CN109795685A - Rack-and-pinion driving mechanism for flapping wing based on external toothing planetary reducer - Google Patents
Rack-and-pinion driving mechanism for flapping wing based on external toothing planetary reducer Download PDFInfo
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- CN109795685A CN109795685A CN201910262549.0A CN201910262549A CN109795685A CN 109795685 A CN109795685 A CN 109795685A CN 201910262549 A CN201910262549 A CN 201910262549A CN 109795685 A CN109795685 A CN 109795685A
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Abstract
The present invention provides a kind of rack-and-pinion driving mechanism for flapping wing based on external toothing planetary reducer, including rack, motor, parallel gears retarder, external toothing planetary reducer, cover board and rack-and-pinion slave connecting rod rocker arm body, wherein, motor is mounted on the rack, drive parallel gears retarder, external toothing planetary reducer is mounted on the inner space being made of rack lower half portion and cover board by crank axis hole and transmission axis hole, parallel gears retarder drives external toothing planetary reducer by transmission shaft, external toothing planetary reducer drives flapping wing by crank connection gear rack gear slave connecting rod rocker arm body.In the present invention, compact-sized and big retarding ratio is realized using external toothing planetary reducer, improves the output torque of mechanism, and transmission efficiency is high and relatively steady, it ensure that the mechanism flapping motion absolute symmetry using rack-and-pinion slave connecting rod rocker arm body, substantially increase aircraft flight reliability.
Description
Technical field
The present invention relates to a kind of driving mechanism for flapping wing, can be applied to micro flapping wing air vehicle.
Background technique
Compared with Fixed Wing AirVehicle, micro flapping wing air vehicle makes flight become more flexible height by imitating birds movement
Effect can be widely applied to a variety of military and civilian fields along with its is small in size, light-weight.Since flapping wing aircraft mainly leads to
It crosses wing active movement and generates lift and forward power, how to rationally design driving mechanism for flapping wing and make flight pneumatic efficiency and reliable
Property more higher position becomes research emphasis.
Current driving mechanism for flapping wing mainly include the following types:
Chinese patent Authorization Notice No. CN102267566A, a kind of entitled stepless speed-changing flapping wing driving mechanism it is practical new
Type patent discloses one kind and completes to slow down by friction pulley group and gear set, and changed by the contact position of change friction pulley and subtracted
The variable speed flapping apparatus of speed ratio.The device is theoretically fluttered Striking symmetry, and flapping wing-gliding flight mode may be implemented.Its
Shortcoming is using space four bar linkage mechanism, and mechanism size is excessive, while connecting rod stress is also complex, and reliability is lower.
Chinese patent Authorization Notice No. CN102285453A, a kind of entitled stepless amplitude-modulating driving mechanism for flapping wing it is practical new
Type patent.The device is made of the components such as planetary gear mechanisms for two stages and connecting rod rocker arm body, by changing two-stage planet
The positional relationship of the movable ring gear of mechanism and eccentric column changes the motion profile of eccentric column, to change fluttering for rocker arm
Amplitude.Disadvantage is that used ring gear is not easy to be processed for external gear pump, intermeshing displacement
The negative addendum modification of gear is excessive, can reduce gear teeth bending strength；Profile modified gear normal shift is excessive, is easy topping, tooth top intensity
It reduces, while contact ratio and overlap ratio can be reduced.Structure size is also not compact enough simultaneously.
In general, the main problem of existing flapping wing mechanism be not yet from design level completely take into account transmission efficiently and
The compactedness of structure, it is difficult to guarantee the stability and reliability requirement of flight.
Summary of the invention
The purpose of the present invention is: the transmission efficiency in order to improve flapping wing for ornithopter driving device, while reducing knot as far as possible
Structure volume, and ensure the symmetry and flight stability of flapping motion proposes a kind of based on external toothing planetary reducer
Rack-and-pinion driving mechanism for flapping wing.Compact-sized and big retarding ratio is realized using external toothing planetary reducer, improves machine
The output torque of structure, transmission efficiency are high and relatively steady.It ensure that the mechanism flapping wing using rack-and-pinion slave connecting rod rocker arm body
Absolute symmetry is moved, aircraft flight reliability is substantially increased.
