CN103742198A - Micro swing type monopropellant engine - Google Patents
Micro swing type monopropellant engine Download PDFInfo
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- CN103742198A CN103742198A CN201310742717.9A CN201310742717A CN103742198A CN 103742198 A CN103742198 A CN 103742198A CN 201310742717 A CN201310742717 A CN 201310742717A CN 103742198 A CN103742198 A CN 103742198A
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Abstract
The invention provides a micro swing type monopropellant engine, which comprises a fuel tank, an electronic control unit, a catalytic device, a swing type engine, a fuel distributing valve, a gas exhausting check valve and a muffler, wherein a hydrogen peroxide solution of high concentration is used as a fuel, the electronic control unit controls the fuel flow valve to provide the fuel to the specified catalytic device, high temperature and high pressure gas is generated by decomposing the fuel through catalytic reaction and acts upon a central swing of the swing type engine, so that direct output or electric energy output of swing power is realized. The micro swing type monopropellant engine provided by the invention has the advantages of high integration of work modes, simple structure, convenience in control, high energy density and the like and is applicable to energy supply devices in various anoxic or oxygen-free environments such as outer space, polar regions, plateaus, drilling platforms or underwater.
Description
Technical field
The present invention relates to a kind of monopropellant engine, particularly a kind of miniature pendulum monopropellant engine of high-strength hydrogen peroxide as fuel that adopt.
Background technique
Liquid carbon hydrogen fuel energy density is high, and the energy density that hydrocarbon stores is approximately 40～50MJ/kg, and hydrocarbon liquid fuel micro internal combustion engine power generation system should be desirable power supply unit.But because micro internal combustion engine mixed gas forms, combustion process tissue difficulty, oil supply and ignition system complexity, causes its portable poor, inefficiency, and this remains the shortcoming that present stage is difficult to overcome.
Hydrogen peroxide can fast decoupled be water vapour and oxygen under catalyst action, discharges a large amount of heat energy.Decomposition process is without air amount, and decomposition product without any pollution, is regarded as green energy resource to environment.If by H different 1mol concentration
2o
2solution, chemical formulation is H
2o
2mH
2o, the chemical equation of its catalytic decomposition is as follows:
H
2O
2+mH
2O→(1+m)H
2O+0.5O
2
According to chemical equation, to the HTP solution of concentration 90%, under catalyst action, while being decomposed into oxygen and water vapour completely, will discharge the higher calorific value heat of 2.6MJ, the lower calorific value energy that can be exchanged into mechanical work is about 1.2MJ/kg.By the HTP solution of analytical calculation 90%, its mass energy density is 282W.h.kg
-1.And the mass energy density of the energy storage devices such as lead-acid battery, nicad battery, lithium ion battery is respectively: 40W.h.kg
-1, 30～50W.h.kg
-1, 120W.h.kg
-1, in contrast, the mass energy density of HTP has clear superiority.This HTP fuel is after catalytic decomposition, and the hydrogen peroxide decomposition temperature that the high temperature producing is about 1000K90% is 750 ℃, and mixed gas product is only comprised of oxygen and water vapour, does not produce any pollutant effulent.
Therefore, a lot of countries have carried out the powerplant research using hydrogen peroxide as " fuel " in succession.Research hydrogen peroxide list constituent element miniature pendulum engine device, to solving mobile electronic device powerup issue, has important theory significance and using value.
Miniature pendulum internal combustion engine, is the mode swinging in chamber with a pendulum members, fuel chemical energy is changed into the small power source apparatus of mechanical energy.Have simple in structurely, be beneficial to MEMS(Micro-electromechanical Systems) plane structure changed, directly output reciprocating motion.Compared with conventional curved shaft type internal-combustion engine, without cam mechanism, complicated relief opening mechanism, without the mixing of fuel and air, compression stroke, igniting or injection timing; Without starting arrangement as motor and starting, idle running and idling process; A compression ratio control difficult problem has not existed; Without ignition timing and complicated air flue, gas port design; On plateau, work under water and in the environment of the various anoxics such as space or anaerobic, accommodation is wide.
Power plant take single constituent element as " fuel " were subject to extensive concern both domestic and external in recent years, and many scientific research institutions have all carried out the research of the energy as an alternative by HTP in engineering and civil area.Although the monopropellant engine structural type of developing is different, studies by proving test, all drawn a same conclusions, that is: using monoreactant chemical, replacing the mineral fuel such as gasoline is feasible as the power that drives motor.
