CN105346694A - Structural device of ship whale tail wheel propeller based on stepping motor control - Google Patents
Structural device of ship whale tail wheel propeller based on stepping motor control Download PDFInfo
- Publication number
- CN105346694A CN105346694A CN201510855451.8A CN201510855451A CN105346694A CN 105346694 A CN105346694 A CN 105346694A CN 201510855451 A CN201510855451 A CN 201510855451A CN 105346694 A CN105346694 A CN 105346694A
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- China
- Prior art keywords
- gyrostat
- gondola
- boats
- ships
- rake
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- 241000283153 Cetacea Species 0.000 title claims abstract description 26
- 230000001429 stepping Effects 0.000 title claims abstract description 20
- 239000004519 grease Substances 0.000 claims description 14
- 230000001808 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000001360 synchronised Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 5
- 238000005461 lubrication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000001105 regulatory Effects 0.000 description 1
- 230000036633 rest Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
- B63H1/06—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades
- B63H1/08—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment
- B63H1/10—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction with adjustable vanes or blades with cyclic adjustment of Voith Schneider type, i.e. with blades extending axially from a disc-shaped rotary body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
The invention relates to a structural device of a ship whale tail wheel propeller based on stepping motor control. The device is mainly composed of a pod shell, a runner (5) arranged in the pod shell, a plurality of blades (2) connected with the two sides of the runner (5), a drive mechanism driving the runner (5) to rotate, and a drive mechanism driving the blades (2) to swing. The pushing force can be changed by adjusting the blade swinging rule and the rotating speed of the runner according to different work conditions, a propelling device can run with the high propelling efficiency, the utilization rate of the output power of a main machine is increased, and beneficial effects are achieved in the aspect of ship energy saving.
Description
Technical field
The present invention relates to propulsion of ship technical field, specifically a kind of angle of rake constructional device of boats and ships whale tail wheel based on step motor control.
Background technology
Now, energy-saving and emission-reduction more and more come into one's own in all trades and professions, improve the Important Action that propulsion coefficient is also ship domain energy-saving and emission-reduction; Whale tail wheel propelling unit adopts simulation whale tail swing to produce the bionics principle of thrust, has propulsion coefficient high, the feature that hydrodynamic noise is little; Whale tail wheel propelling unit propulsion coefficient in theory more than 85%, far above traditional propeller; Walvisstaart company of Holland has developed mechanical type model machine, and carries out ship test, but the domestic research in this field is relatively blank.
Based on above-mentioned background, applicant proposed a kind of this propelling unit of the angle of rake constructional device of boats and ships whale tail wheel based on step motor control according to the different rotating speed of regulating working conditions gyrostat and the swaying movement regularity of blade, can reach higher propulsion coefficient.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of angle of rake constructional device of boats and ships whale tail wheel based on step motor control, avoid the deficiency of Purely mechanical whale tail wheel propelling unit complicated in mechanical structure.
The present invention solves its technical matters and adopts following technical scheme:
The angle of rake constructional device of boats and ships whale tail wheel based on step motor control provided by the invention, primarily of gondola housing, be contained in the gyrostat in gondola housing, the multiple blades be connected with gyrostat both sides, drive the driver train that gyrostat rotates, and drive the driver train composition of blade oscillating.
The driver train that described drive gyrostat rotates, is made up of main frame in ship and Power train thereof; Described Power train is by vertical rotating shaft, horizontal rotating shaft, tapered roller bearing, backup bearing, and realize umbrella shape big gear wheel and the bevel pinion composition of transmission of power, wherein: vertical rotating shaft is through backup bearing, be connected with main frame transmission shaft by coupler, vertical rotating shaft is simultaneously connected by key with bevel pinion, umbrella shape big gear wheel is fixed in horizontal rotating shaft, and horizontal rotating shaft is connected with gyrostat by flat key.
The driver train of described drive blade oscillating, its quantity is identical with the quantity of blade, drives the driver train of blade oscillating to be evenly arranged in gyrostat inside circumference.
The driver train of each drive blade oscillating, be made up of blade adapter shaft, seal ring, needle roller support bearing, bearing fixing sleeve, fast coupling, stepping motor, wherein: blade afterbody is connected with one end of fast coupling by blade adapter shaft, the other end of fast coupling is connected with stepper motor output shaft, swung by the rotating band moving blade of stepping motor, adjustment pivot angle; Blade adapter shaft is through needle roller support bearing, and needle roller support bearing is fixed in the inner ring of bearing fixing sleeve.