In order to overcome the problems, such as that prior art flight stability and reliability are insufficient, there is provided herein one kind to be based on external toothing
The rack-and-pinion driving mechanism for flapping wing of planetary reducer, can satisfy flight reliability, be suitable for micro flapping wing air vehicle
Application.
The technical solution adopted by the present invention to solve the technical problems is: including rack, motor, parallel gears retarder,
External toothing planetary reducer, cover board and rack-and-pinion slave connecting rod rocker arm body, it is characterised in that: rack is from top to bottom successively
It is equipped with equipped with fixation hole, rocker shaft hole, motor installing hole, limited block mounting hole, cover board mounting hole and transmission axis hole, cover plate central
Crank axis hole, fixed axially bored line is perpendicular to surface where it, and perforation before and after all holes, each axially bored line are flat in addition to cover board mounting hole
Row, motor are mounted on the rack, and drive parallel gears retarder, and external toothing planetary reducer passes through crank axis hole and transmission
Axis hole is mounted on the inner space being made of rack lower half portion and cover board, and parallel gears retarder is nibbled by the way that transmission shaft driving is outer
Planetary reducer is closed, external toothing planetary reducer is flutterred by the driving of crank connection gear rack gear slave connecting rod rocker arm body
The wing.
The whole bilateral symmetry of the rack, will be considered as front end, two of them fixation hole is most upper in rack towards heading
Side, two rocker shaft hole bilateral symmetries, rocker shaft hole lower section is in triangle layout arrangement, motor installing hole there are three motor installing hole
Lower section is two symmetrical limited block mounting holes, and each hole is symmetrically arranged, and rack lower half portion is cylindrical, after cylindrical shape
The face at end is equipped with a concentric transmission axis hole, and centered on transmission shaft, there are six cover board mounting hole, to be circumferentially distributed shape equal
It is even to be arranged in cylindric cylinder side wall front end.
The motor is DC brushless motor, is installed on rear end of rack, motor pivot and parallel teeth by motor installing hole
Wheel decelerator driving wheel is affixed, and parallel gears retarder driving wheel is engaged with driven wheel, parallel gears retarder driven wheel and biography
Moving axis one end is affixed, and transmission shaft is hinged with rack, and bearing is installed in axis hole and corresponding axis cooperates, cover board and rack pass through cover board
Mounting hole carries out screw connection.
The external toothing planetary reducer is made of two sun gears, planetary gear and planetary wheel carrier, and transmission shaft is another
One end passes through the transmission axis hole on the level-one sun gear center and rack affixed with rack, the second level sun affixed with planetary wheel carrier
Wheel is affixed with crank axle one end, and crank axis hole and crank of the crank axle other end on cover board are affixed, secondary solar gear and three
A secondary planet wheel engagement, three secondary planet wheel rotations drive secondary solar gear rotation, then pass motion to crank.
The level-one sun gear outer ring of the external toothing planetary reducer is distributed uniformly and circumferentially there are three level-one
Planetary gear and the external toothing of level-one sun gear, three planet wheel spindle one end are affixed with three primary planet wheels respectively, three planetary gears
Axis passes through the planetary gear axis hole on planetary wheel carrier, and the other end is affixed with three secondary planet wheels respectively, under transmission shaft drive, row
Star wheel frame is rotated together with six planetary gears, simultaneously because level-one sun gear is static, rotation and band occur for three primary planet wheels
Dynamic three secondary planet wheels rotation.
The rack-and-pinion slave connecting rod rocker arm body is made of connecting rod and symmetrical rocker arm, and connecting rod is inverse-T-shaped, cross
While there is sliding slot, the short axle of crank end can be slided in sliding slot, and connecting rod vertical edge end is designed as rack shape, two rocker arm inner ends
Head is partial gear shape, is meshed with the rack gear of connecting rod vertical edge end, and two rocker arm middle sections are cut with scissors with rocker arm shaft respectively
It connects, rocker arm shaft passes through rocker shaft hole and rack is affixed, is provided with blind hole on the outside of rocker arm, is used for grafting flapping wing spar.