Because single constituent element power source system belongs to a class new special motor, research relates to the multi-door subjects such as engineering thermodynamics, applied chemistry, fluid mechanics, thermal conduction study, material, control technique, is worth the content of research a lot.Research at present concentrates on the confirmatory study aspect of principle prototype mostly, develop the monopropellant engine of function admirable, still has many key scientific problems to need to solve.Monoreactant chemical catalysis and with the matching relationship of monopropellant engine performance characteristic, impact and the evaluation of monopropellant engine fuel concentration, control strategy efficiency, energy and the specific power on electric load system, monopropellant engine dynamics and transformation of energy, flow and distribute rule etc. all to need scientific circles' further investigated.Therefore, overcome the above problems and there is important theory significance, such application of installation is had to more important Contribution To Science in national defence and national demand.
But there is following technical problem in the miniature pendulum motor of prior art:
(1) former miniature pendulum motor is to design according to internal combustion mode, and structure is followed air inlet, compression, work done, the exhaust Four processes of conventional internal-combustion engine; And single constituent element pendulum engine is reduced to work done and two processes of exhaust, although be only two processes, but the realization of process is difficult all the better, during certain working room work done, wish that back pressure is as far as possible little, expansion space stroke is long as far as possible, but this depends on momentum and swept volume that catalytic bed produces, needs to be studied with catalytic bed parameter matching characteristic rule; The compression process of former internal-combustion engine is ready-made is backhaul exhaust process, because expansion space stroke is elongated, in exhaust process, but there is no the free exhaust stage, and whole process is forced exhaust, so wish that whole exhaust process realizes zero back pressure exhaust.But when exhaust finishes, expect residual certain waste gas in working room, form air cushion in order to avoid center pendulum produces and clashes into cylinder body.So, grasp miniature single constituent element pendulum engine discharge characteristic, even more important in theory, this process depends on exhaust timing, clearance volume, compression ratio, coefficient of residual gas etc.Although pendulum type monopropellant engine principle prototype existing people propose, this key issue is unmanned answer so far.
(2) the mating of the coupling matching of miniature pendulum monopropellant engine work done unit and propellant spray unit, flow distribution reversing valve and work done sequential, power output and quality load and electric load coupling adjusting etc.These inter-module performance parameter coupling matchings are keys of setting up system optimization matching scheme and mathematical model.Matching relationship between these inherent parameters, still lacks system analysis.
(3) object of studying this system is the energy supply problem that will solve mobile electronic device, so the integrated of system is inevitable to microminiaturized development trend.Still the Study on Integrated that lacks at present hydrogen peroxide catalyzed device, flow-distributing valve, outlet valve and pendulum engine, the structural issue running in integrating process receives publicity not yet.
Summary of the invention
Main purpose of the present invention is under prior art condition, a kind of miniature pendulum monopropellant engine is proposed, its have simple in structure, specific power is large, safe and reliable, control the advantages such as convenient, be specially adapted to space, polar region, plateau, drill platform or the power supply in various anoxics or oxygen-free environment such as under water.
Miniature pendulum monopropellant engine of the present invention, it comprises fuel pot, ECU (Electrical Control Unit), catalysis device, pendulum engine, fuel flow-distributing valve, exhaust check valve and baffler.Fuel pot upside is provided with fuel adding mouth, high-speed electromagnetic valve and pressure gauge, and its downside outlet end is provided with fuel emergency drain valve and fuel flow-distributing valve, and fuel flow-distributing valve outlet end is connected with the catalysis device of the cylinder body left and right sides respectively by pipeline.When the fuel flow with initial pressure is during through fuel flow-distributing valve, ECU (Electrical Control Unit) is by its commutation of intelligent control, to specific catalysis device supply fuel.