Described blade adapter shaft, its one end is square tail end, is connected with the square inner bore of blade afterbody center, and its other end is cylindrical, is connected with fast coupling.
Both sides in horizontal rotating shaft are furnished with the Anti-coiling mechanism that coiling can not occur when gyrostat is rotated, each Anti-coiling mechanism is made up of current colector, wherein: the rotating ring of current colector is fixed in horizontal rotating shaft, with gyrostat synchronous axial system, the fixed ring of current colector is fixed by the main supporting plate in gondola housing and secondary stay bearing plate; Described rotating ring is provided with the line outlet be connected with stepping motor, and described fixed ring is provided with incoming line.
Umbrella shape big gear wheel and bevel pinion are furnished with gear-lubricating device, this gear-lubricating device is made up of big gear wheel grease boot and miniature gears grease boot, wherein: big gear wheel grease boot is divided into upper and lower two parts, two parts are bolted, and are connected by screw on the secondary stay bearing plate that is fixed in gondola housing; Miniature gears grease boot is divided into left and right two parts, and two parts are bolted, and are screwed on gondola upper shell by connecting strap.
At gyrostat, place is furnished with proof mechanism of water, and this proof mechanism of water is made up of outside framework oil seal, general plug sealing ring, wherein: outside framework oil seal and general plug sealing ring are enclosed within gyrostat, and coordinates with conduit reserved in gondola upper shell and lower house.
Described gondola housing is made up of bolted gondola upper shell and gondola lower house; This gondola housing internal placement supporting mechanism be made up of main supporting plate, secondary stay bearing plate and support foot rest, wherein: main supporting plate and secondary stay bearing plate are fixed in the draw-in groove of gondola upper shell and gondola lower house; Support foot rest is connected by screw and is fixed on Main shoe plate both sides.
The present invention compared with prior art has following main technique effect:
1. there is good energy-saving and emission-reduction benefit.
The blade of the specific aerofoil profile of the Novel actuating mechanism adopted, its rule swung can adjust with required operating mode according to step motor control program, thus change the swaying movement regularity of blade, adapt to more operating mode, reach higher propulsion coefficient, improve the degree of utilization of engine output, saved the energy, there is good energy-saving and emission-reduction benefit.
2. easy to maintenance, adaptable.
Transmission of power is given horizontal rotating shaft by crowngear by vertical rotating shaft, and then passes to the gyrostat of both sides, gondola inner by main supporting plate and secondary stay bearing plate reasonably by the physical constructions such as gear and the electrical apparatus mechanism such as stepping motor, current colector subregion; The gondola upper shell of detachable separating type and gondola lower house, size gear lubrication cover, greatly facilitate maintenance and the replacing of device inner components, adaptable.
3. compact conformation, can conserve space.
Stepping motor etc. on gyrostat and gyrostat is arranged symmetrically in gondola housing both sides, middle vertical rotating shaft by crowngear by transmission of power in horizontal rotating shaft, both sides in horizontal rotating shaft arrange collector machine, make full use of the spatial design at gear place gear lubrication cover, these arrange the space that greatly make use of gondola inside, make total compacter.
Accompanying drawing explanation
Fig. 1 is the front view of the angle of rake constructional device of the boats and ships whale tail wheel (not comprising streamlined reefer housing) based on step motor control of the present invention.
Fig. 2 is the cut-away view of the angle of rake constructional device of boats and ships whale tail wheel based on step motor control of the present invention.
Fig. 3 is the crowngear Local map of the angle of rake constructional device of boats and ships whale tail wheel based on step motor control of the present invention.
Fig. 4 is the constructional drawing of the control blade oscillating of the angle of rake constructional device of boats and ships whale tail wheel based on step motor control of the present invention.
In figure: 1. gondola upper shell, 2. blade, 3. gondola lower house, 4. vertical rotating shaft, 5. gyrostat, 6. blade adapter shaft, 7. seal ring, 8. needle roller support bearing, 9. bearing fixing sleeve, 10. fast coupling, 11. stepping motors, 12. outside framework oil seals, 13. general plug sealing rings, 14. horizontal rotating shafts, 15. currents colector, 16. main supporting plates, 17. tapered roller bearings, 18. umbrella shape big gear wheels, 19. big gear wheel grease boots, 20. secondary stay bearing plates, 21. support foot rests, 22. bevel pinions, 23. miniature gears grease boots, 24. connecting straps, 25. backup bearings.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail.
