CN1028330C - fluid pressure actuator - Google Patents
fluid pressure actuator Download PDFInfo
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- CN1028330C CN1028330C CN 93120638 CN93120638A CN1028330C CN 1028330 C CN1028330 C CN 1028330C CN 93120638 CN93120638 CN 93120638 CN 93120638 A CN93120638 A CN 93120638A CN 1028330 C CN1028330 C CN 1028330C
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- fluid pressure
- driving device
- elastic shell
- pressure driving
- oil
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- 239000012530 fluid Substances 0.000 title claims abstract description 44
- 238000004519 manufacturing process Methods 0.000 claims abstract description 11
- 239000010410 layer Substances 0.000 claims description 34
- 238000007789 sealing Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 229910000639 Spring steel Inorganic materials 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 150000001875 compounds Chemical group 0.000 claims description 6
- 239000002131 composite material Substances 0.000 claims description 5
- 239000002356 single layer Substances 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 3
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 59
- 238000003801 milling Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention relates to a novel fluid pressure actuating device (which can be called a piston-free oil cylinder) with small axial dimension and small working stroke. It generally includes, oil inlet and outlet, oil through hole, at least one pressure chamber, rigid housing and at least one elastic housing. Compared with the prior art, the device has the advantages of simple structure, easy manufacture, convenient installation and use and the like. The device is particularly suitable for working occasions with narrow installation vacant sites, large output force values or special requirements on direction and size adjustment of the output force.
Description
The present invention relates to a kind of fluid pressure driving device.Especially a kind of axial dimension is little, and the fluid pressure driving device that working stroke is less is continued to use the engineering custom, can be called " no piston oil (gas) cylinder ".Because it does not have piston and piston rod, therefore it is narrow and small to be particularly suitable for installing space, the ouput force value is used greatly or to the direction and big or small the adjustment in the workplace that specific (special) requirements is arranged of ouput force, as be used for substituting milling train depress (pushing to) oil cylinder, the gap control that is used for bearing and special bearing pin is used for the gap control of joint of robot or the wear compensation of mould etc.
Do straight-line hydrodynamic pressure executive component in the prior art and mainly contain hydraulic jack and cylinder.Fig. 1 shows the structure of a typical engineering oil cylinder.This oil cylinder (comprising cylinder) generally comprises cylinder body, piston, piston seal, piston guide element, piston rod, cylinder cap, piston rod director element, rod seal and dust ring etc.Be subjected to himself structural limitations, this oil cylinder part is more, the high and easy care not of manufacture cost, and particularly its axial dimension is bigger, and very little and only need under the situation of very little working stroke at installing space, this oil cylinder often can't use.Fig. 2 shows the hydraulic pressure depress oil cylinder mounting structure figure of the high precision plates hoop mill of China's the seventies introduction.It is 975mm that this milling train is depressed control oil cylinder height overall, and the stroke that really is used for rolling work has only 3-5mm, and fine setting is rolled in the process and had only below the 0.3mm.This shows, little stroke work with oil cylinder on because the needed axial requisite space of oil cylinder self, the rolling-mill housing height is increased, the stress line of frame increases, thereby the frame overall dimensions is strengthened, manufacture cost and production maintenance cost increase.
In addition, in milling train,, all gapped between rolling-mill housing and the work-roll chock in order to make the needs of roll turnover frame and rolling motion.But this gap has brought adverse effect but for the raising of rolling accuracy.Available existing cylinder can't address this problem, because there is not the spatial position that existing oil cylinder is installed.
Existing oil cylinder, no matter be that piston cylinder or plunger case all exist the motion sealing wear and cause leakage problem, in let out or leak and all will influence oil cylinder proper functioning and befouling environment.
One object of the present invention is to overcome the defective that the hydrodynamic pressure executive component exists in the prior art, and a kind of pressure actuated device of novel fluid that does not have piston and piston rod is provided, and its axial dimension is little, and working stroke is less.
Another object of the present invention provides the control easily of a kind of ouput force value size, the fluid pressure driving device that the direction of ouput force can change as required.
A further object of the present invention provides a kind of fluid pressure driving device that is used for adjustment, control and the compensation of intermediate gap, various workplace, it can be applied on modern machines people's the joint, also bearing, bearing pin or transmission shaft can be used for, the formpiston of various moulds can also be used for.
