CN112984111B - Underwater actuating mechanism with speed feedback function - Google Patents
Underwater actuating mechanism with speed feedback function Download PDFInfo
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- CN112984111B CN112984111B CN202110153090.8A CN202110153090A CN112984111B CN 112984111 B CN112984111 B CN 112984111B CN 202110153090 A CN202110153090 A CN 202110153090A CN 112984111 B CN112984111 B CN 112984111B
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- ring
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- support cover
- output shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/02—Sealings between relatively-stationary surfaces
- F16J15/06—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/16—Sealings between relatively-moving surfaces
- F16J15/18—Sealings between relatively-moving surfaces with stuffing-boxes for elastic or plastic packings
- F16J15/24—Sealings between relatively-moving surfaces with stuffing-boxes for elastic or plastic packings with radially or tangentially compressed packing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/225—Detecting coils
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- 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
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motor Or Generator Frames (AREA)
Abstract
The invention relates to an underwater actuating mechanism with speed feedback, which comprises a transition shaft, wherein the middle part of the transition shaft is provided with an end cover and a support cover through a combined sealing ring, the end cover is fixed at one end of the support cover through a fastening piece, the support cover adopts a hollow structure, the support cover is also connected with the transition shaft through a bearing, the other end of the support cover is provided with an inner gland through the fastening piece, and the inner ring of the bearing is locked through a round nut and a stop washer; one end of the transition shaft is connected with the output shaft, and the other end of the transition shaft is connected with underwater equipment; the outer circumferential surface of the output shaft is provided with a motor through a bearing device, the output shaft is also provided with a rotary transformer, the rotary transformer is fixed with the motor through a clamp spring, and the motor is hermetically connected with the support cover through a first O-shaped ring; the supporting cover is further provided with a watertight connector, and the rotary transformer transmits signals with the outside through the watertight connector, so that the work is reliable.
Description
Technical Field
The invention relates to the technical field of marine underwater equipment, in particular to an underwater actuating mechanism with speed feedback.
Background
The hydraulic motor in the prior art is usually applied to land, the sealing position of an external output shaft of the hydraulic motor adopts a framework oil seal to realize one-way sealing, and external media have little influence on the interior of the hydraulic motor. However, when the hydraulic motor is applied underwater, especially in seawater, the skeleton oil seal at the sealing position of the output shaft of the hydraulic motor is corroded by seawater, and external seawater media enters the hydraulic motor due to the unidirectional pressure bearing sealing structural part, so that the pollution of internal hydraulic oil is caused. Although the existing hydraulic motor is improved in the structure of the sealing position and adopts a bidirectional sealing structure, the leakage still can be caused after the existing hydraulic motor works in seawater for a long time due to the problems of the sealing structure and the material; in addition, the output shaft of the hydraulic motor is made of materials which are not resistant to seawater corrosion, and the corrosion problem of the output shaft when the hydraulic motor is soaked in seawater for a long time during working can also bring influence to the working of the hydraulic motor.
At present, key equipment such as an underwater propeller, an underwater winch and the like of deep sea underwater equipment are often driven by an underwater hydraulic motor, the rotating speed of the propeller and the rotating speed of a winding drum of the underwater winch are used as important parameters of work feedback of the equipment, the underwater hydraulic motor with the speed feedback is often used for obtaining the rotating speed of the propeller and the rotating speed of the winding drum of the underwater winch, the underwater hydraulic motor with the speed feedback is often used for obtaining the rotating speed of the underwater winch by means of an inlet, the underwater hydraulic motor with the speed feedback is expensive, and the supply period is long.
Disclosure of Invention
The applicant aims at the defects in the prior art and provides the underwater actuating mechanism with the speed feedback, so that the leakage problem and the corrosion problem of the output shaft at the sealing structure of the output shaft can be solved, the real-time speed feedback of the output shaft can be carried out, the use reliability is greatly improved, and the service life is prolonged.