The connecting rod cannot be moved all around, can only be slided up and down along the limiting slot of limited block, and flapping wing or more is driven
It flutters, bushing is in connecting rod behind, and affixed with connecting rod by two screws, limited block is affixed with rack, bushing and limited block phase
Match, limits it equipped with card slot in bushing and all around move.
The rack gear length of the rack-and-pinion slave connecting rod rocker arm body and the radian size of partial gear are fluttered with flapping wing
Angle and mechanism size matching, rack-and-pinion slave connecting rod rocker arm body are mounted on the rack by rocker shaft hole, flapping wing driving machine
Structure is connect in such a way that the fixation hole of rack is using screw thread or pin joint with aircraft fuselage.
The beneficial effect of this hair is:
The present invention is transported by the high speed rotation that parallel gears retarder and external toothing planetary reducer export motor
Dynamic to slow down, the compact installation accuracy of the part-structure is high, and big retarding ratio may be implemented.The motor of larger revolving speed can be assembled, is improved
The output torque of mechanism.Inertia force mutually balances when the planetary gear operation of three circle distributions simultaneously, and transmission process is efficiently gentle,
And ordinary gear rotational noise relatively is small.
The present invention uses rack-and-pinion slave connecting rod rocker arm body, and crank rotary motion motor-driven is become rocker arm one
Determine frequency and the upper and lower of amplitude flutters, and can reach left and right absolute symmetry and flutter.Rack pinion can bearing capacity it is big
And transmission accuracy is higher, up to 0.1mm；It can be docked and be continued with indefinite length in principle, it also can be by changing rack gear length
Adapt to different amplitudes of fluttering.
Present invention will be further explained below with reference to the attached drawings and examples.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Take other attached drawings.
Attached drawing 1 is schematic diagram in front of the present invention；
Attached drawing 2 is schematic diagram in front of the present invention；
Attached drawing 3 is schematic diagram in front of rack；
Attached drawing 4 is rack rear schematic diagram；
Attached drawing 5 is planetary reducer rear schematic diagram；
Attached drawing 6 is planetary wheel carrier rear schematic diagram；
Attached drawing 7 is rack-and-pinion slave connecting rod rocker arm body rear schematic diagram；
Attached drawing 8 is rack-and-pinion front view；
In figure: 1- rack, 1A, 1A '-rocker shaft hole, 1B- motor installing hole, 1C, 1C '-limited block mounting hole, 1D- lid
Plate mounting hole, 1E- transmission axis hole, 2- motor, 3A- driving wheel, 3B- driven wheel, 4- external toothing planetary reducer, 4A- are passed
Moving axis, 4B- level-one sun gear, 4C- primary planet wheel (3), 4D- planetary wheel carrier, 4E- secondary planet wheel (3), 4F- second level
Sun gear, 5- cover board, 6- crank, 7- connecting rod, 8- bushing, 9- limited block, 10,10 '-rocker arms
Specific embodiment
The present invention is the rack-and-pinion driving mechanism for flapping wing based on external toothing planetary reducer, includes rack, electricity
Machine, parallel gears retarder, external toothing planetary reducer and connecting rod rocker arm body.
The whole bilateral symmetry of rack 1, will be considered as front end towards heading.Two are successively arranged in rack 1 from top to bottom
Fixation hole, two rocker shaft holes 1A, 1A ', three motor installing hole 1B, two limited block mounting holes 1C, 1C ', six cover boards peaces
A hole 1D and transmission axis hole 1E is filled, the perforation before and after all holes in addition to cover board mounting hole, each hole is symmetrically arranged and axis is parallel.
Two fixation holes of 1 the top of rack, for driving mechanism to be installed to aircraft by the way of threaded connection
On fuselage.Spacing maximum two rocker shaft holes 1A, 1A ' bilateral symmetry in rack 1.Below rocker shaft hole there are three middle sections
Motor installing hole 1B is in triangle layout arrangement；And then there are two symmetrical limited block mounting hole 1C, 1C for lower section '.