The object of the present invention is achieved like this: a kind of fluid pressure driving device, comprise oil inlet and outlet, oil through, at least one pressure chamber, stiff case and at least one elastic shell, described oil inlet and outlet and oil through be located on the stiff case or the inoperative zone of elastic shell on, the working surface of described elastic shell is of similar shape or different shapes with the bearing surface of stiff case.Described stiff case and elastic shell form sealing configuration at nonclient area.Be provided with logical oil groove between stiff case supporting surface and elastic shell working surface, described logical oil groove is connected with pressure chamber.Described pressure chamber forms between stiff case and elastic shell.Be provided with elastically deformed layer between the working surface of described elastic shell and the elastic shell of sealing configuration; This layer can be a single layer structure, also can be multi-layer compound structure, and this layer constitutes the part of pressure chamber.The working surface of described elastic shell is the plane.The working surface of described elastic shell is the annular surface about the axis symmetry.The working surface of described elastic shell is a barrel surface.The working surface of described elastic shell is hemisphere face or spherical calotte or sphere.The working surface of described elastic shell is non-quadratic curve surface.Described elastic shell is an elastically deformed layer, and this deforming layer can be a single layer structure, also can be multi-layer compound structure.Described elastic shell is by the alloy material or the composite material manufacturing of spring steel or good springiness, and described stiff case can be by plain carbon steel or spring steel manufacturing.Described sealing configuration is the permanent type sealing.Can setting pressure sensor and displacement transducer on this device.This fluid pressure driving device is used for the plate mill band to be used as depress oil cylinder.This fluid pressure driving device can be used for the gap adjustment of bearing pin, also can be used for the braking of transmission shaft.This fluid pressure driving device can be used for the joint prosthesis of robot.This fluid pressure driving device can be used for the wear compensation of mechanical friction pair, also can be used for the die wear compensation.
Fluid pressure driving device of the present invention (or being called no piston oil-cylinder) is compared with hydrodynamic pressure executive component of the prior art (oil cylinder or cylinder), has following characteristics:
1, do not have parts such as piston, piston rod and piston seal, have simple in structure, be easy to make, advantage easy to install, and do not need to safeguard and maintenance.
2, axial dimension is very little, and its axial dimension is existing below 1/3rd of oil cylinder axial dimension, or even below 1/10th.
3, the working stroke of fluid pressure driving device of the present invention is very little, generally 5 to 10mm, be particularly suitable for using in working stroke is the workplace of 3-0.001mm, and its ouput force value is far longer than existing oil cylinder under the per unit volume.
4, do not have motive sealing, do not have problems such as sealing wear and leakage, its static seal can be designed to the permanent type seal form, as welded seal, thereby its long service life.
5, fluid pressure driving device of the present invention not only has the power value output of linearly displacement, and can export load along axisymmetric curved surface output load or along the sphere with the round dot symmetry, even can be along the surface output load of non-quadratic curve.
6, because the These characteristics of fluid pressure driving device of the present invention, so its application is very extensive, for example:
(1) is used for substituting the hydraulic pressure depress oil cylinder of milling train, can reduces the rolling-mill housing size and shorten the rolling stress line, reduced the milling train manufacture cost;
(2) be used for the gap control and the adjustment of bearing pin and bearing;
(3) the prestressed control and the adjustment at ball ring place;
(4) be used for fastening device, as hydraulic nut;
(5) be used for the joint prosthesis of robot, joint prosthesis of the prior art and joint shaft bearing generally are Spielpassung, and these fit tolerances accumulate and just brought transmission error in the power transmittance process.Even transition fit and interference fit, also there is the clearance issues after wearing and tearing, adopt device of the present invention just can address this problem, in actuator of the present invention, by to the control of pressure P, just can adjust gap and specific pressure between the joint prosthesis according to actual demand.
With reference to the accompanying drawings embodiments of the invention are further described.
