CN109979624A - A kind of underwater rotary type position feedback unit driving structure - Google Patents
A kind of underwater rotary type position feedback unit driving structure Download PDFInfo
- Publication number
- CN109979624A CN109979624A CN201711444927.4A CN201711444927A CN109979624A CN 109979624 A CN109979624 A CN 109979624A CN 201711444927 A CN201711444927 A CN 201711444927A CN 109979624 A CN109979624 A CN 109979624A
- Authority
- CN
- China
- Prior art keywords
- feedback unit
- wheel assembly
- position feedback
- seal
- servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 229910052779 Neodymium Inorganic materials 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- QEFYFXOXNSNQGX-UHFFFAOYSA-N neodymium atom Chemical compound [Nd] QEFYFXOXNSNQGX-UHFFFAOYSA-N 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 230000004913 activation Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/10—Structural combination of fuel element, control rod, reactor core, or moderator structure with sensitive instruments, e.g. for measuring radioactivity, strain
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention belongs to nuclear power fields, specially a kind of underwater rotary type position feedback unit driving structure, including mounting base, oscillating rod, seal cavity component, from servo-actuated wheel assembly and position feedback unit, seal cavity component external is equipped with servo-actuated wheel assembly, inside is equipped with driven wheel assembly, position feedback unit is set in the seal cavity of seal cavity component, and seal cavity component, servo-actuated wheel assembly, driven wheel assembly are coaxial；Servo-actuated wheel assembly and driven wheel assembly are respectively equipped with opposite polarity neodium magnet.This structure is mounted on RCCA and checks in equipment, and when RCCA single rod is gone up and down with refueling machine, the position and speed of single rod is obtained by driving structure activation point feedback unit.
Description
Technical field
The invention belongs to nuclear power fields, and in particular to a kind of nuclear power plant's reactor control rod tread assembly ultrasonic examination it is underwater
The driving structure of rotary type position feedback unit.
Background technique
PWR nuclear power plant control rod tread assembly (hereinafter referred to as RCCA) for adjust reactor capability and it is urgent when shutdown,
Important function is born in the operation of entire nuclear plant safety.During reactor operation, RCCA is transported by water impact, control rod stepping
Material creep under dynamic and high radiation environment, the defects of abrasion, swelling, crackle can be generated.To ensure npp safety operation,
It needs periodically to implement ultrasonic examination to RCCA.
When implementing RCCA inspection, driving water immersion focusing ultrasonic probe is quick around RCCA single rod while RCCA single rod is gone up and down
Ultrasonic examination is implemented in rotation, realizes the spiral scanning to RCCA single rod.To avoid missing inspection and reducing reinspection rate, each spiral scanning
Screw pitch should be consistent, the accurate feedback of the speed of the lifting of RCCA single rod, ultrasonic probe rotation need to be obtained.Ultrasonic probe revolving speed can lead to
It crosses motor tail portion and carries the acquisition of position feedback unit, and the lifting of RCCA single rod is driven by nuclear power plant's fuel plant refueling machine, need to be led to
It crosses dedicated RCCA single rod axial position feedback element and obtains accurate location and speed.
RCCA single rod is the long stick of thin-walled thin footpath, and surface is smooth, and smaller with gap between slotting fuel assembly guide pipe is matched,
Axial position feedback element should be avoided when obtaining RCCA single rod axial position and damage to single rod surface.Meanwhile each RCCA
Gap is smaller between single rod, and axial position feedback element is answered compact-sized, and meets underwater operation demand.
Summary of the invention
The object of the present invention is to provide a kind of underwater rotary type position feedback unit driving structures, can be in RCCA single rod
The position and speed of single rod is obtained when going up and down with refueling machine.
Technical scheme is as follows:
A kind of underwater rotary type position feedback unit driving structure, mounting base including bottom are set to and mounting base pin shaft
The oscillating rod of connection, the seal cavity component being connect with oscillating rod, and the supporting roller group by being installed in seal cavity component
Part, driven wheel assembly, position feedback unit, the oscillating rod can be around the connection spot wobbles of itself and mounting base；Described is close
Envelope cavity components include seal cavity, and one end is equipped with mandrel, and the mandrel extends one section inside and outside the end face, mandrel
Outer portion part be equipped with servo-actuated wheel assembly, the inner section of mandrel is equipped with driven wheel assembly；The position feedback unit is set to
In the seal cavity of seal cavity component, and seal cavity component, servo-actuated wheel assembly, driven wheel assembly are coaxial；Described is servo-actuated
Wheel assembly and driven wheel assembly are respectively equipped with opposite polarity neodium magnet.