1 lower half portion of rack is cylindrical, and end surface is equipped with concentric transmission axis hole 1E behind；It is with transmission shaft 4A
Center, there are six cover board mounting hole 1D in cylinder side wall front end, and to be circumferentially distributed shape evenly distributed, and cover board 5 and rack 1 carry out spiral shell
Nail connection.Lightening hole is provided on 1 cylinder side wall of rack.
Motor 2 is DC brushless motor, carries out screw by motor installing hole and is connected and installed on rear side of rack.
The pivot of motor 2 and parallel gears retarder driving wheel 3A are affixed.Driving wheel 3A is engaged with driven wheel 3B.Driving wheel
The number of teeth is 39, and modulus is 0.6；Driven tooth number is 55, and modulus is 0.6.Transmission shaft 4A passes through transmission axis hole and rack 1 is hinged,
It is affixed with driven wheel 3B.Bearing is installed in transmission axis hole and corresponding axis cooperates.
External toothing planetary reducer 4, by level-one sun gear 4B, secondary solar gear 4F, three identical primary planets
Take turns 4C, three identical secondary planet wheel 4E and planetary wheel carrier 4D composition.Transmission shaft 4A pass through the center level-one sun gear 4B with
Planetary wheel carrier 4D is affixed.Level-one sun gear 4B and rack 1 are affixed, and planetary wheel carrier 4D is by versus primary is too under the drive of transmission shaft
Sun wheel 4B rotation.The outer ring level-one sun gear 4B is distributed uniformly and circumferentially there are three primary planet wheel 4C external toothing therewith.Three
A planet wheel spindle passes through the planetary gear axis hole on planetary wheel carrier, affixed with three secondary planet wheel 4E.Six planetary gears will accompany
Star wheel frame 4D is rotated together, simultaneously as level-one sun gear 4B is static and rotation occurs.Secondary solar gear 4F and three second level rows
Star-wheel 4E engagement, and it is affixed with crank axle one end.Crank axis hole and crank 6 of the crank axle across 5 center of cover board are affixed.Three
Secondary planet wheel 4E rotation will drive secondary solar gear 4F to turn, and then pass motion to crank 6.External toothing planetary gear speed-reduction
Device 4 is for realizing big retarding ratio.
Rack-and-pinion slave connecting rod rocker arm body is made of connecting rod 7 and two symmetrical rocker arms 10,10 '.Connecting rod 7 is
Inverse-T-shaped, horizontal edge has sliding slot.The short axle of crank end can be slided in sliding slot, track length should at least meet crank 6 complete it is whole
All circular motion.
7 vertical edge end of connecting rod is designed as symmetrical rack shape.Two 10,10 ' inside ends of rocker arm are designed to not
Complete gear-like is meshed with the rack gear of connecting rod vertical edge end.Rack gear length and the radian size of partial gear are flutterred with flapping wing
Dynamic angle is related with mechanism size.In this example, single partial gear angle is 67 °, and number of actual teeth 7, modulus is 0.5.Tooth
The number of teeth of item unilateral side is 10, and modulus is 0.5.
Two rocker arms 10,10 ' middle sections are hinged with rocker arm shaft respectively, and rocker arm shaft passes through rocker shaft hole and rack is affixed.
It is provided with blind hole on the outside of rocker arm, is used for grafting flapping wing spar.
Connecting rod 7 cannot be moved all around, can only be slided up and down along the limiting slot of limited block 9, and flapping wing is driven to flutter up and down
It is dynamic.Bushing 8 connecting rod 7 behind, it is affixed by two screws and connecting rod 7.Limited block 9 and rack 1 are affixed, bushing 8 and limited block 9
Match, the interior card slot limitation bushing that is equipped with all around moves.
