinary skill
Body is fixedly connected, and opposite ground is removable, and ability and those of ordinary skill are it is to be appreciated that specifically without limitation.
Magnetorheological Polishing system of processing provided by the invention including mechanical arm 1, is mounted on the work of described 1 one end of mechanical arm
Part fixes device 3, the workbench with magnetorheological polishing wheel 2 and the magnetorheological circulatory system, and the magnetorheological circulatory system is to institute
It states magnetorheological polishing wheel 2 and magnetorheological fluid is provided, the magnetorheological polishing wheel 2 stretches out the workbench 5, the Work fixing device
3 are realizing the change in location between the magnetorheological polishing wheel 2 under the drive of the mechanical arm 1, by utilizing mechanical arm 1
Space multiple degrees of freedom, velocity and acceleration advantage, workbench, which is arranged in, in conjunction with magnetorheological polishing wheel can reduce holding for mechanical arm
So that mechanical arm waits during processing and operates more flexible and bigger magnetorheological of the bigger weight of diameter can be used in weight
Polishing wheel is processed, so that processing is efficiently and quick, also further improves the whole efficiency of sanding and polishing.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
A kind of Magnetorheological Polishing system of processing provided by the present invention is described in detail above, for this field
Those skilled in the art, thought according to an embodiment of the present invention, there will be changes in the specific implementation manner and application range,
In conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of Magnetorheological Polishing system of processing, which is characterized in that including mechanical arm, be mounted on the workpiece of described mechanical arm one end
Fixed device, the workbench with magnetorheological polishing wheel and the magnetorheological circulatory system, the magnetorheological circulatory system is to the magnetic
Rheology polishing wheel provides magnetorheological fluid, and the magnetorheological polishing wheel stretches out the workbench, and the Work fixing device is described
The change in location between the magnetorheological polishing wheel is realized under the drive of mechanical arm.
2. Magnetorheological Polishing system of processing according to claim 1, which is characterized in that the mechanical arm is free with six
The mechanical arm of degree.
3. Magnetorheological Polishing system of processing according to claim 1, which is characterized in that the Work fixing device is using true
Suction disk.
4. Magnetorheological Polishing system of processing according to claim 3, which is characterized in that the vacuum chuck include sucker,
Sucker hoop, connecting tube and vacuum generator, the sucker are connected to by the connecting tube with the vacuum generator, the suction
Disk hoop is mounted on the end of the mechanical arm and is resisted against on the sucker, and the vacuum generator is arranged in the mechanical arm
On.
5. Magnetorheological Polishing system of processing according to claim 1, which is characterized in that the magnetorheological circulatory system includes
Fluid reservoir, the blender being arranged in the fluid reservoir, delivery pump, recovery pump and circulation supply circuit, the circulation are supplied back to
Road includes the liquid injection pipe being connected to the fluid reservoir and recovery tube, the nozzle of the fluid injection pipe end is arranged in and is arranged described
The collector of pipe end is recycled, the delivery pump is arranged on the liquid injection pipe on the liquid injection pipe, the recovery pump setting
On the recovery tube, the nozzle and the collector are symmetrically arranged at the machinery of the two sides of the magnetorheological polishing wheel
On arm.
6. Magnetorheological Polishing system of processing according to claim 5, which is characterized in that the nozzle alignment is described magnetorheological
The edge of polishing wheel.
7. Magnetorheological Polishing system of processing according to claim 6, which is characterized in that the nozzle alignment is described magnetorheological
The tangential direction of polishing wheel.
8. Magnetorheological Polishing system of processing according to claim 5, which is characterized in that the collector and described magnetorheological
Gap is bonded or had between polishing wheel.
9. Magnetorheological Polishing system of processing according to claim 2, which is characterized in that the telescopic direction of the mechanical arm with
Plane where the magnetorheological polishing wheel is parallel.