The angle of rake constructional device of boats and ships whale tail wheel based on step motor control provided by the invention, its structure is as shown in Figures 1 to 4: comprise the Power train organically combined, the driver train, Anti-coiling mechanism, gear-lubricating device, proof mechanism of water, the supporting mechanism that drive blade oscillating, these mechanisms cooperate with each other, gyrostat is rotated and blade oscillating, realize can keeping higher propulsion coefficient under different operating mode, improve the degree of utilization of main frame horsepower output, save the consumption of fuel oil.
Described Power train, be arranged in gondola housing, this Power train is made up of vertical rotating shaft 4, gyrostat 5, horizontal rotating shaft 14, tapered roller bearing 17, umbrella shape big gear wheel 18, bevel pinion 22, backup bearing 25, wherein: vertical rotating shaft 4 is through backup bearing 25, be connected with main frame transmission shaft in ship by coupler, vertical rotating shaft 4 other end is connected by key with bevel pinion 22 simultaneously, umbrella shape big gear wheel 18 is fixed in horizontal rotating shaft 14 by key, and gyrostat 5 is connected with horizontal rotating shaft 14 by flat key.Crowngear engages, and realizes the transmission of power.
The driver train of described drive blade oscillating, be arranged in gyrostat 5 inside circumference, the driver train of this drive blade oscillating is made up of blade adapter shaft 6, seal ring 7, needle roller support bearing 8, bearing fixing sleeve 9, fast coupling 10, stepping motor 11, wherein: blade 2 afterbody center square inner bore is connected with blade adapter shaft 6 square end, blade adapter shaft 6 cylindrical end is connected with one end of fast coupling 10, the other end of fast coupling 10 is connected with stepping motor 11 output shaft, swung by the rotating band moving blade of stepping motor, adjust pivot angle; Blade adapter shaft is through needle roller support bearing 8, and needle roller support bearing 8 is fixed in the inner ring of bearing fixing sleeve 9.
Described Anti-coiling mechanism, be arranged in horizontal rotating shaft 14, both sides gyrostat respectively arranges an Anti-coiling mechanism, this Anti-coiling mechanism is made up of current colector 15, wherein: the rotating ring of current colector 15 is fixed in horizontal rotating shaft 14, with gyrostat 5 synchronous axial system, the fixed ring of current colector 15 is fixed on main supporting plate 16 and secondary stay bearing plate 20, rotating ring is provided with the line outlet be connected with stepping motor, fixed ring is provided with the incoming line be connected with circuit in ship, when gyrostat 5 is rotated, stepping motor lead-in wire can not be wound around.
Described gear-lubricating device, be arranged on umbrella shape big gear wheel 18 and bevel pinion 22, this gear-lubricating device is made up of big gear wheel grease boot 19, miniature gears grease boot 23, wherein: big gear wheel grease boot 19 is divided into upper and lower two parts, two parts are bolted, and are connected by screw and are fixed on secondary stay bearing plate 20.Miniature gears grease boot 23 is divided into left and right two parts, and two parts are bolted, and are screwed on gondola upper shell 1 by connecting strap 24.
Described proof mechanism of water, be arranged in gyrostat 5 place, this proof mechanism of water is made up of outside framework oil seal 12, general plug sealing ring 13, wherein: outside framework oil seal 12 and general plug sealing ring 13 are enclosed within gyrostat 5, and coordinates with conduit reserved in gondola upper shell 1 and gondola lower house 3.
Described supporting mechanism, is arranged in gondola inside, and this supporting mechanism is made up of gondola upper shell 1, gondola lower house 3, main supporting plate 16, secondary stay bearing plate 20 and support foot rest 21, wherein: gondola upper shell 1 and gondola lower house 3 are bolted; Main supporting plate 16 and secondary stay bearing plate 20 are fixed in the draw-in groove of gondola upper shell 1 and gondola lower house 3; Support foot rest 21 is connected by screw the both sides being fixed on main supporting plate 16.
The angle of rake constructional device of boats and ships whale tail wheel based on step motor control provided by the invention, its working process is: vertical rotating shaft is connected with the main frame transmission shaft being arranged on boats and ships inside by coupler, main frame rotate drive vertical rotating shaft by crowngear by transmission of power to horizontal rotating shaft, the gyrostat at horizontal rotating shaft two ends is driven to rotate, stepping motor on gyrostat is with gyrostat synchronous axial system, stepping motor lead-in wire passes through current colector simultaneously, be connected with driving circuit with the stepping motor automatic control circuit being arranged on hull interior, circuit output signal, step motor shaft rotates, band moving blade swings according to certain rule around own axes, produce thrust forward, promotion boats and ships advance, and maintain higher propulsion coefficient.
