CN114889794A - Channel propeller of autonomous underwater robot in deep sea - Google Patents
Channel propeller of autonomous underwater robot in deep sea Download PDFInfo
- Publication number
- CN114889794A CN114889794A CN202210632481.2A CN202210632481A CN114889794A CN 114889794 A CN114889794 A CN 114889794A CN 202210632481 A CN202210632481 A CN 202210632481A CN 114889794 A CN114889794 A CN 114889794A
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- Prior art keywords
- channel
- bearing seat
- autonomous underwater
- pressure
- rotary encoder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of autonomous underwater robots, in particular to a channel propeller of a deep-sea autonomous underwater robot. The channel thruster comprises a channel thruster body and a channel propeller assembly; the channel propeller body comprises a pressure-resistant shell, and a frameless motor, a transmission shaft system and a rotary encoder which are arranged in the pressure-resistant shell, wherein the rotary encoder is arranged at the tail end of the transmission shaft system, the front end of the transmission shaft system penetrates out of the pressure-resistant shell and is connected with the channel propeller assembly, the frameless motor is connected with the transmission shaft system, and the frameless motor is used for driving the transmission shaft system to rotate. The invention has the advantages of simple structure, high control precision, higher transmission efficiency, rapid response, small volume, small noise and the like, has an angle feedback function, can meet the use requirement of the deep sea underwater robot, and is convenient to install and maintain.
Description
Technical Field
The invention relates to the technical field of autonomous underwater robots, in particular to a channel propeller of a deep-sea autonomous underwater robot.
Background
With the continuous progress and development of autonomous underwater robot technology, the development of various deep-sea underwater robots is developed successively, and higher requirements are put forward on the control of the deep-sea underwater robots. The channel propeller is a main component of an auxiliary propulsion system of the autonomous underwater robot, is fixed in a channel of the autonomous underwater robot as a quick reaction propeller, and obtains corresponding propulsion force by pushing fluid through a propeller, so that control force or torque resisting environmental conditions is provided for the autonomous underwater robot during underwater floating and submerging. The traditional channel propeller has the technical defects of complex system, low transmission efficiency, large power consumption and large noise in the form of a propeller driven by a motor and a speed reducer.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a tunnel thruster for a deep-sea autonomous underwater robot, so as to solve the problems of complex system, low transmission efficiency, and high power consumption and noise of the conventional tunnel thruster.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a channel propeller of an autonomous underwater robot in deep sea, which comprises a channel propeller body and a channel propeller assembly, wherein the channel propeller body is provided with a plurality of channels;
the channel propeller body comprises a pressure-resistant shell, and a frameless motor, a transmission shaft system and a rotary encoder which are arranged in the pressure-resistant shell, wherein the rotary encoder is arranged at the tail end of the transmission shaft system, the front end of the transmission shaft system penetrates out of the pressure-resistant shell and is connected with the channel propeller assembly, the frameless motor is connected with the transmission shaft system, and the frameless motor is used for driving the transmission shaft system to rotate.
The transmission shaft system comprises a transmission main shaft, a front bearing seat and a rear bearing seat, wherein the front bearing seat and the rear bearing seat are respectively connected to the front end and the rear end of the pressure shell in a sealing mode, two ends of the transmission main shaft are installed in the front bearing seat and the rear bearing seat through bearings, and the channel propeller assembly is connected to the transmission main shaft.
The frameless motor comprises a frameless motor rotor and a frameless motor stator, wherein the frameless motor rotor is connected with the transmission main shaft through a motor flat key and is axially fixed through a rotor fixing retaining ring; the frameless motor stator is arranged on the inner wall of the pressure shell and corresponds to the frameless motor rotor.
The rotary encoder comprises a rotary encoder stator and a rotary encoder rotor, wherein the rotary encoder stator is arranged in the rear bearing seat and is fixed through a compression ring; the rotary encoder rotor is arranged on the transmission main shaft and is positioned on the inner side of the rotary encoder rotor.
The pressure-resistant shell comprises a base shell, a dynamic sealing end cover and a connector mounting end cover, wherein the dynamic sealing end cover is fixedly connected to the outer side of the front bearing seat, and the dynamic sealing end cover and the transmission main shaft are sealed through a lip-shaped oil seal; the connector mounting end cover is fixedly connected to the outer side of the rear bearing seat, and a connector is arranged on the connector mounting end cover.