Above-mentioned miniature pendulum monopropellant engine, pendulum engine is comprised of parts such as cylinder body, transmission shaft and center pendulum; In the middle of cylinder body, be processed with symmetrical fan-shaped inner chamber, center pendulum is divided into the active chamber (A, B, C, D) of four variable volume, and active chamber (A, C) forms respectively one group of power cavity with active chamber (B, D).The relief opening corresponding with four active chambers in the upper and lower bi-side of cylinder body is externally connected with exhaust check valve, and exhaust check valve relief opening is connected with baffler; In suction port corresponding to four active chambers, embed respectively catalysis device, by the high temperature and high pressure gas of its generation, can, along the direct spirt active chamber of inboard wall of cylinder block, promote center rotation moving.Between the center pendulum of pendulum engine and cylinder body, be designed with face seals, seal arrangement is comprised of spring, needle roller and thimble, and needle roller is that line contacts with inboard wall of cylinder block.
Fuel pot upside pressure gauge pressure sensor is connected with the respective input of ECU (Electrical Control Unit) with four active chambers (A, B, C, D) pressure sensor output terminal, and Real-Time Monitoring fuel pot and each active chamber pressure change; The control end of exhaust check valve, fuel flow-distributing valve and fuel emergency drain valve is connected with the corresponding output end of ECU (Electrical Control Unit) respectively, has the whole engine operation of ECU (Electrical Control Unit) control, and the frequency of okperation of pendulum engine equals the switching frequency of fuel flow-distributing valve.
Monopropellant engine of the present invention, take high concentration high-strength hydrogen peroxide solution as fuel, decomposes the high temperature and high pressure gas producing as the power that drives engine operation by catalysis device using fuel catalytic, without igniting, oil spout and starting drive, simple and reliable for structure.Due to this motor have mode of operation height integrated, simple in structure, control convenient, energy density advantages of higher, the power supply in particularly suitable space, polar region, plateau, drill platform or the various anoxics such as or oxygen-free environment under water.
This miniature pendulum monopropellant engine starting and stopping control is easy, simple to operate.Compared with traditional combustion engine, without warm cylinder process, starting easily; Control unit cuts off solenoid valve, and motor shuts down immediately; Open fuel control valve, motor can start immediately, and single stroke is controlled, and motor entirety is controlled flexibly.Without starting, idle running and idling process, energy conversion efficiency is high.
The long working life of this miniature pendulum monopropellant engine, noise is little, and energy transformation ratio is high.Between the center pendulum of motor and casing wall, be rolling friction, without lateral force, frictional loss reduces, and the operation cycle is long.The robustness of control system is good.When exporting electric energy by generator, the ac frequency of output equates with the frequency of okperation of motor, can be controlled by ECU (Electrical Control Unit) (ECU).
Accompanying drawing explanation
Fig. 1 is the systematic schematic diagram of miniature pendulum monopropellant engine;
Fig. 2 is pendulum engine structural drawing;
Fig. 3 is the sectional view of pendulum engine;
Fig. 4 is the front view of catalysis device;
Fig. 5 is the sectional view of catalysis device;
Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 are miniature pendulum cluster engine process chart.
Wherein: 19 key 20 active chamber 21 front end housing 22 front cover 23 back cylinder cover 24 rear end cover 25 clamping bolt 26 plunger body 27 extrusion chamber 28 plunger 29 gas nozzle 30 fuel channel 31 sliding sleeve 32 seal ring 33 catalysis silver net 34 plunger valve pocket 35 gas spray orifice 36 center holes are put at 1 fuel pot 2 fuel adding mouth 3 high-speed electromagnetic valve 4 pressure gauge 5 ECU (Electrical Control Unit) 6 catalysis device 7 baffler 8 pendulum engine 9 generator 10 angle transducer 11 consumer 12 fuel flow-distributing valve 13 fuel emergency drain valve 14 cylinder body 15 transmission shaft 16 exhaust check valve 17 seal arrangement 18 centers