Finally it should be noted that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in right of the present invention.
Claims (9)
1. the angle of rake constructional device of boats and ships whale tail wheel based on step motor control, it is characterized in that this device is primarily of gondola housing, be contained in the gyrostat (5) in gondola housing, the multiple blades (2) be connected with gyrostat (5) both sides, drive the driver train that gyrostat (5) rotates, and the driver train composition that band moving blade (2) swings.
2. the angle of rake constructional device of boats and ships whale tail wheel according to claim 1, is characterized in that being made up of the driver train that described drive gyrostat (5) rotates main frame in ship and Power train thereof, described Power train is by vertical rotating shaft (4), horizontal rotating shaft (14), tapered roller bearing (17), backup bearing (25), and realize umbrella shape big gear wheel (18) and bevel pinion (22) composition of transmission of power, wherein: vertical rotating shaft (4) is through backup bearing (25), be connected with main frame transmission shaft by coupler, vertical rotating shaft (4) is simultaneously connected by key with bevel pinion (22), umbrella shape big gear wheel (18) is fixed in horizontal rotating shaft (14), horizontal rotating shaft (14) is connected with gyrostat (5) by flat key.
3. the angle of rake constructional device of boats and ships whale tail wheel according to claim 1, it is characterized in that the quantity of the driver train that described band moving blade (2) swings is identical with the quantity of blade (2), the driver train that band moving blade (2) swings is evenly arranged in gyrostat (5) inside circumference.
4. the angle of rake constructional device of boats and ships whale tail wheel according to claim 3, it is characterized in that the driver train that each band moving blade (2) swings, by blade adapter shaft (6), seal ring (7), needle roller support bearing (8), bearing fixing sleeve (9), fast coupling (10) and stepping motor (11) composition, wherein: blade (2) afterbody is connected with one end of fast coupling (10) by blade adapter shaft (6), the other end of fast coupling (10) is connected with stepping motor (11) output shaft, swung by the rotating band moving blade of stepping motor, adjust pivot angle, blade adapter shaft is through needle roller support bearing (8), and needle roller support bearing (8) is fixed in the inner ring of bearing fixing sleeve (9).
5. the angle of rake constructional device of boats and ships whale tail wheel according to claim 4, it is characterized in that described blade adapter shaft (6), its one end is square tail end, be connected with the square inner bore of blade (2) afterbody center, its other end is cylindrical, is connected with fast coupling (10).
6. the angle of rake constructional device of boats and ships whale tail wheel according to claim 1, it is characterized in that the both sides in horizontal rotating shaft (14) are furnished with the Anti-coiling mechanism that coiling can not occur when gyrostat (5) is rotated, each Anti-coiling mechanism is made up of current colector (15), wherein: the rotating ring of current colector (15) is fixed in horizontal rotating shaft (14), with gyrostat (5) synchronous axial system, the fixed ring of current colector (15) is fixed by the main supporting plate (16) in gondola housing and secondary stay bearing plate (20); Described rotating ring is provided with the line outlet be connected with stepping motor (11), and described fixed ring is provided with incoming line.
7. the angle of rake constructional device of boats and ships whale tail wheel according to claim 2, it is characterized in that being furnished with gear-lubricating device in umbrella shape big gear wheel (18) and bevel pinion (22), this gear-lubricating device is made up of big gear wheel grease boot (19), miniature gears grease boot (23), wherein: big gear wheel grease boot (19) is divided into upper and lower two parts, two parts are bolted, and are connected by screw on the secondary stay bearing plate (20) that is fixed in gondola housing; Miniature gears grease boot (23) is divided into left and right two parts, and two parts are bolted, and is screwed on gondola upper shell by connecting strap (24).
8. the angle of rake constructional device of boats and ships whale tail wheel according to claim 1, it is characterized in that being furnished with proof mechanism of water at gyrostat (5) place, this proof mechanism of water is made up of outside framework oil seal (12), general plug sealing ring (13), wherein: outside framework oil seal (12) and general plug sealing ring (13) are enclosed within gyrostat (5), and coordinate with conduit reserved in gondola upper shell and lower house.