Two angular contact ball bearings are arranged in the front bearing seat, inner rings of the angular contact ball bearings are connected with the transmission main shaft, and outer rings of the angular contact ball bearings are fixed with the dynamic sealing end cover through bearing gap adjusting sleeves.
A deep groove ball bearing is arranged in the rear bearing seat and is positioned and fixed through an elastic retainer ring; and a protective cover is arranged on the outer side of the rear bearing seat.
The channel propeller assembly comprises blades, a spacer sleeve and a propeller hub which are sequentially and coaxially connected from outside to inside, wherein the propeller hub is connected with the transmission main shaft through a flat key and is locked through a locknut.
A flow guide ring is arranged between the channel propeller body and the channel propeller assembly; and a flow guide cover is arranged at the outer side end of the channel propeller assembly.
The channel propeller of the deep sea autonomous underwater robot further comprises a pressure compensator, and the pressure compensator is arranged at one end, far away from the channel propeller assembly, of the channel propeller body.
The invention has the advantages and beneficial effects that: the channel thruster of the autonomous underwater robot in the deep sea provided by the invention adopts the frameless motor to directly drive the propeller to rotate, and the rotating speed of the channel thruster is controlled in real time through the feedback information of the rotary transformer, so that the control precision of the autonomous underwater robot is improved.
The channel propeller has the advantages of simple structural form, high control precision, higher transmission efficiency, quick response, small volume, low noise and the like, has an angle feedback function, can meet the use requirement of a deep sea underwater robot, and is convenient to install and maintain.
Drawings
Fig. 1 is a schematic structural view of a channel thruster of an autonomous underwater vehicle in deep sea according to the present invention;
FIG. 2 is an exploded view of the channel propeller assembly of the present invention;
FIG. 3 is a schematic view of the installation of the channel propeller assembly and the channel propeller body of the present invention;
FIG. 4 is an exploded view of the drive shaft assembly of the present invention;
FIG. 5 is an exploded view of the pressure containment vessel of the present invention;
in the figure: 1. a channel propeller body; 2. a pressure compensator; 3. a channel propeller assembly; 4. a paddle; 5. a spacer sleeve; 6. a hub; 7. a set screw; 8. a flat bond; 9. a locknut; 10. a flow guide cover; 11. a deflector cap screw; 21. a transmission main shaft; 22. a frameless motor rotor; 23. angular contact ball bearings; 24. a deep groove ball bearing; 25. a rotor fixing retainer ring; 26. a round nut; 27. a lip-shaped seal ring; 28. a bearing clearance adjusting sleeve; 29. a dynamic seal end cover; 30. a circlip; 31. a rotary encoder stator; 32. a compression nut; 33. pressing a ring; 34. a protective cover; 35. a motor flat key; 36. a front bearing seat; 37. a rear bearing seat; 38. a rotary encoder rotor; 40. the connector is provided with an end cover; 41. a radial screw; 42. a frameless motor stator; 43. a base housing; 44. a flow guide ring; 45. a connector assembly; 46. an axial screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the invention provides a tunnel thruster of a deep-sea autonomous underwater robot, which comprises a tunnel thruster body 1 and a tunnel propeller assembly 3; the channel propeller body 1 comprises a pressure-resistant shell, and a frameless motor, a transmission shaft system and a rotary encoder which are arranged in the pressure-resistant shell, wherein the rotary encoder is arranged at the tail end of the transmission shaft system, the front end of the transmission shaft system penetrates out of the pressure-resistant shell and is connected with the channel propeller assembly 3, the frameless motor is connected with the transmission shaft system, and the frameless motor is used for driving the transmission shaft system to rotate.
As shown in fig. 4, in the embodiment of the present invention, the transmission shaft system includes a transmission main shaft 21, a front bearing seat 36 and a rear bearing seat 37, wherein the front bearing seat 36 and the rear bearing seat 37 are hermetically connected to the front end and the rear end of the pressure casing, two ends of the transmission main shaft 21 are installed in the front bearing seat 36 and the rear bearing seat 37 through bearings, and the tunnel propeller assembly 3 is connected to the transmission main shaft 21.
