CN114726177A - Permanent magnet contra-rotating propulsion motor and aircraft - Google Patents

Permanent magnet contra-rotating propulsion motor and aircraft Download PDF

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Publication number
CN114726177A
CN114726177A CN202011532604.2A CN202011532604A CN114726177A CN 114726177 A CN114726177 A CN 114726177A CN 202011532604 A CN202011532604 A CN 202011532604A CN 114726177 A CN114726177 A CN 114726177A
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China
Prior art keywords
rotor
motor
stator
permanent magnet
wall
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Pending
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CN202011532604.2A
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Chinese (zh)
Inventor
张驰
宋雨轩
陈进华
郑天江
杨桂林
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Ningbo Institute of Material Technology and Engineering of CAS
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Ningbo Institute of Material Technology and Engineering of CAS
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Priority to CN202011532604.2A priority Critical patent/CN114726177A/en
Publication of CN114726177A publication Critical patent/CN114726177A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The invention discloses a permanent magnet contra-rotating propulsion motor and an aircraft. The permanent magnet contra-rotating propulsion motor comprises two sets of stator and rotor assemblies arranged in a motor shell, each stator and rotor assembly comprises a stator assembly and a rotor assembly which are matched with each other, the two rotor assemblies are respectively connected with a shaftless propeller, the inner wall of each stator assembly and the outer wall of the corresponding rotor assembly form a certain included angle with the axis of the motor, the included angles are the same, and the two shaftless propellers are coaxially arranged. The permanent magnet contra-rotating propulsion motor provided by the invention has the advantages of simple and compact structure, low bearing friction loss, high propulsion efficiency, long endurance, stable operation performance, long service life and the like, is suitable for being used in different pressure environments, and has wide application prospect in various aircrafts.

Description

Permanent magnet contra-rotating propulsion motor and aircraft
Technical Field
The invention relates to a permanent magnet propulsion motor, in particular to a permanent magnet contra-rotating propulsion motor and an aircraft, and belongs to the technical field of propulsion motors.
Background
The motor has the characteristics of safety, reliability, environmental protection, good maintainability and low running cost, and has wide application. However, as a power system, both the conventional piston engine and the conventional turboprop engine are single-propeller systems using a single propeller, and there are many problems in practical use: firstly, the power device generates reverse torque to the machine body, which brings inconvenience to operation, and even needs a series of asymmetric designs to the machine body in order to overcome the reverse torque; secondly, the single propeller power system has low efficiency and directly influences the endurance; thirdly, the reliability of the single propeller is low, and the safety is difficult to guarantee after the motor fails; fourth, single propeller power systems are noisy.
Permanent magnetism is to changeing propulsion motor and can solve single screw driving system's above drawback to a certain extent, but can bring new problem, for example: the bearings of the shaftless propulsion motor are seriously worn, the dead weight of the motor can be increased, and meanwhile, the complexity of a power system and the maintenance and repair cost in the use process are increased.
Disclosure of Invention
The invention mainly aims to provide a permanent magnet contra-rotating propulsion motor and an aircraft, so as to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides a permanent magnet contra-rotating propulsion motor which comprises a first stator component and a second stator component which are arranged in a shell, wherein the first stator component and the second rotor component are arranged in the shell, the first stator component and the first rotor component are matched with each other, the second stator component and the second rotor component are matched with each other, the first rotor component and the second rotor component are coaxially arranged, the first rotor component and the second rotor component are respectively connected with a first shaftless propeller and a second shaftless propeller, an included angle formed by the inner wall of the first stator component and the axis of a motor is the same as an included angle formed by the outer wall of the first rotor component and the axis of the motor, and an included angle formed by the inner wall of the second stator component and the axis of the motor is the same as an included angle formed by the outer wall of the second rotor component and the axis of the motor.
In some embodiments, an included angle formed by the inner wall of the first stator component and the axis of the motor or an included angle formed by the inner wall of the second stator component and the axis of the motor is related to the axial magnetic pulling force of the motor, and the sailing torque of the motor is related to the ratio of the axial magnetic pulling force to the sailing thrust, so that after the required sailing torque of the motor is determined, the axial magnetic pulling force of the motor can be obtained, and the required included angle is calculated;
wherein the sailing thrust TiThe calculation formula of (a) is as follows:
Ti＝ρA0(VA+ua1)ua
where ρ is the fluid density, A0Is the area of the propeller disk surface, VAFor the sailing speed of the propeller ua1Is the speed increment u at the disk surface of the propelleraThe speed increment of the infinite rear side of the propeller disk surface is obtained;
the calculation formula of the axial magnetic tension F of the motor is as follows:
F＝1.225×106DAVtgαLeff(βiBδi)2
wherein D isAVRepresenting the average diameter of the motor rotor, alpha being the included angle, LeffIs the effective length B of the motor coreδiIs the maximum value of the air gap flux density of the ith section, betaiIs the ratio of the mean square extreme value to the maximum value of the air gap flux density.