Screw thread installation direction and remaining all threaded hole installation direction at limited block mounting hole from rack 1 on the contrary, carry on the back
After tighten screw, therefore the connection of limited block 9 and rack 1 should be completed before motor 2 assembles.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (8)
1. a kind of rack-and-pinion driving mechanism for flapping wing based on external toothing planetary reducer, including it is rack, motor, parallel
Gear reduction unit, external toothing planetary reducer, cover board and rack-and-pinion slave connecting rod rocker arm body, it is characterised in that: rack
It is successively arranged fixation hole, rocker shaft hole, motor installing hole, limited block mounting hole, cover board mounting hole and transmission axis hole from top to bottom,
Cover plate central is equipped with crank axis hole, and fixed axially bored line is perpendicular to surface where it, the perforation before and after all holes in addition to cover board mounting hole,
Each axially bored line is parallel, and motor is mounted on the rack, and drives parallel gears retarder, and external toothing planetary reducer passes through song
Arbor hole and transmission axis hole are mounted on the inner space being made of rack lower half portion and cover board, and parallel gears retarder passes through biography
Moving axis drives external toothing planetary reducer, and external toothing planetary reducer is shaken by crank connection gear rack gear slave connecting rod
Arm mechanism drives flapping wing.
2. rack-and-pinion driving mechanism for flapping wing according to claim 1, it is characterised in that: the rack integrally left and right pair
Claim, front end will be considered as towards heading, two of them fixation hole shakes in rack the top, two rocker shaft hole bilateral symmetries
There are three motor installing holes below arm axle hole in triangle layout arrangement, and motor installing hole lower section is two symmetrical limited blocks
Mounting hole, each hole are symmetrically arranged, and rack lower half portion is cylindrical, and a concentric transmission is equipped on the face of cylindric rear end
Axis hole, centered on transmission shaft, there are six cover board mounting holes to be circumferentially distributed before shape is evenly arranged in cylindric cylinder side wall
End.
3. rack-and-pinion driving mechanism for flapping wing according to claim 1, it is characterised in that: the motor is brush DC
Motor is installed on rear end of rack by motor installing hole, and motor pivot and parallel gears retarder driving wheel are affixed, parallel gears
Retarder driving wheel is engaged with driven wheel, and parallel gears retarder driven wheel and transmission shaft one end are affixed, and transmission shaft and rack are cut with scissors
It connects, bearing is installed in axis hole and corresponding axis cooperates, cover board and rack pass through cover board mounting hole and carry out screw connection.
4. rack-and-pinion driving mechanism for flapping wing according to claim 1, it is characterised in that: the external toothing planetary gear
Retarder is made of two sun gears, planetary gear and planetary wheel carrier, and the transmission shaft other end passes through the level-one affixed with rack too
Transmission axis hole on positive wheel center and rack, affixed with planetary wheel carrier, secondary solar gear and crank axle one end are affixed, and crank axle is another
Crank axis hole and crank of the one end on cover board are affixed, and secondary solar gear is engaged with three secondary planet wheels, three second level rows
Star-wheel rotation drives secondary solar gear rotation, then passes motion to crank.
5. rack-and-pinion driving mechanism for flapping wing according to claim 4, it is characterised in that: the external toothing planetary gear
The level-one sun gear outer ring of retarder is distributed uniformly and circumferentially there are three primary planet wheel and the external toothing of level-one sun gear, and three
A planet wheel spindle one end is affixed with three primary planet wheels respectively, and three planet wheel spindles pass through the planet wheel spindle on planetary wheel carrier
Hole, the other end is affixed with three secondary planet wheels respectively, and under transmission shaft drive, planetary wheel carrier turns together with six planetary gears
Dynamic, simultaneously because level-one sun gear is static, three primary planet wheels occur rotation and drive three secondary planet wheel rotations.
6. rack-and-pinion driving mechanism for flapping wing according to claim 1, it is characterised in that: the rack-and-pinion slave connecting rod
Rocker arm body is made of connecting rod and symmetrical rocker arm, connecting rod be it is inverse-T-shaped, horizontal edge has sliding slot, and the short axle of crank end can
It is slided in sliding slot, connecting rod vertical edge end is designed as rack shape, and end is partial gear shape on the inside of two rocker arms, with connecting rod
The rack gear of vertical edge end is meshed, and two rocker arm middle sections are hinged with rocker arm shaft respectively, and rocker arm shaft passes through rocker shaft hole and machine
Frame is affixed, is provided with blind hole on the outside of rocker arm, is used for grafting flapping wing spar.