Fig. 1 is the generalized section of typical engineering oil cylinder in the prior art;
Fig. 2 is that the hydraulic pressure depress oil cylinder is installed in structural representation on the strip-mill strip frame in the prior art;
Fig. 3 is the sectional structure chart of fluid pressure driving device of the present invention, also is first embodiment of the present invention;
Fig. 4 is the mounting structure schematic representation of the hydraulic pressure depress oil cylinder in the fluid pressure driving device alternate figures 2 among Fig. 3;
Fig. 5 is the sketch of the second embodiment of the present invention, and the difference of itself and Fig. 3 is that elasitic layer is the multilayer material composite structure; And material can be that the unlike material sum total forms;
Fig. 6 is the generalized section of the third embodiment of the present invention; The difference of itself and Fig. 3 is that it is made up of two elastic shells, to increase working stroke;
Fig. 7 is the generalized section of the fourth embodiment of the present invention;
Fig. 8 is the generalized section of the fifth embodiment of the present invention;
Fig. 9 is the generalized section of the sixth embodiment of the present invention;
Figure 10 is the generalized section of the seventh embodiment of the present invention;
Figure 11 is the generalized section of the eighth embodiment of the present invention;
Figure 12 is the generalized section of the ninth embodiment of the present invention;
Figure 13 is the generalized section of the tenth embodiment of the present invention;
Figure 14 is the generalized section of the 11st embodiment of the present invention;
Among the figure: mechanical seal 1; Pressure chamber 2,22,32,42; Elastically deformed layer 3,23,33,43; Displacement transducer 4; Pressure-bearing pad 5; Displacement transducer sealing 6; Elastic shell 7,27,37,47,57,67,77,87,97; Guiding mating face 8; Pressure transducer 9; Stiff case 10,20,30,40,50,60,70; Logical oil groove 11; Pressure transducer oil through 12; Blanking cover 13; Circular groove 14; Oil through 15; Oil inlet and outlet 16; Rolling-mill housing 25; Pressure-bearing body 100,200,300,400,500,600,700,800;
Referring to Fig. 3 and Fig. 4, particularly Fig. 3 the fluid pressure driving device of the present invention detailed structure of (or claiming no piston oil-cylinder) is shown.It generally is made up of elastic shell 7 and stiff case 10 two large divisions, and the diameter of the working surface of elastic shell 7 part is by φ 2 expressions among the figure, and the diameter of stiff case 10 is by φ 1 expression.Oil inlet and outlet 16 and oil through 15 are all opened on stiff case 10, and annular oil groove 14 is between elastic shell 7 and stiff case 10, and annular oil groove 14 is communicated with through logical oil groove 11 with pressure chamber 2.Pressure chamber 2 is provided with the radial outside of elastic shell 7, its outer wall is an elastically deformed layer 3, the outside of elastically deformed layer 3 still is the part of elastic shell 7, the part of it and stiff case 10 forms mechanical seal 1, this sealing both can be sealed-for-life, as welding, also can be replaceable sealing.Pressure-bearing pad 5 is fixed on the outer surface of elastic shell 7.Pressure transducer 9 and displacement transducer 4 make the servo-cylinder of actuator of the present invention and prior art have identical functions.Therefore device of the present invention can be used for milling train shown in Figure 4 and depresses in the control, substitutes existing hydraulic pressure and depresses servo-cylinder.Pressure chamber 2 can make the more stable and difficult generation vibration of control system.When pressure oil P is entered in the annular oil groove 14 through oil through 15 by oil inlet and outlet 16, and the logical oil groove 11 of warp enters pressure chamber 2, and act on the inwall of whole elastic shell 7, because elastically deformed layer 3 is thinner, produce resiliently deformable under pressure earlier, thereby elastic shell forms less displacement, along under the direction ouput force of arrow indication among the figure.
Fig. 5 shows the structural representation sketch of the second embodiment of the present invention, is elastically deformed layer 23 with unique difference of fluid pressure driving device among Fig. 3.Elastically deformed layer 3 among Fig. 3 is a single layer structure, and processing is simple, but withstand voltage low under equal deformation displacement; And the elastically deformed layer 23 among Fig. 5 is multi-layer compound structure (being at least two-layer), multi-layer structure compression resistance height, and amount of deformation is big, the life-span is long but processing wants complicated.
Fig. 6 is the third embodiment of the present invention, and its axial dimension is littler, and the radially inner side of its axial two relative directions is elastic shell 27, is stiff case 30 and radial outside comprises the part that passes in and out oilhole 15.
Fig. 7 is the 4th embodiment of the present invention, and Fig. 8 is the 5th embodiment of the present invention.Its elastically deformed layer 33 is axisymmetric annular surface, pressure oil P enters oil through 15 through oil inlet and outlet 16, enter pressure chamber 22 through logical oil groove, and be full of space between the elastically deformed layer 33 on stiff case 40 and the elastic shell 37, under the effect of pressure fluid, outwards produce distortion along full annular curved surface 33, thereby pressure-bearing body 100 is applied active force, this active force is uniform along the full annular curved surface.The difference of Fig. 7 and Fig. 8 only is that workpiece 100 is one-sided and is annular surface, and the bilateral of pressure-bearing body 200 all is an annular surface, thereby the fluid pressure driving device among Fig. 8 has the elastically deformed layer 33 of two symmetries.These two embodiments all can be used in the bearing gap control and to the real curved surface load that adds of curved surface.