In some embodiments, the second shaftless propeller is located behind the first shaftless propeller in the axial direction, and the first shaftless propeller is disposed coaxially with the second shaftless propeller.
In some embodiments, the first and second rotor assemblies are each coupled to an independent control system, the first and second rotor assemblies rotating in opposite directions and forming counter-rotation.
In some embodiments, the first stator assembly, the second stator assembly, the first rotor assembly, and the second rotor assembly are further encapsulated with an encapsulating material to form a seal protection structure.
After the permanent magnet contra-rotating propulsion motor provided by the above embodiment of the invention is started, the rotor assembly starts to rotate under the action of magnetic induction between the rotor assembly and the stator assembly, and two sets of independent control systems are used, so that the first shaftless propeller and the second shaftless propeller can work in opposite rotating directions, but at the moment, because an included angle exists between the inner surface of the stator assembly and the outer surface of the rotor assembly, axial magnetic pulling force can be generated, because the motor is used for propulsion, the reaction force of fluid can be counteracted, and the counteracting force is larger when the propulsion effect is more obvious, and the size of an air gap between the stator assembly and the rotor assembly is always kept unchanged at a balance point.
The embodiment of the invention also provides an aircraft, which comprises an aircraft body, wherein the permanent magnet contra-rotating propulsion motor is arranged on the aircraft body.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the advantages that:
(1) the permanent magnet contra-rotating propulsion motor has high propulsion efficiency, and can remarkably improve the endurance mileage, safety and reliability;
(2) the permanent magnet contra-rotating propulsion motor adopts the shaftless propeller, cancels a support propeller shaft system and related accessories thereof, increases the flow area in the guide pipe, effectively reduces the flow resistance, and improves the power density and the efficiency;
(3) the inner wall of the inner stator component and the outer wall of the rotor component of the permanent magnet contra-rotating propulsion motor have the same included angle with the axis of the motor, and certain axial magnetic pulling force can be generated during operation, so that the friction of a bearing and the reaction force of fluid can be effectively counteracted;
(4) in the permanent magnetism is to rotating propulsion motor that provides, utilize insulated paint and epoxy to seal rotor subassembly, stator module, both can play waterproof effect, can also reduce the tiny grit that gets into the motor and to the hindrance influence of stator module rotor assembly to and, can isolated air, prevent the condition of oxygen corrosion, thereby the operating stability and the life of guarantee motor propeller.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic cross-sectional view of a permanent magnet counter-rotating propulsion motor in an exemplary embodiment of the present invention;
FIG. 2 is a schematic diagram of another permanent magnet counter-rotating propulsion motor according to an exemplary embodiment of the present invention;
description of reference numerals: 1-a machine shell; 2-a first stator assembly; 3-a second stator assembly; 4-a first rotor assembly; 5-a second rotor assembly; 6-a first shaftless propeller; 7-a second shaftless propeller; 8-bearing.
Detailed Description
As described above, in view of the shortcomings of the prior art, the inventor of the present invention has made extensive studies and time to propose the technical solution of the present invention, which will be specifically described below with reference to the accompanying drawings and examples.
It should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, in an exemplary embodiment of the present invention, a permanent magnet contra-rotating propulsion motor includes a first stator rotor assembly and a second stator rotor assembly installed in a casing 1, the first stator assembly comprises a first stator assembly 2 and a first rotor assembly 4 which cooperate with each other, the second stator-rotor assembly comprises a second stator assembly 3 and a second rotor assembly 5 which cooperate with each other, the first rotor assembly 4 and the second rotor assembly 5 are coaxially arranged, and the first rotor assembly 4 and the second rotor assembly 5 are respectively connected with a first shaftless propeller 6 and a second shaftless propeller 7, the included angle formed by the inner wall of the first stator component 2 and the axis of the motor is the same as the included angle formed by the outer wall of the first rotor component 4 and the axis of the motor, the included angle formed by the inner wall of the second stator component 3 and the axis of the motor is the same as the included angle formed by the outer wall of the second rotor component 5 and the axis of the motor. By utilizing the characteristics that the fixed and rotor assemblies and the motor axis form a certain included angle and the angles are the same, the friction loss of the bearing is reduced, and the reaction force of fluid on the propeller blade without the shaft can be counteracted, so that the propelling efficiency is improved.