The seal cavity includes seal closure and seal chamber housing, and the seal closure is columnar structured, one end
Equipped with mounting hole, the other end is tightly connected seal chamber housing, and the seal chamber housing main body is similarly cylinder-shaped, and one end adds
Work has flange, and other end center is machined with mandrel, and mandrel extends one section inside and outside the end face, and the outer portion part of mandrel is equipped with
The inner section of servo-actuated wheel assembly, mandrel is equipped with driven wheel assembly, and the seal chamber housing is co-axially mounted with seal closure.
The seal chamber housing uses nonferromugnetic material.
Seal closure realizes that axial seal connects by sealing ring with seal chamber housing.
The servo-actuated wheel assembly includes servo-actuated wheel disc, the first neodium magnet, the first deep groove ball bearing, and driven wheel assembly includes
Second neodium magnet, the second deep groove ball bearing and driven wheel disc；The servo-actuated wheel disc is disc, and centre bore is deep by first
Ditch ball bearing is connect with the mandrel in seal cavity component, and centre bore circumferential periphery is distributed several holes, is equipped with the first neodymium magnetic in hole
Iron；The centre bore of the driven wheel disc is connect by the second deep groove ball bearing with the mandrel in seal cavity component, centre bore
Circumferential periphery is distributed several holes, is equipped with the second neodium magnet in hole, and the first neodium magnet and the second neodium magnet polarity are opposite.
The oscillating rod then passes through centre bore and is coupled with mandrel, and is fixed by screw.
Position feedback unit installation sleeve is equipped in the seal cavity of the seal cavity component, position feedback unit is logical
The mode for crossing seam allowance positioning is located in position feedback unit installation sleeve together.
Circlip is equipped in the position feedback unit installation sleeve.
Remarkable result of the invention is as follows: a kind of underwater rotary type position feedback unit driving structure is mounted on RCCA inspection
In equipment, when RCCA single rod is gone up and down with refueling machine, the position of single rod is obtained by driving structure activation point feedback unit
It sets and speed.
The seal cavity component that wherein designs and thereon component are connect by oscillating rod with mounting base, under its Gravitative Loads
It is swung relative to mounting base, contacts servo-actuated wheel assembly with RCCA single rod, and keep certain normal pressure, to realize RCCA single rod
It goes up and down frictional force and drives supporting roller rotation.
External, the internal servo-actuated wheel assembly of seal chamber housing and driven wheel assembly realize the transmitting of power, phase by magnetic coupling
The mechanical structure of rotation axis+dynamic sealing common for underwater sealing has the characteristics that rotary resistance is small, water-stop effect is good,
It can be realized the synchronous rotation of driven wheel assembly and servo-actuated wheel assembly in seal cavity simultaneously, and then drive position feedback unit
Axial position feedback, the driving structure frictional force is small, and underwater sealing effect is good；
It can realize that submarine site feedback unit keeps certain pressure to RCCA single rod always by the eccentric structure of oscillating rod,
And servo-actuated wheel disc is taken under pressure in the lifting of RCCA single rod and is rotated synchronously.
Detailed description of the invention
Fig. 1 is a kind of underwater rotary type position feedback unit driving structure general illustration；
Fig. 2 is servo-actuated wheel assembly and driven wheel assembly connection schematic diagram；
Fig. 3 is seal cavity component structure diagram；
Fig. 4 is that underwater rotary type position feedback unit obtains RCCA single rod position and speed schematic diagram；
In figure: 1. servo-actuated wheel assemblies；2. driven wheel assembly；3. seal cavity component；4. position feedback unit；5. swinging
Bar；6. mounting base；7. servo-actuated wheel disc；8. the first neodium magnet；9. the first deep groove ball bearing；10. driven wheel disc；11. seal cavity
Seat；12. seal closure；13. position feedback unit installation sleeve；14. circlip；15.RCCA single rod；16. the second neodium magnet；
17. the second deep groove ball bearing；18. mandrel.
Specific embodiment
Below by the drawings and the specific embodiments, the invention will be further described.