Fig. 9 is the 6th embodiment of the present invention, its pressure-bearing body 300 that applies active force is a circular port, fluid pressure driving device becomes a cylindrical body, pressure oil P enters the pressure chamber 22 of annular through oil through 15 from oil inlet and outlet 15, build-up pressure between stiff case 40 and elastic shell 47, make elastic shell 47 produce resiliently deformable, thereby pressure-bearing body 300 is applied directed force F along whole periphery.This embodiment can be used for the bearing pin assembling of special occasions and the gap compensation after the wearing and tearing.For the occasion of bad installation, can squeeze into the high pressure oil rising then earlier with (gapped assembling) in the pivot pin load hole, form stationary fit.Adopt any special measures also can compensate at any time the gap that occurs because of wearing and tearing like this with in the High-pressure oil sealing oil through and do not leak.
Figure 10 is the 7th embodiment of the present invention, and its pressure-bearing body 400 is a cylindrical body, and as transmission shaft, and elastic shell 57 is a circle hole shape, and cylindrical pressure-bearing body 400 is inserted in the above-mentioned circular hole.The same among annular pressure chamber 22 and Fig. 9, after pressure oil P entered pressure chamber 22, elastic shell produced resiliently deformable, to the pressure-bearing body with produce active force and hold tightly down and with it.Present embodiment can be used for the braking of transmission shaft (as automobile, a car etc.).
Figure 11 is the 8th embodiment of the present invention, and Figure 12 is the 9th embodiment of the present invention.Pressure-bearing body one side among Figure 11 is that sphere curved surface pressure-bearing body 600, one sides are flat face pressure-bearing body 500.Therefore, the working surface of elastic shell 67 and the even sphere of the supporting surface of corresponding stiff case 50, pressure oil P enters oil through 15 from oil inlet and outlet 16, enter at last in the annular pressure chamber 32 through logical oil groove, and build-up pressure in the gap between the sphere of elastic shell 67 and stiff case 50, make elastic shell 67 produce resiliently deformable (being micro-displacement), thereby pressure-bearing body 600 is applied directed force F.The 9th embodiment and Figure 11 among Figure 12 are basic identical, difference is that its bilateral pressure-bearing body is spherical pressure bearing body 600, therefore, also have elastic shell 77, under the effect of pressure oil P, all produce resiliently deformable and pressure-bearing body 600 is applied active force at 22 side spheres at opposite side.The the 8th and the 9th above-mentioned embodiment can be used for the adjustment of ball pad intermediate gap.
Figure 13 is non-conicoid for the internal surface of the of the present invention ten embodiment, its pressure-bearing body 700, therefore, the working surface 43 of elastic shell 87 and the bearing surface of stiff case 60 also are corresponding non-conicoid shape, the same in its working method and the foregoing description, different is that working surface 43 is actually elastically deformed layer, it can be an individual layer, but multi-layer structure preferably can bear higher pressure.This embodiment can be adopted by the formpiston working surface in the various moulds, and under the less demanding situation of quality of fit, the gap of causing after its compensating mold wearing and tearing at any time makes the shape of molded product keep higher conformity and symmetry properties.
Figure 14 is an eleventh embodiment of the invention, and this embodiment can be used on the joint prosthesis of robot, its stiff case 70 and elastic shell 97 for spherical shape close by the concave surface in joint 800 institute around.When pressure fluid P after oil inlet and outlet 16 and oil through 15 enter the Spherical Clearance between stiff case 70 and the elastic shell 97 and are full of pressure chamber 42, elastic shell 97 pressurizeds produce distortion and the sphere shape concave surface in joint 800 are produced squeezing action, size by external world's control fluid pressure P, the size of may command gap value and the size of extruding force, this point has very important significance in the joint of robot based on the carrying article.
Pressure fluid can be gas and liquid (hydraulic oil) in above-mentioned the first to the 11 embodiment.The working surface of elastic shell can be an individual layer, also can be multi-layer compound structure (elastic composite layer).Static seal in the foregoing description can be permanent type sealing (as welded seal), also can be other form sealing.Described stiff case is generally by steel or also available other rigid material of spring steel manufacturing, and elastic shell is generally by spring steel or extraordinary alloy of other elasticity or composite material manufacturing.In some special occasions, device of the present invention can disposable use and is made elastic shell produce expendable plastic deformation.
Claims (17)
1, a kind of fluid pressure driving device, it is characterized in that: it comprises oil inlet and outlet, oil through, at least one pressure chamber, stiff case and at least one elastic shell, described oil inlet and outlet and oil through be located on the stiff case or the inoperative zone of elastic shell on, that be of similar shape or the different shapes with the bearing surface of stiff case of the working surface of described elastic shell, described stiff case and elastic shell form sealing configuration at nonclient area.