In the embodiment of the present invention, the frameless motor includes a frameless motor rotor 22 and a frameless motor stator 42, wherein the frameless motor rotor 22 is connected to the transmission spindle 21 through a motor flat key 35, and is axially fixed through a rotor fixing retaining ring 25, so as to transmit the power of the frameless motor to the transmission spindle 21; the frameless motor stator 42 is disposed on the inner wall of the pressure housing and corresponds to the frameless motor rotor 22.
In the embodiment of the present invention, the rotary encoder includes a rotary encoder stator 31 and a rotary encoder rotor 38, wherein the rotary encoder stator 31 is disposed in the rear bearing seat 37 and fixed by the pressure ring 33; the rotary encoder rotor 38 is disposed at the end of the transmission main shaft 21 and fixed by the compression nut 32, and the rotary encoder rotor 38 is located inside the rotary encoder rotor 38.
As shown in fig. 3 to 5, in the embodiment of the present invention, the pressure casing includes a base casing 43, a dynamic seal end cap 29 and a connector mounting end cap 40, a front bearing seat 36 and a rear bearing seat 37 are respectively disposed at both ends of the base casing 43 and sealed by O-ring, and the front bearing seat 36 is connected to the base casing 43 by a plurality of axial screws 46. The dynamic sealing end cover 29 is fixedly connected to the outer side of the front bearing seat 36, and the dynamic sealing end cover 29 and the transmission main shaft 21 are sealed through the lip-shaped oil seal 27 to realize dynamic sealing with the transmission main shaft 21; the connector mounting end cap 40 is fixedly attached to the outboard end of the rear bearing housing 37 and is attached to the rear bearing housing 37 by radial screws 41. The connector mounting end cap 40 is provided with a connector 45. The connector 45 is a watertight connector for power supply and signal detection of the channel thruster.
Specifically, two angular contact ball bearings 23 are arranged in the front bearing seat 36, the inner ring of each angular contact ball bearing 23 is connected with the transmission main shaft 21, and the inner ring realizes axial positioning and looseness prevention through two round nuts 26. The outer ring of the angular ball bearing 23 is fixed by a bearing clearance adjusting sleeve 28 and a dynamic seal end cover 29. A deep groove ball bearing 24 is arranged in the rear bearing seat 37, and the deep groove ball bearing 24 is positioned and fixed through an elastic retainer ring 30; a protective cover 34 is provided on the outer side of the rear bearing seat 37 to prevent the cable of the rotary encoder stator 31 from being damaged when the drive spindle 21 rotates. Two angular contact ball bearings 23 and a deep groove ball bearing 24 provide support for the drive spindle 21.
As shown in fig. 2-3, in the embodiment of the present invention, the channel propeller assembly 3 includes a blade 4, a spacer sleeve 5 and a hub 6 which are coaxially connected in sequence from outside to inside, the blade 4, the spacer sleeve 5 and the hub 6 are connected into a whole by a plurality of fixing screws 7, and the hub 6 is connected with a transmission main shaft 21 by a flat key 8 and is locked by two locknuts 9 so as to transmit torque and power.
Further, a flow guiding ring 44 is arranged between the channel propeller body 1 and the channel propeller assembly 3. The outer side end of the channel propeller assembly 3 is provided with a flow guide cover 10, and the flow guide cover 10 is connected with the blades 4 through a plurality of flow guide cover screws 11. The diversion cover 10 has the function of improving the rectification capacity of the flow field and having obvious propulsion effect when the channel propeller assembly 3 rotates forwards and backwards.
On the basis of the embodiment, the channel thruster of the deep sea autonomous underwater robot further comprises a pressure compensator 2, wherein the pressure compensator 2 is arranged at one end, away from the channel propeller assembly 3, of the channel thruster body 1, so that the inside of the channel thruster is filled with insulating oil, the internal pressure of the channel thruster is larger than that of the external environment, the channel thruster adapts to the pressure of the deep sea environment, and the pressure compensation technology of the pressure compensator 2 is the prior art and is not described herein again.