The technical scheme adopted by the invention is as follows:
an underwater actuating mechanism with speed feedback comprises a transition shaft, wherein the middle part of the transition shaft is provided with an end cover and a support cover through a combined sealing ring, the end cover is fixed at one end of the support cover through a fastening piece, the support cover is of a hollow structure, the support cover is also connected with the transition shaft through a bearing, an inner gland is arranged at the other end of the support cover through the fastening piece, and the inner ring of the bearing is locked through a round nut and a stop washer; one end of the transition shaft is connected with the output shaft, and the other end of the transition shaft is connected with underwater equipment;
the outer circumferential surface of the output shaft is provided with a motor through a bearing device, the output shaft is also provided with a rotary transformer, the rotary transformer is fixed with the motor through a clamp spring, and the motor is hermetically connected with the support cover through a first O-shaped ring;
the supporting cover is further provided with a watertight connector, and the rotary transformer transmits signals with the outside through the watertight connector.
The further technical scheme is as follows:
one end of the transition shaft is provided with an internal spline, the internal spline is matched with the output shaft, the other end of the transition shaft is provided with an external spline, and the external spline is connected with underwater equipment.
The transition shaft is made of stainless steel.
The structure of the combined sealing ring is as follows: comprises a guide ring, a tooth-shaped combined ring, a spacer ring and a dustproof ring, wherein the guide ring is sleeved outside the transition shaft, the outer ring of the guide ring is in clearance fit with the support cover, the inner ring of the guide ring is in clearance fit with the transition shaft,
the tooth-shaped combined ring comprises a second O-shaped ring and a tooth-shaped ring, the tooth-shaped combined ring is arranged back to back, the middle position of the tooth-shaped combined ring is separated by a spacer ring,
the dust ring comprises a third O-shaped ring and a square ring,
the dust ring is matched with the end cover.
The guide ring is made of polytetrafluoroethylene.
The structure of the rotary transformer is as follows: including shell, stator, rotor and channel, the shell passes through the jump ring to be fixed on the motor, and the rotor passes through interference fit assembly on the output shaft, and the stator is installed to shell inside cooperation, it has the channel to open on the shell, the draining chamber intercommunication of channel and motor.
The rotor of the resolver rotates together with the output shaft.
The supporting cover is made of stainless steel, and two ends of the supporting cover are provided with flange faces.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, can effectively solve the leakage problem of the sealing structure of the output shaft and the corrosion problem of the output shaft by the matching work of the components such as the combined sealing ring, the rotary transformer and the like, can also feed back the real-time speed of the output shaft, greatly improves the use reliability and prolongs the service life.
Compared with the conventional land hydraulic motor, the invention has the advantages that the position of the output shaft of the hydraulic motor can be changed in a modularized way, the disassembly and the assembly are convenient, when the land hydraulic motor works in seawater for a long time, the corrosion problem of the output shaft of the motor and the leakage problem of a framework oil seal can be solved, meanwhile, the real-time feedback of the output rotating speed of the underwater hydraulic motor can be carried out, and the accurate control of underwater equipment such as a propeller, an underwater winch and the like can be realized.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a partially enlarged view of a portion a in fig. 1.
Fig. 3 is a partially enlarged view of a portion B in fig. 1.
Fig. 4 is a schematic structural view of the transition shaft of the present invention.
Fig. 5 is a full sectional view taken along section C-C in fig. 4.
Wherein: 1. a transition shaft; 2. an end cap; 3. a combined sealing ring; 4. an output shaft; 5. a support housing; 6. an inner gland; 7. a clamp spring; 8. a rotary transformer; 9. a motor; 10. a first O-ring; 11. a round nut; 12. a stop washer; 13. a watertight connector; 14. a bearing;
101. an internal spline; 102. an external spline;
301. a guide ring; 302. a tooth-shaped combined ring; 303. a spacer ring; 304. a dust ring;
3021. a second O-ring; 3022. a toothed ring;
3041. a third O-ring; 3042. a square ring;
801. a housing; 802. a stator; 803. a rotor; 804. a channel.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 5, the underwater actuating mechanism with speed feedback of the present embodiment includes a transition shaft 1, an end cover 2 and a support cover 5 are installed at the middle part of the transition shaft 1 through a combined seal ring 3, the end cover 2 is fixed at one end of the support cover 5 through a fastener, the support cover 5 adopts a hollow structure, the support cover 5 is further connected with the transition shaft 1 through a bearing 14, an inner gland 6 is installed at the other end of the support cover 5 through a fastener, and an inner ring of the bearing 14 is locked through a round nut 11 and a stop washer 12; one end of the transition shaft 1 is connected with the output shaft 4, and the other end of the transition shaft is connected with underwater equipment;
the outer circumferential surface of the output shaft 4 is provided with a motor 9 through a bearing device, the output shaft 4 is also provided with a rotary transformer 8, the rotary transformer 8 is fixed with the motor 9 through a clamp spring 7, and meanwhile, the motor 9 is hermetically connected with the support cover 5 through a first O-shaped ring 10;
the support cover 5 is also provided with a watertight connector 13, and the rotary transformer 8 transmits signals with the outside through the watertight connector 13.