2, a kind of fluid pressure driving device as claimed in claim 1 is characterized in that: be provided with logical oil groove between stiff case supporting surface and elastic shell working surface, described logical oil groove is connected with pressure chamber.
3, a kind of fluid pressure driving device as claimed in claim 1, it is characterized in that: described pressure chamber forms between stiff case and elastic shell.
4, as claim 1 or 3 described a kind of fluid pressure driving devices, it is characterized in that: be provided with elastically deformed layer between the working surface of described elastic shell and the elastic shell of sealing configuration; This layer can be a single layer structure, also can be multi-layer compound structure, and this layer constitutes the part of pressure chamber.
5, a kind of fluid pressure driving device as claimed in claim 1, it is characterized in that: the working surface of described elastic shell is the plane.
6, a kind of fluid pressure driving device as claimed in claim 1 is characterized in that: the working surface of described elastic shell is the annular surface about the axis symmetry.
7, a kind of fluid pressure driving device as claimed in claim 1, it is characterized in that: the working surface of described elastic shell is a barrel surface.
8, a kind of fluid pressure driving device as claimed in claim 1 is characterized in that: the working surface of described elastic shell is hemisphere face or spherical calotte or sphere.
9, a kind of fluid pressure driving device as claimed in claim 1 is characterized in that: the working surface of described elastic shell is non-quadratic curve surface.
10, as arbitrary described a kind of fluid pressure driving device in the claim 5 to 9, it is characterized in that: described elastic shell is an elastically deformed layer, and this deforming layer can be a single layer structure, also can be multi-layer compound structure.
11, cause device as arbitrary described a kind of hydrodynamic pressure in the claim 1 to 9, it is characterized in that: described elastic shell is by the alloy material or the composite material manufacturing of spring steel or good springiness, and described stiff case can be by plain carbon steel or spring steel manufacturing.
12, a kind of hydrodynamic pressure as claimed in claim 1 causes device, it is characterized in that: described sealing configuration is the permanent type sealing.
13, a kind of hydrodynamic pressure as claimed in claim 5 causes device, it is characterized in that: can setting pressure sensor and displacement transducer on this device.
14, a kind of hydrodynamic pressure as claimed in claim 1 causes device, it is characterized in that: this fluid pressure driving device is used for the plate mill band to be used as depress oil cylinder.
15, a kind of fluid pressure driving device as claimed in claim 7 is characterized in that: this fluid pressure driving device can be used for the gap adjustment of bearing pin, also can be used for the braking of transmission shaft.
16, a kind of fluid pressure driving device as claimed in claim 1, it is characterized in that: this fluid pressure driving device can be used for the joint prosthesis of robot.
17, a kind of fluid pressure driving device as claimed in claim 1 is characterized in that: this fluid pressure driving device can be used for the wear compensation of mechanical friction pair, also can be used for the die wear compensation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 93120638 CN1028330C (en) | 1993-12-10 | 1993-12-10 | fluid pressure actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 93120638 CN1028330C (en) | 1993-12-10 | 1993-12-10 | fluid pressure actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1092506A CN1092506A (en) | 1994-09-21 |
| CN1028330C true CN1028330C (en) | 1995-05-03 |
Family
ID=4993388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 93120638 Expired - Fee Related CN1028330C (en) | 1993-12-10 | 1993-12-10 | fluid pressure actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1028330C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0810391D0 (en) | 2008-06-06 | 2008-07-09 | Isentropic Ltd | Fluid servo and applications |
-
1993
- 1993-12-10 CN CN 93120638 patent/CN1028330C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1092506A (en) | 1994-09-21 |
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Address after: No. 72 West Fourth Ring Road, Beijing Patentee after: AUTOMATION RESEARCH AND DESIGN INSTITUTE OF METALLURGICAL INDUSTRY Address before: Hydraulic room 84, Fengtai Road, Beijing Patentee before: AUTOMATION INST MINISTRY OF ME |
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Effective date of registration: 20081212 Address after: No 72, South Fourth Ring Road, Beijing, Fengtai District Patentee after: BEIJING JINZI TIANCHENG HYDRAULIC TECHNOLOGY Co.,Ltd. Address before: No. 72 West Fourth Ring Road, Beijing Patentee before: AUTOMATION RESEARCH AND DESIGN INSTITUTE OF METALLURGICAL INDUSTRY |
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Owner name: BEIJING JINZI TIANCHENG HYDRAULIC TECHNOLOGY CO.,L Free format text: FORMER OWNER: RESEARCH AND DESIGN INSTITUTE OF METALLURGICAL AUTOMATION Effective date: 20081212 |
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