In the embodiment of the invention, the pressure compensator is arranged to ensure that the internal pressure of the channel propeller is greater than the pressure of the external environment, so that the channel propeller is suitable for the working pressure environment of deep sea. The propeller assembly is driven by the frameless motor of the channel thruster to rotate positively and negatively to push fluid so as to obtain corresponding propulsive force. Meanwhile, the channel propeller is provided with a rotary encoder for detecting the rotation angle, and the control circuit can accurately control and maintain the rotation speed of the propeller according to the angle information of the rotary encoder, so that high-precision control force or torque for resisting environmental conditions during floating and submerging is provided for the autonomous underwater robot, and the heave motion of the autonomous underwater robot is realized. The channel propeller has the advantages of simple structure, quick response, high efficiency, low noise, convenience in installation and maintenance and the like.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A channel thruster of a deep sea autonomous underwater robot is characterized by comprising a channel thruster body (1) and a channel propeller assembly (3);
the channel propeller body (1) comprises a pressure-resistant shell, and a frameless motor, a transmission shaft system and a rotary encoder which are arranged in the pressure-resistant shell, wherein the rotary encoder is arranged at the tail end of the transmission shaft system, the front end of the transmission shaft system penetrates out of the pressure-resistant shell and is connected with the channel propeller assembly (3), the frameless motor is connected with the transmission shaft system, and the frameless motor is used for driving the transmission shaft system to rotate.
2. The channel propeller of the autonomous underwater vehicle in deep sea according to claim 1, characterized in that said transmission shaft system comprises a transmission main shaft (21), a front bearing seat (36) and a rear bearing seat (37), wherein the front bearing seat (36) and the rear bearing seat (37) are respectively connected to the front end and the rear end of said pressure shell in a sealing manner, both ends of the transmission main shaft (21) are installed in the front bearing seat (36) and the rear bearing seat (37) through bearings, and said channel propeller assembly (3) is connected to the transmission main shaft (21).
3. The channel thruster of the deep sea autonomous underwater robot of claim 2, characterized in that said frameless electric machine comprises a frameless electric machine rotor (22) and a frameless electric machine stator (42), wherein the frameless electric machine rotor (22) is connected to the transmission main shaft (21) by a machine flat key (35) and is axially fixed by a rotor fixing collar (25); the frameless motor stator (42) is arranged on the inner wall of the pressure shell and corresponds to the frameless motor rotor (22).
4. The channel thruster of a deep-sea autonomous underwater robot according to claim 2, characterized in that said rotary encoder comprises a rotary encoder stator (31) and a rotary encoder rotor (38), wherein the rotary encoder stator (31) is arranged inside said rear bearing housing (37) and is fixed by means of a pressure ring (33); the rotary encoder rotor (38) is arranged on the transmission main shaft (21) and is positioned on the inner side of the rotary encoder rotor (38).
5. The channel thruster of the deep sea autonomous underwater robot as claimed in claim 2, characterized in that said pressure housing comprises a base housing (43), a dynamic seal end cap (29) and a connector mounting end cap (40), wherein the dynamic seal end cap (29) is fixedly connected to the outside of said front bearing seat (36), and the dynamic seal end cap (29) is sealed with said transmission main shaft (21) by a lip oil seal (27); the connector mounting end cover (40) is fixedly connected to the outer side of the rear bearing seat (37), and a connector (45) is arranged on the connector mounting end cover (40).
6. The deep sea autonomous underwater vehicle channel thruster of claim 5, characterized in that two angular contact ball bearings (23) are provided in the front bearing seat (36), the inner ring of the angular contact ball bearing (23) is connected with the transmission main shaft (21), and the outer ring of the angular contact ball bearing (23) is fixed with the dynamic sealing end cover (29) through a bearing clearance adjusting sleeve (28).
7. The channel thruster of the deep-sea autonomous underwater vehicle as claimed in claim 2, characterized in that said rear bearing seat (37) is internally provided with a deep groove ball bearing (24), said deep groove ball bearing (24) being positioned and fixed by means of a circlip (30); and a protective cover (34) is arranged on the outer side of the rear bearing seat (37).
8. The channel propeller of the deep sea autonomous underwater vehicle as claimed in claim 2, characterized in that said channel propeller assembly (3) comprises blades (4), spacer sleeves (5) and a hub (6) coaxially connected in sequence from outside to inside, wherein the hub (6) is connected with said transmission main shaft (21) by a flat key (8) and locked by a locknut (9).