One end of the transition shaft 1 is provided with an internal spline 101, the internal spline 101 is matched with the output shaft 4, the other end of the transition shaft 1 is provided with an external spline 102, and the external spline 102 is connected with underwater equipment.
The transition shaft 1 is made of stainless steel.
The structure of the combined sealing ring 3 is as follows: comprises a guide ring 301, a tooth-shaped combined ring 302, a spacer ring 303 and a dust ring 304, wherein the guide ring 301 is sleeved outside the transition shaft 1, the outer ring of the guide ring 301 is in clearance fit with the support cover 5, the inner ring of the guide ring 301 is in clearance fit with the transition shaft 1,
the tooth-shaped combined ring 302 comprises a second O-shaped ring 3021 and a tooth-shaped ring 3022, the tooth-shaped combined ring 302 is arranged back to back, the middle position of the tooth-shaped combined ring 302 is separated by a spacer ring 303,
the dust ring 304 includes a third O-ring 3041 and a square ring 3042,
the dust ring 304 is fitted with the end cap 2.
The guide ring 301 is made of polytetrafluoroethylene.
The structure of the resolver 8 is: including shell 801, stator 802, rotor 803 and channel 804, shell 801 passes through jump ring 7 to be fixed on motor 9, and rotor 803 passes through interference fit assembly on output shaft 4, and the stator 802 is installed to shell 801 internal fit, and it has channel 804 to open on the shell 801, and channel 804 communicates with motor 9's draining chamber.
The rotor 803 of the resolver 8 rotates together with the output shaft 4.
The supporting cover 5 is made of stainless steel, and two ends of the supporting cover are provided with flange faces.
The specific structure and function of the invention are as follows:
the novel bearing comprises a transition shaft 1, an end cover 2, a combined sealing ring 3, an output shaft 4, a support cover 5, an inner gland 6, a clamp spring 7, a rotary transformer 8, a motor 9, a first O-shaped ring 10, a round nut 11, a stop washer 12, a watertight connector 13, a bearing 14, an inner spline 101, an outer spline 102, a guide ring 301, a tooth-shaped combined ring 302, a spacer ring 303, a dust ring 304, a shell 801, a stator 802, a rotor 803, a channel 804 and the like.
The transition shaft 1 is connected with the output shaft 4 through an internal spline 101, the internal spline 101 can be a flat key and is determined by the structural form of the output shaft 4, the transition shaft 1 is made of stainless steel, and the output end of the transition shaft 1 is an external spline 102 or a flat key and can be connected with underwater equipment such as a propeller, a winch drum and the like.
The combined sealing ring 3 is composed of a guide ring 301, a tooth-shaped combined ring 302, a spacer ring 303 and a dustproof ring 304, wherein the outer ring of the guide ring 301 is in clearance fit with the support cover 5, the inner ring of the guide ring 301 is in clearance fit with the transition shaft 1, the tooth-shaped combined ring 302 is composed of a second O-shaped ring 3021 and a tooth-shaped ring 3022, the tooth-shaped combined ring 302 is arranged back to back, the tooth-shaped combined ring 302 is separated by the spacer ring 303, the dustproof ring 304 is composed of a third O-shaped ring 3041 and a square ring 3042, and the combined sealing ring 3 is fixed on the support cover 5 through an end cover 2.
The guide ring 301 is made of polytetrafluoroethylene, the second O-shaped ring 3021 is made of nitrile rubber, the tooth-shaped ring 3022 is made of polytetrafluoroethylene, the spacer ring 303 is made of stainless steel, the third O-shaped ring 3041 is made of nitrile rubber, and the square ring 3042 is made of polytetrafluoroethylene.