Further, air gaps are distributed between the inner wall of the first stator assembly 2 and the outer wall of the first rotor assembly 4 and between the inner wall of the second stator assembly 3 and the outer wall of the second rotor assembly 5. The size (air gap width) is substantially uniform throughout the same air gap.
In some embodiments, the inner wall of the first stator assembly and the outer wall of the first rotor assembly are parallel to each other. The inner wall of the second stator component and the outer wall of the second rotor component are parallel to each other.
Further, the second shaftless propeller 7 is located behind the first shaftless propeller 6 in the axial direction, and the first shaftless propeller 6 and the second shaftless propeller 7 are coaxially arranged. Two shaftless propellers which are coaxial, one of the shaftless propellers rotates forwards and the other rotates backwards, two unilateral torques are generated respectively, and the two unilateral torques are offset by using a control system, so that the purposes of eliminating roll and side turning and improving power are achieved.
Further, the blade diameter of the first shaftless propeller 6 is larger than that of the second shaftless propeller 7.
Further, the first shaftless propeller 6 and the second shaftless propeller 7 are respectively arranged at the front end and the tail part of the permanent magnet contra-rotating propulsion motor.
Further, the first rotor assembly 4 and the second rotor assembly 5 rotate in opposite directions and form a counter-rotation. Specifically, the first rotor assembly and the second rotor assembly can be controlled through two independent control systems respectively, so that the first rotor assembly 4 and the second rotor assembly 5 work in opposite rotating directions, the second shaftless propeller 7 makes full use of the vortex energy of the first shaftless propeller 6, and the vortex energy is converted into effective propulsion power.
Further, the first stator assembly 2 and the first rotor assembly 4 and the second stator assembly 3 and the second rotor assembly 5 are connected through bearings 8. The bearing 8 includes a water-lubricated bearing, an open water-resistant mechanical bearing, a sealed mechanical bearing, or the like, and is not limited thereto.
Furthermore, the included angle formed by the inner wall of the first stator component 2 and the axis of the motor and the included angle formed by the inner wall of the second stator component 3 and the axis of the motor can be determined after calculation according to the torque navigation requirement of the motor. Specifically, the navigation torque is related to the ratio of the axial magnetic pulling force of the motor to the navigation thrust, and the axial magnetic pulling force is related to the included angle, so that the included angle can be obtained through a related formula after the navigation thrust is determined. The navigation thrust can be solved through the following formula:
Ti＝ρA0(VA+ua1)ua。
where ρ is the fluid density, A0Is the area of the propeller disk surface, VAFor the sailing speed of the propeller ua1Is the speed increment u at the disk surface of the propelleraThe speed increment at the infinite rear of the disk surface of the propeller.
The axial magnetic pull force can be calculated by referring to the following formula:
F＝1.225×106DAVtgαLeff(βiBδi)2
wherein F represents the magnitude of the axial magnetic pull force DAVRepresenting the average diameter of the motor rotor, alpha being the included angle and LeffIs the effective length B of the motor coreδiIs the maximum value of the air gap flux density of the ith section, betaiIs the ratio of the mean square extreme value to the maximum value of the air gap flux density.
Preferably, an included angle formed by the inner wall of the first stator assembly 2 and the axis of the motor and an included angle formed by the inner wall of the second stator assembly 3 and the axis of the motor are both greater than 0 and less than or equal to 45 °.
Furthermore, the axial length proportion of the first fixed rotor assembly and the second fixed rotor assembly can be adjusted according to the rotating speed and torque requirements of the contra-rotating propeller.
Further, the first and second stator assemblies 2 and 3 include coil windings for generating a rotating magnetic field, and the first and second rotor assemblies 4 and 5 include permanent magnets for providing a rotating torque.
Wherein, the outside of each coil winding and each permanent magnet can be covered with insulating paint. And potting material may be potted inside the first stator assembly 2, the second stator assembly 3, the first rotor assembly 4, and the second rotor assembly 5 to form a sealed containment structure. Suitable encapsulating materials may be epoxy resins and the like, and are not limited thereto.