As shown in Figure 1, underwater rotary type position feedback driving structure unit is by servo-actuated wheel assembly 1, driven wheel assembly 2, close
Seal 6 five cavity components 3, position feedback unit 4, oscillating rod 5, mounting base part compositions.
Mounting base 6 is located at bottom, and oscillating rod 5 is mounted in mounting base 6, and seal cavity component 3 is installed by oscillating rod 5.
Servo-actuated wheel assembly 1, driven wheel assembly 2, position feedback unit 4, oscillating rod 5 are installed on seal cavity component 3, wherein being servo-actuated
Wheel assembly 1, oscillating rod 5 are mounted on outside seal cavity component 3, and driven wheel assembly 2, position feedback unit 4 are mounted on seal chamber
Inside body 3.
Seal cavity component 3 and thereon component are connect by oscillating rod 5 with mounting base 6, under its Gravitative Loads relative to
Mounting base 6 is swung, and contacts servo-actuated wheel assembly 1 with RCCA single rod, and keep certain normal pressure, to realize that RCCA single rod is gone up and down
Frictional force drives supporting roller rotation.
2 connection schematic diagram of servo-actuated wheel assembly 1 and driven wheel assembly as shown in Figure 2.
Servo-actuated wheel assembly includes servo-actuated wheel disc 7, the first neodium magnet 8, the first deep groove ball bearing 9, and driven wheel assembly 2 includes the
Two neodium magnets 16, the second deep groove ball bearing 17 and driven wheel disc 10.
Servo-actuated wheel disc 7 is disc, and centre bore passes through the first deep groove ball bearing 9 and the mandrel 18 in seal cavity component 3
Connection, centre bore circumferential periphery are distributed the installation that several holes are used for the first neodium magnet 8.The centre bore of driven wheel disc 10 passes through second
Deep groove ball bearing 17 is connect in seal cavity component 3 mandrel 18, and centre bore circumferential periphery is distributed several holes and is used for the second neodymium
The installation of magnet 16.
Servo-actuated wheel assembly 1 servo-actuated wheel outer surface when RCCA single rod is gone up and down touch single rod, by frictional force band between single rod
Dynamic servo-actuated wheel assembly rotation, driven wheel assembly is engaged by magnetic coupling with supporting roller, and is rotated synchronously with supporting roller, to drive
Position feedback unit rotational.
Servo-actuated wheel assembly is opposite with the neodium magnet magnetic polarity that driven wheel assembly is installed attracts each other, by arranged in pairs
Neodium magnet, which attracts each other, realizes magnetic coupling.
Further, wheel assembly 1 being servo-actuated to be arranged in outside seal cavity, driven wheel assembly 2 is arranged in inside seal cavity,
Centre is separated by the seal chamber housing 11 of seal cavity component 3.Seal chamber housing 11 uses nonferromugnetic material, to avoid pair
Servo-actuated wheel assembly 1, driven wheel assembly 2 the magnetic flux distributions of magnet impact.
As shown in figure 3, the seal cavity component 3 includes seal closure 12 and seal chamber housing 11, the seal closure
12 is columnar structured, and one end is equipped with mounting hole, and the other end is tightly connected seal chamber housing 11.The seal chamber housing 11
Main body is similarly cylinder-shaped, and one end is machined with flange, and other end center is machined with mandrel 18, and mandrel 18 is inside and outside the end face
Extend one section, above-mentioned servo-actuated wheel disc 7 is installed on the outer portion part of mandrel 18, is installed in the inner section of mandrel 18 above-mentioned driven
Wheel disc 10.The seal chamber housing 11 is co-axially mounted with seal closure 12.
Above-mentioned oscillating rod 3 is then coupled by centre bore with the mandrel 18 in seal chamber housing, and solid by screw
It is fixed.
Seal cavity component realizes that the underwater sealing to driven wheel assembly, position feedback unit, seal closure 12 are anti-by position
Feedback unit 4 is separated with water, and seal closure 12 is connect with seal chamber housing 11 by seam allowance positioning, screw, and is axially pressed by O-ring
Tight mode realizes underwater protection function.