9. The channel thruster of a deep-sea autonomous underwater robot according to claim 1, characterized in that a deflector ring (44) is provided between said channel thruster body (1) and said channel propeller assembly (3); and a flow guide cover (10) is arranged at the outer side end of the channel propeller assembly (3).
10. The channel thruster of the deep-sea autonomous underwater vehicle according to any of the claims 1 to 9, further comprising a pressure compensator (2), the pressure compensator (2) being provided at an end of the channel thruster body (1) remote from the channel propeller assembly (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632481.2A CN114889794B (en) | 2022-06-06 | 2022-06-06 | Channel propeller of deep sea autonomous underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210632481.2A CN114889794B (en) | 2022-06-06 | 2022-06-06 | Channel propeller of deep sea autonomous underwater robot |
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| Publication Number | Publication Date |
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| CN114889794A true CN114889794A (en) | 2022-08-12 |
| CN114889794B CN114889794B (en) | 2023-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210632481.2A Active CN114889794B (en) | 2022-06-06 | 2022-06-06 | Channel propeller of deep sea autonomous underwater robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118080901A (en) * | 2024-04-22 | 2024-05-28 | 山东豪迈数控机床有限公司 | Lathe spindle |
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| CN104085519A (en) * | 2014-07-14 | 2014-10-08 | 中国船舶重工集团公司第七○二研究所 | Contra-rotating type channel thruster |
| CN105346696A (en) * | 2015-11-19 | 2016-02-24 | 浙江大学 | Integrated thruster for contra-rotating propellers |
| CN206615377U (en) * | 2017-04-18 | 2017-11-07 | 深圳市吉影科技有限公司 | A kind of underwater propeller and underwater robot |
| CN207417102U (en) * | 2017-11-03 | 2018-05-29 | 合肥倍豪海洋装备技术有限公司 | A kind of new rudder angle feedback device |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
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| CN112623174A (en) * | 2020-12-25 | 2021-04-09 | 北京航空航天大学合肥创新研究院 | Telex control tail-mounted electric propeller |
| CN112737255A (en) * | 2020-12-25 | 2021-04-30 | 中国科学院宁波材料技术与工程研究所 | Disc type double-rotor counter-rotating motor and aircraft |
| CN113581438A (en) * | 2021-08-27 | 2021-11-02 | 中国船舶科学研究中心 | Integrated deep sea integrated electric propeller |
| CN113937954A (en) * | 2021-10-20 | 2022-01-14 | 深圳市德创水下智能装备有限公司 | Novel underwater propeller |
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2022
- 2022-06-06 CN CN202210632481.2A patent/CN114889794B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104085519A (en) * | 2014-07-14 | 2014-10-08 | 中国船舶重工集团公司第七○二研究所 | Contra-rotating type channel thruster |
| CN105346696A (en) * | 2015-11-19 | 2016-02-24 | 浙江大学 | Integrated thruster for contra-rotating propellers |
| CN206615377U (en) * | 2017-04-18 | 2017-11-07 | 深圳市吉影科技有限公司 | A kind of underwater propeller and underwater robot |
| CN207417102U (en) * | 2017-11-03 | 2018-05-29 | 合肥倍豪海洋装备技术有限公司 | A kind of new rudder angle feedback device |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112623174A (en) * | 2020-12-25 | 2021-04-09 | 北京航空航天大学合肥创新研究院 | Telex control tail-mounted electric propeller |
| CN112737255A (en) * | 2020-12-25 | 2021-04-30 | 中国科学院宁波材料技术与工程研究所 | Disc type double-rotor counter-rotating motor and aircraft |
| CN113581438A (en) * | 2021-08-27 | 2021-11-02 | 中国船舶科学研究中心 | Integrated deep sea integrated electric propeller |
| CN113937954A (en) * | 2021-10-20 | 2022-01-14 | 深圳市德创水下智能装备有限公司 | Novel underwater propeller |
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| CN118080901A (en) * | 2024-04-22 | 2024-05-28 | 山东豪迈数控机床有限公司 | Lathe spindle |
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| Publication number | Publication date |
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| CN114889794B (en) | 2023-06-20 |
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