Aforementioned each stator module and rotor subassembly receive the corruption easily after long-time work, insulating varnish and packaging material etc. both can play waterproof effect, and not only can reduce the influence of the slight grit that gets into the motor to stator module rotor subassembly in addition, can also isolated air, prevent the condition of oxygen corrosion.
Furthermore, the mounting structure of the permanent magnet includes, but is not limited to, a surface mount type or an embedded type mounting structure, and other permanent magnet mounting methods of the permanent magnet motor.
Further, the material of the permanent magnet may include, but is not limited to, various magnetic materials such as rubidium, iron, boron and the like.
Further, the permanent magnet can be arranged in a single section or multiple sections.
Further, the coil windings disposed in each stator assembly may be, but are not limited to, distributed windings, concentrated windings, or other winding methods.
Furthermore, the permanent magnets arranged in each rotor assembly can be arranged into a single section or multiple sections, and the material can be selected from but not limited to various magnetic materials such as rubidium, iron and boron.
Furthermore, the permanent magnet may be mounted in a surface mount manner or in an embedded manner.
Furthermore, the material of the iron core in the stator and rotor assemblies can be, but is not limited to, silicon steel sheets and other magnetic materials.
Furthermore, the power of the propulsion motor can be changed by changing the distribution mode of the coil windings, the number of turns of the coils and the wire diameter of each stator assembly, changing the materials of the stator and the rotor core, changing the materials and the volume of the permanent magnet and the like.
Furthermore, the overall propulsion efficiency can be improved by changing the number, shape and material of the blades of each shaftless propeller.
Further, the permanent magnet contra-rotating propulsion motor can be a three-phase motor or other multi-phase motors except for three phases.
Further, the installation position of the bearing 8 in the housing 1 may also be adjusted according to actual requirements, for example, the bearing may be arranged between the stator and the rotor (fig. 1), at the center position of the rotor (see fig. 2), and the like, and only two rotor assemblies may be required to be capable of rotating freely.
Furthermore, the internal pressure of the motor can be adjusted by filling and discharging insulating oil in the casing 1 and matching with a pressure balancing device and the like so as to adapt to application in different water depths.
The permanent magnet contra-rotating propulsion motor provided by the typical embodiment comprises a front fixed rotor component and a rear fixed rotor component which are controlled by a front drive control system and a rear drive control system and are provided with shaftless propellers, and the included angle formed by the inner wall of a stator component and the outer wall of a rotor component in one fixed rotor component and the axis of a motor is the same, so that certain axial magnetic pulling force can be generated in the included angle to offset the reaction force of fluid during bearing friction and propulsion, the rotating directions of the two rotor components are opposite during working, and the vortex energy in the wake flow of the first shaftless propeller can be effectively utilized by the second shaftless propeller, so that the permanent magnet contra-rotating propulsion motor has the advantages of high working efficiency, long endurance time, balanced torque and the like.
The permanent magnet contra-rotating propulsion motor provided by the exemplary embodiment can be used as a propeller to be applied to aircrafts such as ships. For example, the permanent magnet counter-rotating propulsion motor may be located under or at the tail of the aircraft.
Always, the permanent magnet contra-rotating propulsion motor provided by the embodiment of the invention has the advantages of simple and compact structure, further greatly reduced bearing friction loss, high propulsion efficiency, long endurance and the like, has very obvious noise control, stable operation performance and long service life, can be suitable for different pressure environments, and has wide application prospect in various aircrafts.
It should be understood that the foregoing is only illustrative of the present invention and that numerous changes and modifications may be made by those skilled in the art without departing from the principles of the invention and these are to be considered within the scope of the invention.

Claims (10)

1. The utility model provides a permanent magnetism is to changeing propulsion motor, its characterized in that is including installing first fixed rotor subassembly and the second fixed rotor subassembly in casing (1), first fixed rotor subassembly is including first stator subassembly (2) and first rotor subassembly (4) of mutually supporting, the second fixed rotor subassembly is including second stator subassembly (3) and second rotor subassembly (5) of mutually supporting, first rotor subassembly (4) and the coaxial setting of second rotor subassembly (5), and first rotor subassembly (4), second rotor subassembly (5) are connected with first shaftless screw (6), second shaftless screw (7) respectively, the inner wall of first stator subassembly (2) is the same with the contained angle that the outer wall of first rotor subassembly (4) becomes the contained angle, the contained angle that the inner wall of second stator subassembly (3) becomes with the motor axis and the contained angle that the outer wall of second rotor subassembly (5) becomes the same with the contained angle that the motor axis becomes .