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 illustrates the System Working Principle of miniature pendulum monopropellant engine disclosed by the invention.This miniature pendulum monopropellant engine comprises monoreactant chemical tank 1, pendulum engine 8, fuel flow-distributing valve 12, catalysis device 6, angle transducer 10 and ECU (Electrical Control Unit) (ECU) 5.Fuel pot 1 upside is provided with fuel adding mouth 2, high-speed electromagnetic valve 3 and pressure gauge 4, its downside outlet end is provided with fuel emergency drain valve 13 and fuel flow-distributing valve 12, and fuel flow-distributing valve 12 outlet end are connected with cylinder body 14 left and right sides catalysis devices 6 of pendulum engine 8 respectively by pipeline.The output of the pressure transducer in pressure gauge 4 is connected to the respective input of ECU (Electrical Control Unit) 5, and the control end of fuel flow-distributing valve 12 and fuel emergency drain valve 13 is connected with the corresponding output end of ECU (Electrical Control Unit) 5 respectively.Pendulum engine 8 is comprised of parts such as cylinder body 14, transmission shaft 15He center pendulum 18; In the middle of cylinder body 14, be processed with symmetrical fan-shaped inner chamber, center pendulum 18 is divided into active chamber 20(A, B, C, the D of four variable volume), active chamber 20(A, C) with active chamber 20(B, D) respectively form one group of power cavity.Four active chamber 20(A, B, C, D) in pressure transducer is housed respectively, sensor output terminal is connected with the respective input of ECU (Electrical Control Unit) 5, the each chamber pressure of Real-Time Monitoring changes.Be provided with exhaust check valve 16 and baffler 7 in the corresponding upper and lower bi-side at cylinder body 14 respectively with four active chambers 20, arranged on left and right sides face is embedded in catalysis device 6.On the transmission shaft 15 of pendulum engine 8, be connected with generator 9 and angle transducer 10, angle transducer 10 is connected with the input end of control unit 5, and generator 9 is converted into electric energy output by the mechanical energy of pendulum engine 8, and electricity supply and use equipment 11 is used.
Fig. 2 shows the structure of pendulum engine 8.Cylinder body 14 centers of pendulum engine 8 are processed to laterally zygomorphic fan-shaped chamber, front end housing 21, back cylinder cover 23 form airtight an actor's rendering of an operatic tune with cylinder body 14, center pendulum 18 is divided into A, B, C, tetra-active chambers 20 of D, and front end housing 21 also swings at cylinder body 14 around transmission shaft 15; Cylinder body 14 left and right sides of pendulum engine 8 are embedded in Miniature plunger type catalysis device 6, the gas nozzle 29 of catalysis device 6 directly comprises two fan-shaped chambeies in diagonal position with four active chamber 20(of pendulum engine 8) be connected, for each active chamber provides high temperature and high pressure gas.Center pendulum 18 is designed with face seals 17, and seal arrangement 17 is comprised of spring, needle roller and thimble, and needle roller is that line contacts with cylinder body 14 inwalls.
Fig. 3 illustrates the concrete structure of catalysis device 6.For a catalysis device for monopropellant engine, wherein the plunger body 26 of this catalysis device is interior arranges many fuel channels 30, and fuel channel 30 right-hand members arrange catalysis silver net 3.Unique movement parts in catalysis device is plunger 28, and plunger 28 is assemblied on plunger valve pocket 34 with catalysis silver net 33; Center hole in plunger body 26 is embedded with wear-resisting sliding sleeve 31, and plunger 28 forms kinematic pair with these sliding sleeve 31 Spielpassung.Center hole 36 on plunger 28 is exhaust pressure relief during to left movement for plunger.The right-hand member of catalysis silver net 33 is set to plunger valve pocket 34, and plunger valve pocket 34 is threaded with plunger body 26, connects end seal ring 32 is housed; Plunger valve pocket 34 coordinates formation variable volume cavity with plunger 28, plunger 28, under the effect of its two ends, left and right pressure reduction, horizontally slips in valve pocket and sliding sleeve; At plunger 28 stub ends, be processed with oblique gas spray orifice 35, gas spray orifice 35 communicates with gas nozzle 29; The gas nozzle 29 of hourglass shape is threaded connection on plunger valve pocket 34, and High Temperature High Pressure mixed gas directly sprays into the acting chamber of motor by the pressure in this nozzle.
Fig. 4 (a)-4(c) working procedure of monopropellant engine is shown.When motor is not worked, as shown in Figure 4 (a), fuel flow-distributing valve 12 when meta, all feed fuels not of A, B, C, tetra-active chambers 20 of D, corresponding catalysis device is not all worked, exhaust check valve 16A, B, C, D all close; Fuel flow-distributing valve 12 is when left side, as shown in Figure 4 (b), A, two active chamber feed fuels of C, all feed fuels not of B, two active chambers of D, A, the catalysis device work that C active chamber is corresponding, B, the catalysis device that D active chamber is corresponding are not worked, and exhaust check valve 16A, C close, B, D open, and High Temperature High Pressure mixing material promotion center pendulum 18 swings clockwise; Fuel flow-distributing valve 12 is when right side, as shown in Figure 4 (c), B, two active chamber feed fuels of D, all feed fuels not of A, two active chambers of C, A, the catalysis device that C active chamber is corresponding are not worked, B, the catalysis device work that D active chamber is corresponding, and exhaust check valve 16A, C open, B, D close, and 18 counter-clockwise swings are put at High Temperature High Pressure mixing material promotion center.The above process of cycle of engine, realizes Conversion of Energy.