Position feedback unit installation sleeve 13 is mounted in seal closure 12, and position feedback unit 4 is then protected using seam allowance positioning
Hold it is coaxial with position feedback unit installation sleeve 13, and then realize with seal closure 12, seal chamber housing 11, driven wheel assembly 2
It is coaxial.Circlip 14 is installed, for positioning to position feedback unit 4 in position feedback unit installation sleeve 13.
External, the internal servo-actuated wheel assembly 1 of seal chamber housing 11 and driven wheel assembly 2 realize the biography of power by magnetic coupling
It passs, relative to the mechanical structure of the common rotation axis+dynamic sealing of underwater sealing, there is rotary resistance is small, water-stop effect is good etc.
Feature.
Position feedback unit 4 is used to feed back the axial position and axial direction lifting speed of RCCA single rod, using rotary type position
Detecting element.
As shown in figure 4,5 one end of oscillating rod connects mounting base 6 by pin shaft, the other end passes through centre bore and seal chamber housing
11 mandrel 18 is screwed with merging.Oscillating rod 5 uses eccentric structure, realizes seal cavity component 3 and thereon supporting roller
The swing of component 1, driven wheel assembly 2, position feedback unit 4 under Gravitative Loads relative to 6 pin shaft of mounting base, to make to be servo-actuated
Wheel disc keeps certain normal pressure to RCCA single rod 15 always, and rotates with the lifting of RCCA single rod 15.
Realize that servo-actuated wheel disc keeps certain pressure, the structure to RCCA single rod 15 always by the eccentric structure of oscillating rod 5
It is compact, and pressure is known and constant, will not damage to thin-walled, thin footpath and longer RCCA single rod.Mounting base 6 will return under water
The installation of transition position feedback unit 4 is fixed in RCCA inspection equipment, and is realized under water by connecting with the pin shaft of oscillating rod 5
Swing of the rotary type position feedback unit 4 relative to 6 pin shaft of mounting base.
Claims (8)
1. a kind of underwater rotary type position feedback unit driving structure, mounting base 6 including bottom is set to and 6 pin shaft of mounting base
The oscillating rod 5 of connection, the seal cavity component 3 being connect with oscillating rod 5, and it is servo-actuated by what is installed in seal cavity component 3
Wheel assembly 1, driven wheel assembly 2, position feedback unit 4, it is characterised in that: the oscillating rod 5 can be around itself and mounting base 6
Connect spot wobble；The seal cavity component 3 includes seal cavity, and one end is equipped with mandrel 18, and the mandrel 18 is at this
The inside and outside of end face extends one section, and the outer portion part of mandrel 18 is equipped with servo-actuated wheel assembly 1, and the inner section of mandrel 18 is equipped with driven
Wheel assembly 2；The position feedback unit 4 is set in the seal cavity of seal cavity component 3, and seal cavity component 3, servo-actuated
Wheel assembly 1, driven wheel assembly 2 are coaxial；The servo-actuated wheel assembly 1 and driven wheel assembly 2 is respectively equipped with opposite polarity neodymium magnetic
Iron.
2. a kind of underwater rotary type position feedback unit driving structure as described in claim 1, it is characterised in that: it is described
Seal cavity includes seal closure 12 and seal chamber housing 11, the seal closure 12 be it is columnar structured, one end is equipped with installation
Hole, the other end are tightly connected seal chamber housing 11, and 11 main body of seal chamber housing is similarly cylinder-shaped, and one end is machined with
Flange, other end center are machined with mandrel 18, and mandrel 18 extends one section inside and outside the end face, sets on the outer portion part of mandrel 18
There is servo-actuated wheel assembly 1, the inner section of mandrel 18 is equipped with driven wheel assembly 2, and the seal chamber housing 11 and seal closure 12 are same
Axis installation.
3. a kind of underwater rotary type position feedback unit driving structure as claimed in claim 2, it is characterised in that: it is described
Seal chamber housing 11 uses nonferromugnetic material.
4. a kind of underwater rotary type position feedback unit driving structure as claimed in claim 2, it is characterised in that: seal closure 12
Realize that axial seal connects by sealing ring with seal chamber housing 11.