The supporting cover 5 is of a hollow structure, the supporting cover is made of stainless steel, flange faces are arranged at two ends of the supporting cover, one end of the supporting cover is connected with the motor 9 through bolts, the other end of the supporting cover is connected with a target object through bolts, and a first O-shaped ring 10 is arranged on the radial end faces of the supporting cover 5 and the motor 9.
The rotary transformer 8 is composed of a shell 801, a stator 802, a rotor 803 and a channel 804, wherein the shell 801 is fixed on the motor 9 through a clamp spring 7, the rotor 803 is assembled on the output shaft 4 through interference fit, the channel 804 is reserved on the shell 801, and the rotary transformer 8 transmits signals with the outside through a watertight connector 13.
The inner ring of the bearing 14 is fixed on the outer diameter of the transition shaft 1 through a round nut 11 and a stop washer 12, and the outer ring of the bearing 14 is fixed on the support cover 5 through an inner gland 6.
In the actual use process:
the transition shaft 1, the end cover 2, the combined sealing ring 3, the output shaft 4, the support cover 5, the inner gland 6, the round nut 11, the stop washer 12 and the bearing 14 are integrally installed on the motor 9 in a modularized mode through bolts, the output shaft 4 of the motor 9 is connected with the transition shaft 1 through a spline, and torque transmission is achieved.
The first O-shaped ring 10 realizes static sealing between the support cover 5 and the motor 9, and the combined sealing ring 3 realizes bidirectional dynamic sealing between the transition shaft 1 and the support cover 5, so that external seawater is isolated from internal hydraulic oil. The guide ring 301 guarantees the axiality between transition axle 1 and the supporting cover 5, and the deviation appears when preventing transition axle 1 from rotatory and leads to combined seal circle 3 to appear leaking, and dust ring 304 realizes external impurity's isolation, prevents to get into the inside hydraulic oil that pollutes of hydraulic oil.
The inside hollow structure of support cover 5 passes through channel 804 on resolver 8 and motor 9's draining chamber intercommunication, and hydraulic oil is full of inside the whole cavity of support cover 5, and the hydraulic oil that the draining chamber was introduced passes through the compensator and realizes pressure compensation, so support cover 5 inside hydraulic oil and external sea water pressure equal, support cover 5 need not to carry out withstand voltage design, has alleviateed holistic weight.
The rotor 803 of the rotary transformer 8 rotates following the output shaft 4, and the rotational speed of the output shaft 4 can be exchanged with external information through the watertight connector 13, thereby performing speed feedback.
When the transition shaft 1 is subjected to an axial force in the direction towards the motor 9, the axial force can be transmitted to the outer ring through the inner ring of the bearing 14 and then to the support shield 5 through the outer ring; when the transition shaft 1 bears the axial force far away from the motor 9, the axial force can be transmitted to the inner ring of the bearing 14 through the round nut 11 and then transmitted to the support cover 5 through the outer ring, so that the output shaft 4 bears the bidirectional axial force, and the output shaft 4 is prevented from bearing the axial force.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (1)
1. The utility model provides a take speed feedback's mechanism that actuates under water which characterized in that: the middle part of the transition shaft (1) is provided with an end cover (2) and a support cover (5) through a combined sealing ring (3), the end cover (2) is fixed at one end of the support cover (5) through a fastening piece, the support cover (5) adopts a hollow structure, the support cover (5) is further connected with the transition shaft (1) through a bearing (14), an inner gland (6) is arranged at the other end of the support cover (5) through a fastening piece, and the inner ring of the bearing (14) is locked through a round nut (11) and a stop washer (12); one end of the transition shaft (1) is connected with the output shaft (4), and the other end of the transition shaft is connected with underwater equipment;