2. The permanent magnet counter-rotating propulsion motor according to claim 1, characterized in that: the included angle formed by the inner wall of the first stator component (2) and the axis of the motor or the included angle formed by the inner wall of the second stator component (3) and the axis of the motor is related to the axial magnetic tension of the motor, the navigation torque of the motor is related to the ratio of the axial magnetic tension to the navigation thrust, and after the navigation torque of the motor is determined, the axial magnetic tension of the motor can be obtained, so that the required included angle is calculated;
wherein the sailing thrust TiThe calculation formula of (a) is as follows:
Figure FDA0002850970820000011
where ρ is the fluid density, A0Is the area of the propeller disk surface, VAFor the sailing speed of the propeller ua1Is the speed increment u at the disk surface of the propelleraThe speed increment of the infinite rear side of the propeller disk surface is obtained;
the calculation formula of the axial magnetic tension F of the motor is as follows:
F＝1.225×106DAVtgαLeff(βiBδi)2
wherein D isAVRepresenting the average diameter of the motor rotor, alpha being the included angle, LeffIs the effective length of the motor core, BδiIs the maximum value of the air gap flux density of the ith section, betaiIs the ratio of the mean square extreme value to the maximum value of the air gap flux density.
3. The permanent magnet counter-rotating propulsion motor according to claim 2, characterized in that: the included angle formed by the inner wall of the first stator component (2) and the axis of the motor and the included angle formed by the inner wall of the second stator component (3) and the axis of the motor are both larger than 0 and smaller than or equal to 45 degrees.
4. The permanent magnet counter-rotating propulsion motor according to claim 1, characterized in that: air gaps are distributed between the inner wall of the first stator component (2) and the outer wall of the first rotor component (4) and between the inner wall of the second stator component (3) and the outer wall of the second rotor component (5); and/or the first rotor assembly (4) and the second rotor assembly (5) are respectively connected with an independent control system, and the rotating directions of the first rotor assembly (4) and the second rotor assembly (5) are opposite and form counter-rotation.
5. The permanent magnet counter-rotating propulsion motor according to claim 1, characterized in that: the second shaftless propeller (7) is located behind the first shaftless propeller (6) in the axial direction, and the first shaftless propeller (6) and the second shaftless propeller (7) are coaxially arranged.
6. The permanent magnet counter-rotating propulsion motor according to claim 5, characterized in that: the diameter of the blade of the first shaftless propeller (6) is larger than that of the blade of the second shaftless propeller (7); and/or the first shaftless propeller (6) and the second shaftless propeller (7) are respectively arranged at the front end and the tail part of the permanent magnet contra-rotating propulsion motor.
7. The permanent magnet counter-rotating propulsion motor according to claim 1, characterized in that: the first stator assembly (2) and the first rotor assembly (4) and the second stator assembly (3) and the second rotor assembly (5) are connected through bearings (8), and the bearings (8) comprise water-lubricated bearings, open water-resistant mechanical bearings or sealed mechanical bearings.
8. The permanent magnet counter-rotating propulsion motor according to claim 1, characterized in that: the first stator assembly (2) and the second stator assembly (3) comprise coil windings, and the first rotor assembly (4) and the second rotor assembly (5) comprise permanent magnets.
9. The permanent magnet counter-rotating propulsion motor according to claim 8, characterized in that: the outside of the coil winding and/or the permanent magnet is covered with insulating paint; and/or the first stator assembly (2), the second stator assembly (3), the first rotor assembly (4) and the second rotor assembly (5) are internally filled with packaging materials to form a sealing protection structure; and/or the mounting structure of the permanent magnet comprises a surface-mounted or embedded mounting structure; and/or the structure of the coil winding comprises a distributed winding structure or a concentrated winding structure.
10. An aircraft comprising an aircraft body, characterized in that: the aircraft body is provided with a permanent magnet contra-rotating propulsion motor according to any one of claims 1-9.
CN202011532604.2A 2020-12-22 2020-12-22 Permanent magnet contra-rotating propulsion motor and aircraft Pending CN114726177A (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116215823A (en) * 2023-03-22 2023-06-06 中国科学院宁波材料技术与工程研究所 Conduit type deep sea propeller

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116215823A (en) * 2023-03-22 2023-06-06 中国科学院宁波材料技术与工程研究所 Conduit type deep sea propeller
CN116215823B (en) * 2023-03-22 2023-08-18 中国科学院宁波材料技术与工程研究所 Conduit type deep sea propeller

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