5. a kind of underwater rotary type position feedback unit driving structure as described in claim 1, it is characterised in that: it is described with
Drive wheel assemblies include servo-actuated wheel disc 7, the first neodium magnet 8, the first deep groove ball bearing 9, and driven wheel assembly 2 includes the second neodium magnet
16, the second deep groove ball bearing 17 and driven wheel disc 10；The servo-actuated wheel disc 7 is disc, and centre bore passes through the first zanjon
Ball bearing 9 is connect with the mandrel 18 in seal cavity component 3, and centre bore circumferential periphery is distributed several holes, is equipped with the first neodymium in hole
Magnet 8；The centre bore of the driven wheel disc 10 is connected by the second deep groove ball bearing 17 and seal cavity component 3 mandrel 18
It connects, centre bore circumferential periphery is distributed several holes, and the second neodium magnet 16, and the first neodium magnet 8 and the second neodium magnet 16 are equipped in hole
Polarity is opposite.
6. a kind of underwater rotary type position feedback unit driving structure as described in claim 1, it is characterised in that: the pendulum
Lever 3 is then coupled by centre bore with mandrel 18, and is fixed by screw.
7. a kind of underwater rotary type position feedback unit driving structure as described in claim 1, it is characterised in that: described is close
It seals and is equipped with position feedback unit installation sleeve 13 in the seal cavity of cavity components 3, position feedback unit 4 is positioned by seam allowance
Mode is same to be located in position feedback unit installation sleeve 13.
8. a kind of underwater rotary type position feedback unit driving structure as claimed in claim 7, it is characterised in that: the position
It sets and is equipped with circlip 14 in feedback unit installation sleeve 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444927.4A CN109979624B (en) | 2017-12-27 | 2017-12-27 | Driving structure of underwater rotary type position feedback unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444927.4A CN109979624B (en) | 2017-12-27 | 2017-12-27 | Driving structure of underwater rotary type position feedback unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109979624A true CN109979624A (en) | 2019-07-05 |
| CN109979624B CN109979624B (en) | 2024-03-19 |
Family
ID=67071497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711444927.4A Active CN109979624B (en) | 2017-12-27 | 2017-12-27 | Driving structure of underwater rotary type position feedback unit |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4094369A (en) * | 1974-10-08 | 1978-06-13 | Commissariat A L'energie Atomique | Monitoring device for nuclear reactor control rods |
| JP2000227490A (en) * | 1999-02-05 | 2000-08-15 | Hitachi Ltd | Control rod drive mechanism |
| JP2005227020A (en) * | 2004-02-10 | 2005-08-25 | Hitachi Ltd | Inspection/repair device for interior of nuclear reactor pressure vessel and its method |
| CN104979028A (en) * | 2015-05-20 | 2015-10-14 | 中广核检测技术有限公司 | CEPR nuclear power plant control rod driving mechanism weld ultrasonic scanner positioning device |
| CN106482926A (en) * | 2016-09-29 | 2017-03-08 | 浙江工业大学 | Based on multifunctional bionic drag reduction test device under water |
| CN206331796U (en) * | 2016-11-28 | 2017-07-14 | 中核核电运行管理有限公司 | PHWR burst slug submarine inspection device |
| CN207718835U (en) * | 2017-12-27 | 2018-08-10 | 核动力运行研究所 | A kind of underwater rotary type position feedback unit driving structure |
-
2017
- 2017-12-27 CN CN201711444927.4A patent/CN109979624B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4094369A (en) * | 1974-10-08 | 1978-06-13 | Commissariat A L'energie Atomique | Monitoring device for nuclear reactor control rods |
| JP2000227490A (en) * | 1999-02-05 | 2000-08-15 | Hitachi Ltd | Control rod drive mechanism |
| JP2005227020A (en) * | 2004-02-10 | 2005-08-25 | Hitachi Ltd | Inspection/repair device for interior of nuclear reactor pressure vessel and its method |
| CN104979028A (en) * | 2015-05-20 | 2015-10-14 | 中广核检测技术有限公司 | CEPR nuclear power plant control rod driving mechanism weld ultrasonic scanner positioning device |
| CN106482926A (en) * | 2016-09-29 | 2017-03-08 | 浙江工业大学 | Based on multifunctional bionic drag reduction test device under water |
| CN206331796U (en) * | 2016-11-28 | 2017-07-14 | 中核核电运行管理有限公司 | PHWR burst slug submarine inspection device |
| CN207718835U (en) * | 2017-12-27 | 2018-08-10 | 核动力运行研究所 | A kind of underwater rotary type position feedback unit driving structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109979624B (en) | 2024-03-19 |
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