The present invention includes four catalysis devices 6, compared with the pattern of two mouthfuls of interlocks in the past occurring, there is following advantage in it:
(1) four mode of operation that catalysis device completes is the Highgrade integration of two mouthfuls of linkage work patterns, and fuel flow-distributing valve and catalysis device are more microminiaturized, simple in structure, and it is convenient to control;
(2) hydrogen peroxide of high concentration has strong oxidizing property, is difficult for storage transportation.To replace its original two selector valves with a three position directional valve fuel flow-distributing valve, and reduce the hydrogen peroxide pipeline of transportation high concentration, fuel dispensing is simple and convenient, and controllability is high;
(3) four small catalytic structure compactnesses, are embedded in miniature pendulum internal combustion engine cylinder body completely by screw thread, and working service is convenient; Catalysis device adopts designs of nozzles, and high temperature and high pressure gas is collected in extrusion chamber, through gas nozzle, along inboard wall of cylinder block, directly sprays in chamber, reduces gas flow loss;
(4) mixed gas of the hydrogen peroxide High Temperature High Pressure that reaction produces through catalysis device, without pipeline transport, can directly be sprayed onto the pendulum acting of acting chamber promotion center;
(5) part height of the design's structure is integrated, and small volume is controlled easy to carryly, and number of parts is few, compact structure, convenient processing and manufacture; Miniature direct injection pendulum type monopropellant engine starting and stopping control is easy, simple to operate.Open fuel control valve, motor can start immediately, and single stroke is controlled, and motor entirety is controlled flexibly.
Above-mentioned specific embodiment is described by example, should be understood that, these embodiments are subject to the impact of different distortion and optional form.It should also be further understood that, claim is not meaned and is limited to disclosed particular form, and should cover all distortion, the equivalence that drop in essence of the present invention and scope, replaces and optional mode.
Claims (7)
1. a miniature pendulum monopropellant engine, it comprises fuel pot (1), ECU (Electrical Control Unit) (5), catalysis device (6), pendulum engine (8), fuel flow-distributing valve (12), exhaust check valve (16) and baffler (7); Fuel pot (1) upside is provided with fuel adding mouth (2), high-speed electromagnetic valve (3) and pressure gauge (4), its downside outlet end is provided with fuel emergency drain valve (13) and fuel flow-distributing valve (12), and fuel flow-distributing valve (12) outlet end is connected with the catalysis device (6) of cylinder body (14) left and right sides respectively by pipeline; The output of the pressure transducer in pressure gauge (4) is connected to the respective input of ECU (Electrical Control Unit) (5), and the control end of fuel flow-distributing valve (12) and fuel emergency drain valve (13) is connected with the corresponding output end of ECU (Electrical Control Unit) (5) respectively.
2. miniature pendulum monopropellant engine as claimed in claim 1, pendulum engine (8) is comprised of parts such as cylinder body (14), transmission shaft (15) and center pendulum (18); In the middle of cylinder body (14), be processed with symmetrical fan-shaped inner chamber, center pendulum (18) is divided into the active chamber (20) (A, B, C, D) of four variable volume, and active chamber (20) (A, C) forms respectively one group of power cavity with active chamber (20) (B, D); In four active chambers (20) (A, B, C, D), pressure transducer is housed respectively, sensor output terminal is connected with the respective input of ECU (Electrical Control Unit) (5), and the each chamber pressure of Real-Time Monitoring changes; Be provided with relief opening, the tapped hole that has fuel to enter at arranged on left and right sides face in the corresponding upper and lower bi-side at cylinder body (14) respectively with four active chambers (20).
3. miniature pendulum monopropellant engine as claimed in claim 1, wherein between this center pendulum (18) and engine cylinder-body (14), be designed with face seals (17), seal arrangement (17) is comprised of spring, needle roller and thimble, and needle roller is that line contacts with cylinder body (14) inwall.