9. the angle of rake constructional device of boats and ships whale tail wheel according to claim 1, is characterized in that gondola housing is made up of bolted gondola upper shell (1) and gondola lower house (3); This gondola housing internal placement supporting mechanism be made up of main supporting plate (16), secondary stay bearing plate (20) and support foot rest (21), wherein: main supporting plate (16) and secondary stay bearing plate (20) are fixed in the draw-in groove of gondola upper shell (1) and gondola lower house (3); Support foot rest (21) is connected by screw the both sides being fixed on main supporting plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510855451.8A CN105346694B (en) | 2015-11-30 | 2015-11-30 | The constructional device of ship whale tail wheel propeller based on step motor control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510855451.8A CN105346694B (en) | 2015-11-30 | 2015-11-30 | The constructional device of ship whale tail wheel propeller based on step motor control |
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| Publication Number | Publication Date |
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| CN105346694A true CN105346694A (en) | 2016-02-24 |
| CN105346694B CN105346694B (en) | 2018-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510855451.8A Active CN105346694B (en) | 2015-11-30 | 2015-11-30 | The constructional device of ship whale tail wheel propeller based on step motor control |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107187570A (en) * | 2017-05-03 | 2017-09-22 | 武汉理工大学 | A kind of ship whale tail wheel propeller with high propulsive efficiency |
| CN107244402A (en) * | 2017-05-17 | 2017-10-13 | 武汉理工大学 | A kind of constructional device of the ship whale tail wheel propeller based on mechanical transmission |
| CN109114511A (en) * | 2018-08-02 | 2019-01-01 | 深圳市富裕泰贸易有限公司 | A kind of new energy wind powered street lamp and its lighting system |
| CN111924075A (en) * | 2020-07-23 | 2020-11-13 | 林忠印 | Energy-concerving and environment-protective small-size raft power auxiliary propulsion structure |
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| US4614900A (en) * | 1985-05-03 | 1986-09-30 | Young Joseph C | Remote controlled driving system for a boat |
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| CN101327839A (en) * | 2008-06-05 | 2008-12-24 | 浙江大学 | Straight wing cycloid thruster with stepping motor as controlling mechanism |
| NL1036117C (en) * | 2008-10-27 | 2010-04-28 | Walvisstaart B V | SHIP DRIVE. |
| EP2708462A1 (en) * | 2012-09-14 | 2014-03-19 | ABB Oy | Propulsion device for a floating vessel |
| CN104386231A (en) * | 2014-11-05 | 2015-03-04 | 上海船舶研究设计院 | Rudder-pod ship electric propulsion system |
| CN105083515A (en) * | 2014-05-12 | 2015-11-25 | 通用电气能源能量变换技术有限公司 | Cycloidal marine-propulsion system |
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2015
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4614900A (en) * | 1985-05-03 | 1986-09-30 | Young Joseph C | Remote controlled driving system for a boat |
| JP2001138985A (en) * | 1999-11-11 | 2001-05-22 | Niigata Eng Co Ltd | Blade angle holding device for marine vessel propulsion device |
| CN101327839A (en) * | 2008-06-05 | 2008-12-24 | 浙江大学 | Straight wing cycloid thruster with stepping motor as controlling mechanism |
| NL1036117C (en) * | 2008-10-27 | 2010-04-28 | Walvisstaart B V | SHIP DRIVE. |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107187570A (en) * | 2017-05-03 | 2017-09-22 | 武汉理工大学 | A kind of ship whale tail wheel propeller with high propulsive efficiency |
| CN107187570B (en) * | 2017-05-03 | 2019-04-30 | 武汉理工大学 | A kind of ship whale tail wheel propeller with high propulsive efficiency |
| CN107244402A (en) * | 2017-05-17 | 2017-10-13 | 武汉理工大学 | A kind of constructional device of the ship whale tail wheel propeller based on mechanical transmission |
| CN109114511A (en) * | 2018-08-02 | 2019-01-01 | 深圳市富裕泰贸易有限公司 | A kind of new energy wind powered street lamp and its lighting system |
| CN111924075A (en) * | 2020-07-23 | 2020-11-13 | 林忠印 | Energy-concerving and environment-protective small-size raft power auxiliary propulsion structure |
| CN111924075B (en) * | 2020-07-23 | 2022-09-13 | 江苏源泉泵业股份有限公司 | Energy-concerving and environment-protective small-size raft power auxiliary propulsion structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105346694B (en) | 2018-03-16 |
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Inventor after: Ding Jiangming Inventor after: Wang Nan Inventor after: Zhang Heng Inventor after: Kuang Zheng Inventor after: Xiao Tianyang Inventor after: Tian Zhaozhe Inventor after: Ma Haotian Inventor before: Ding Jiangming Inventor before: Wang Nan Inventor before: Zhang Heng Inventor before: Kuang Zheng Inventor before: Xiao Tianyang Inventor before: Tian Zhaozhe |
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