the outer circumferential surface of the output shaft (4) is provided with a motor (9) through a bearing device, the output shaft (4) is further provided with a rotary transformer (8), the rotary transformer (8) is fixed with the motor (9) through a clamp spring (7), and meanwhile, the motor (9) is hermetically connected with the support cover (5) through a first O-shaped ring (10); the supporting cover (5) is also provided with a watertight connector (13), and the rotary transformer (8) transmits signals with the outside through the watertight connector (13); an inner spline (101) is arranged at one end of the transition shaft (1), the inner spline (101) is matched with the output shaft (4), an outer spline (102) is arranged at the other end of the transition shaft (1), and the outer spline (102) is connected with underwater equipment; the transition shaft (1) is made of stainless steel; the structure of the combined sealing ring (3) is as follows: comprises a guide ring (301), a tooth-shaped combined ring (302), a spacer ring (303) and a dust ring (304), wherein the guide ring (301) is sleeved outside the transition shaft (1), the outer ring of the guide ring (301) is in clearance fit with the support cover (5), the inner ring of the guide ring (301) is in clearance fit with the transition shaft (1),
the tooth-shaped combined ring (302) comprises a second O-shaped ring (3021) and a tooth-shaped ring (3022), the tooth-shaped combined ring (302) is arranged back to back, the middle position of the tooth-shaped combined ring (302) is separated by a spacer ring (303),
the dust ring (304) comprises a third O-ring (3041) and a square ring (3042),
the dust ring (304) is matched with the end cover (2); the guide ring (301) is made of polytetrafluoroethylene material; the structure of the rotary transformer (8) is as follows: the motor comprises a shell (801), a stator (802), a rotor (803) and a channel (804), wherein the shell (801) is fixed on the motor (9) through a clamp spring (7), the rotor (803) is assembled on an output shaft (4) through interference fit, the stator (802) is installed inside the shell (801), the channel (804) is formed in the shell (801), and the channel (804) is communicated with an oil drainage cavity of the motor (9); the rotor (803) of the resolver (8) rotates together with the output shaft (4); the supporting cover (5) is made of stainless steel, and two ends of the supporting cover are provided with flange surfaces;
the combined sealing ring type motor is characterized in that the combined sealing ring type motor is mounted on a motor (9) through bolts in a modularized integral mode, wherein the combined sealing ring (3) is arranged on a transition shaft (1), an end cover (2), a combined sealing ring (3), an output shaft (4), a support cover (5), an inner gland (6), a round nut (11), a stop washer (12) and a bearing (14) are connected with the transition shaft (1) through splines, and torque transmission is achieved;
the first O-shaped ring (10) realizes static sealing between the support cover (5) and the motor (9), the combined sealing ring (3) realizes bidirectional dynamic sealing between the transition shaft (1) and the support cover (5), and external seawater is isolated from internal hydraulic oil; the guide ring (301) ensures the coaxiality between the transition shaft (1) and the support cover (5), prevents the leakage of the combined sealing ring (3) caused by the deviation generated when the transition shaft (1) rotates, and the dust ring (304) realizes the isolation of external impurities and prevents the hydraulic oil from being polluted when entering the hydraulic oil;
the hollow structure in the supporting cover (5) is communicated with an oil drainage cavity of the motor (9) through a channel (804) on the rotary transformer (8), hydraulic oil is filled in the whole hollow interior of the supporting cover (5), and pressure compensation is realized on the hydraulic oil introduced into the oil drainage cavity through a compensator, so that the pressure of the hydraulic oil in the supporting cover (5) is equal to that of external seawater, a pressure-resistant design is not needed for the supporting cover (5), and the whole weight is reduced; the rotor (803) of the rotary transformer (8) rotates along with the output shaft (4), and the rotating speed of the output shaft (4) can realize external information exchange through the watertight connector (13) to carry out speed feedback;
when the transition shaft (1) bears the axial force along the direction towards the motor (9), the axial force is transmitted to the outer ring through the inner ring of the bearing (14) and then transmitted to the support cover (5) through the outer ring; when the transition shaft (1) bears the axial force far away from the motor (9), the axial force is transmitted to the inner ring of the bearing (14) through the round nut (11) and then transmitted to the support cover (5) through the outer ring, so that the output shaft (4) bears the bidirectional axial force, and the output shaft (4) is prevented from bearing the axial force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110153090.8A CN112984111B (en) | 2021-02-04 | 2021-02-04 | Underwater actuating mechanism with speed feedback function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110153090.8A CN112984111B (en) | 2021-02-04 | 2021-02-04 | Underwater actuating mechanism with speed feedback function |
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| CN112984111B true CN112984111B (en) | 2022-08-12 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112984111A (en) | 2021-06-18 |
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