4. miniature pendulum monopropellant engine as claimed in claim 1, the wherein each exhaust check valve (16) that connects of the exhaust port of each active chamber (20), the switching of this exhaust check valve (16) is coordinated to control by ECU (Electrical Control Unit) (5), and exhaust check valve (16) gas outlet all arranges baffler (7).
5. miniature pendulum monopropellant engine as claimed in claim 1, tapped hole at cylinder body (14) arranged on left and right sides face is embedded in plunger type catalysis device (6), can be directly along cylinder body (14) inwall spirt active chamber (20) by the high temperature and high pressure gas of its generation.
6. miniature pendulum monopropellant engine as claimed in claim 1, is wherein provided with fuel flow-distributing valve (12) between fuel pot (1) and catalysis device (6); When the fuel flow with initial pressure is when fuel flow-distributing valve (12), ECU (Electrical Control Unit) (5) is by its commutation of intelligent control, to specific catalysis device supply fuel.
7. miniature pendulum monopropellant engine as claimed in claim 1, the pressure transducer being wherein stored in fuel pot (1) upside pressure gauge (4) is connected with ECU (Electrical Control Unit) (5), ECU (Electrical Control Unit) (5) Real-Time Monitoring fuel pot (1) internal pressure changes, and guarantees that fuel pot (1) internal pressure can suppress high temperature and high pressure gas and reflux along pipeline; When fuel pot (1) internal pressure is lower, can be by fuel adding mouth (2) to the interior supercharging of fuel pot (1).
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|---|---|---|---|
| CN201310742717.9A CN103742198A (en) | 2013-12-30 | 2013-12-30 | Micro swing type monopropellant engine |
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| CN201310742717.9A CN103742198A (en) | 2013-12-30 | 2013-12-30 | Micro swing type monopropellant engine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104675514A (en) * | 2014-12-02 | 2015-06-03 | 南京航空航天大学 | Hybrid heat cycle miniature swing engine with heat regenerator and method for designing hybrid heat cycle miniature swing engine |
| CN106401739A (en) * | 2016-11-03 | 2017-02-15 | 南京航空航天大学 | Four-stroke minitype swing type engine with circular pistons |
| CN109505927A (en) * | 2018-12-28 | 2019-03-22 | 内蒙古工业大学 | A kind of motor-driven carrier realizing Weight upstairs climbing ladder and carrying |
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| WO2006118437A1 (en) * | 2005-05-03 | 2006-11-09 | Sigitas Kudarauskas | Free swinging piston heat machine |
| CN101008319A (en) * | 2006-12-29 | 2007-08-01 | 清华大学深圳研究生院 | Direct injection pendulum type monopropellant engine |
| US7930971B2 (en) * | 2008-09-15 | 2011-04-26 | Werkhoven Gary L | Rotary actuator with internal brake mechanism |
| CN203669937U (en) * | 2013-12-30 | 2014-06-25 | 内蒙古工业大学 | Micro swing monopropellant engine |
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|---|---|---|---|---|
| DE102004020477A1 (en) * | 2004-04-26 | 2005-11-17 | Rivo Mahefa, Ramarolahy Andriatiaray | Internal four stroke combustion engine has piston connected to engine shaft swinging within two hoods, whose movement synchronized with valve opening/shutting enables four strokes to complete a Beau de Rochas working cycle |
| WO2006118437A1 (en) * | 2005-05-03 | 2006-11-09 | Sigitas Kudarauskas | Free swinging piston heat machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104675514A (en) * | 2014-12-02 | 2015-06-03 | 南京航空航天大学 | Hybrid heat cycle miniature swing engine with heat regenerator and method for designing hybrid heat cycle miniature swing engine |
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| CN106401739A (en) * | 2016-11-03 | 2017-02-15 | 南京航空航天大学 | Four-stroke minitype swing type engine with circular pistons |
| CN109505927A (en) * | 2018-12-28 | 2019-03-22 | 内蒙古工业大学 | A kind of motor-driven carrier realizing Weight upstairs climbing ladder and carrying |
| CN109505927B (en) * | 2018-12-28 | 2023-08-04 | 内蒙古工业大学 | Electric trolley for carrying heavy objects upstairs |
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