7. rack-and-pinion driving mechanism for flapping wing according to claim 6, it is characterised in that: connecting rod cannot be transported all around
It is dynamic, it can only be slided up and down along the limiting slot of limited block, flapping wing is driven to flutter up and down, bushing passes through two spiral shells in connecting rod behind
Nail is affixed with connecting rod, and limited block is affixed with rack, and bushing matches with limited block, and card slot is equipped in bushing and limits it all around
Movement.
8. rack-and-pinion driving mechanism for flapping wing according to claim 7, it is characterised in that: rack-and-pinion slave connecting rod rocker arm
The rack gear length of mechanism and the radian size of partial gear and flapping wing flutter angle and mechanism size matches, and rack-and-pinion connects
Bar rocker arm body is mounted on the rack by rocker shaft hole, and driving mechanism for flapping wing uses screw thread or pin joint by the fixation hole of rack
Mode connect with aircraft fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910262549.0A CN109795685B (en) | 2019-04-02 | 2019-04-02 | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910262549.0A CN109795685B (en) | 2019-04-02 | 2019-04-02 | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer |
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| CN109795685A true CN109795685A (en) | 2019-05-24 |
| CN109795685B CN109795685B (en) | 2022-03-25 |
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| CN201910262549.0A Active CN109795685B (en) | 2019-04-02 | 2019-04-02 | Gear-rack pair flapping wing driving mechanism based on external meshing planetary gear reducer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667841A (en) * | 2019-09-05 | 2020-01-10 | 山东大学 | Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft |
| CN111452965A (en) * | 2020-04-13 | 2020-07-28 | 山东大学 | Flapping wing structure capable of hovering in opposite flapping mode and aircraft |
| CN112224406A (en) * | 2020-10-12 | 2021-01-15 | 仿翼(北京)科技有限公司 | Flapping wing aircraft and method for controlling flapping wing aircraft |
| CN114320825A (en) * | 2021-11-22 | 2022-04-12 | 杨建平 | Double-cylinder type inflator pump |
| WO2022078257A1 (en) * | 2020-10-12 | 2022-04-21 | 汉王科技股份有限公司 | Ornithopter |
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| CN105197240A (en) * | 2015-11-05 | 2015-12-30 | 西北工业大学 | Differential variable-amplitude flapping wing driving mechanism and driving method |
| CN208306990U (en) * | 2018-05-29 | 2019-01-01 | 张轶凡 | A kind of symmetrical expression minute vehicle structure |
| RU187245U1 (en) * | 2018-12-12 | 2019-02-26 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) | Drive flapping wings model aircraft |
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| CN101049858A (en) * | 2006-04-06 | 2007-10-10 | 西北工业大学 | Driving mechanism for wings of minitype ornithopter |
| CN102211667A (en) * | 2011-04-14 | 2011-10-12 | 西北工业大学 | Flapping wing driving mechanism of two-level parallel gear reduction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110667841A (en) * | 2019-09-05 | 2020-01-10 | 山东大学 | Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft |
| CN110667841B (en) * | 2019-09-05 | 2021-03-26 | 山东大学 | Flapping wing mechanism capable of realizing infinite-shaped track and flapping wing aircraft |
| CN111452965A (en) * | 2020-04-13 | 2020-07-28 | 山东大学 | Flapping wing structure capable of hovering in opposite flapping mode and aircraft |
| CN112224406A (en) * | 2020-10-12 | 2021-01-15 | 仿翼(北京)科技有限公司 | Flapping wing aircraft and method for controlling flapping wing aircraft |
| WO2022078257A1 (en) * | 2020-10-12 | 2022-04-21 | 汉王科技股份有限公司 | Ornithopter |
| CN114320825A (en) * | 2021-11-22 | 2022-04-12 | 杨建平 | Double-cylinder type inflator pump |
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| Publication number | Publication date |
|---|---|
| CN109795685B (en) | 2022-03-25 |
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