10. Magnetorheological Polishing system of processing according to claim 5, which is characterized in that the magnetorheological circulatory system is also
Including pressure flow measuring device, the pressure flow measuring device is connected to the liquid injection pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711068834.6A CN109759905A (en) | 2017-11-03 | 2017-11-03 | A kind of Magnetorheological Polishing system of processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711068834.6A CN109759905A (en) | 2017-11-03 | 2017-11-03 | A kind of Magnetorheological Polishing system of processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109759905A true CN109759905A (en) | 2019-05-17 |
Family
ID=66448900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711068834.6A Pending CN109759905A (en) | 2017-11-03 | 2017-11-03 | A kind of Magnetorheological Polishing system of processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109759905A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621394A (en) * | 2021-03-09 | 2021-04-09 | 湖南工匠实创智能机器有限责任公司 | Magnetic liquid polishing device for optical lens processing |
| WO2021164298A1 (en) * | 2020-02-20 | 2021-08-26 | 中国科学院长春光学精密机械与物理研究所 | Magnetorheological finishing machining system based on mechanical arm |
-
2017
- 2017-11-03 CN CN201711068834.6A patent/CN109759905A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021164298A1 (en) * | 2020-02-20 | 2021-08-26 | 中国科学院长春光学精密机械与物理研究所 | Magnetorheological finishing machining system based on mechanical arm |
| CN113352152A (en) * | 2020-02-20 | 2021-09-07 | 中国科学院长春光学精密机械与物理研究所 | Magnetorheological polishing system based on mechanical arm |
| CN112621394A (en) * | 2021-03-09 | 2021-04-09 | 湖南工匠实创智能机器有限责任公司 | Magnetic liquid polishing device for optical lens processing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101559571A (en) | Method and device for polishing magnetic field auxiliary flexible rotary brush for optical element | |
| CN102672554B (en) | Method and device for polishing small-bore optical element | |
| CN1328007C (en) | Ultrasonic magnetic rheological composite polishing method and polisher thereof | |
| CN111230653A (en) | Novel wheeled gasbag polishing device | |
| WO2021031631A1 (en) | Grinding and polishing apparatus and method supporting controllable force/position and capable of automatically adapting to different surface profiles | |
| CN109746769A (en) | A kind of Magnetorheological Polishing system of processing | |
| US20240123567A1 (en) | Double-sided polishing method for optical lens | |
| CN102689246A (en) | Controllable mix abrasive jet polishing equipment for large-scale ultra-precision optical glass | |
| CN107984306B (en) | Magnetic field remote control vortex flow directional polishing device and polishing method | |
| CN109759905A (en) | A kind of Magnetorheological Polishing system of processing | |
| CN102765044A (en) | Deterministic local physical deliquescing device capable of being applied to polishing KDP (potassium dihydrogen phosphate) crystal as well as polishing method thereof | |
| CN111230652A (en) | Air pressure controllable flexible grinding and polishing system | |
| CN108044495B (en) | Directional polishing device and method for magnetic field remote control tool | |
| CN113561047A (en) | Method and device for compound polishing of inner surface of hole | |
| CN104148993B (en) | Miniature capillary inner hole grinder | |
| WO1994004313A1 (en) | Magnetorheological polishing devices and methods | |
| CN109746814A (en) | A kind of Magnetorheological Polishing system of processing | |
| CN104308691A (en) | Circulating optical lens polishing equipment | |
| CN207387244U (en) | A kind of Magnetorheological Polishing system of processing | |
| CN210549951U (en) | Electrorheological fluid auxiliary ultrasonic polishing device | |
| CN207387243U (en) | A kind of Magnetorheological Polishing system of processing | |
| CN108723993A (en) | The air bag flexibility polishing tool for degree of freedom of doing more physical exercises | |
| CN207387245U (en) | A kind of Magnetorheological Polishing system of processing | |
| CN115401530B (en) | Shape-controlled flexible polishing method for microarray die | |
| CN215789037U (en) | Vibration-assisted magnetic shear thickening and polishing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |