CN115789438A - Large-depth large-load full-angle two-axis underwater cradle head - Google Patents
Large-depth large-load full-angle two-axis underwater cradle head Download PDFInfo
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- CN115789438A CN115789438A CN202211465172.7A CN202211465172A CN115789438A CN 115789438 A CN115789438 A CN 115789438A CN 202211465172 A CN202211465172 A CN 202211465172A CN 115789438 A CN115789438 A CN 115789438A
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Abstract
The invention discloses a large-depth large-load full-angle two-axis underwater pan-tilt, which comprises: a pitching transmission mechanism and a rolling transmission mechanism; the pitching transmission mechanism and the rolling transmission mechanism are both rotatably arranged in the first sealing shell; the pitching transmission mechanism and the rolling transmission mechanism are both driven by a speed reducing motor; the speed reducing motor comprises a stepping motor and a planet wheel speed reducer arranged on a stator shaft of the stepping motor; the pitching transmission mechanism realizes 180-degree rotation in the first sealing shell; the roll transmission mechanism realizes 360-degree rotation in the first sealing shell. The invention changes the traditional rotary mechanical dynamic sealing mode into a static sealing mode and a torque transmission mode through magnetic coupling. The underwater steering engine and the underwater cradle head can be used in the environment with large depth and even large depth.
Description
Technical Field
The invention relates to the technical field of marine equipment and underwater robots, in particular to a large-depth large-load full-angle two-axis underwater pan-tilt.
Background
With the continuous exploitation and depletion of global land resources, abundant resources found in oceans, and next, oceans will be the first choice for mankind to alleviate energy crisis. Meanwhile, the coastline of China is as long as 18000 kilometers, wherein the south sea area is the largest, deepest and most abundant in resources, so that the construction of China is urgent to the implementation of the 'ocean forcing nation' strategy.
The underwater cradle head is an important component of underwater engineering equipment, bears an underwater camera, an underwater lamp, a laser range finder and the like, and can realize the posture adjustment of one or more degrees of freedom of the underwater equipment in the working process of the underwater equipment. For the full-ocean-depth manned submersible, the tripod head carrying the deep-sea camera can improve the observation distance of the camera, and is the key for realizing high-quality underwater images of the manned deep submersible. According to the overall design of the deep submersible vehicle, the number of times of installing the camera can be reduced by adding the installation platform, the weight of the equipment is reduced, and energy is saved.
The foreign marine facility industry began in the 50-60 s of the 20 th century, and traditional marine facility manufacturers, japan, norway, russia, etc., majors, menzies, R, etc., of university of california, obtained images of underwater biological populations, at the earliest, using underwater grippers and pan-tilt cameras; marchand, E et al, 2001 realized robot arm control on a Victor 6000 underwater unmanned vehicle, that is, the robot had to adjust the attitude of an underwater camera on a pan-tilt to achieve the purposes of movement and tracking. YingfengJil et al at the university of milwaukast proposed in 2009 a solution to the problem of underwater photographic light, i.e., a master and slave pan heads carry underwater cameras and underwater light, a turbulence model is used to establish a water flow dynamics model of the pan heads, corresponding moment models are established at each degree of freedom of the pan heads, and accordingly, an underwater boundary layer of the pan heads is corrected, thereby eliminating jitter caused by intermittent control signals in a pan head servo system.
The underwater tripod head is used as an underwater robot position and posture adjusting device, and the usable underwater depth can promote the development of large-depth seabed detection and operation technology; the load torque is improved, more underwater operation tools can be matched, and the functions of the underwater robot are increased. With the continuous development of the deep submergence technology, the traditional underwater cradle head has small load moment and cannot carry underwater operation tools with other cabin sections and large moment.
Disclosure of Invention
The invention aims to provide a large-depth large-load full-angle biaxial underwater tripod head, which solves the problems in the prior art, can realize a tripod head mechanism with two vertically distributed rotational degrees of freedom in a large-depth environment, and has the advantages of large rotation angle and large load.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a large-depth large-load full-angle two-axis underwater pan-tilt, which comprises: a pitching transmission mechanism and a rolling transmission mechanism; the pitching transmission mechanism and the rolling transmission mechanism are both rotatably arranged in the first sealing shell; the pitching transmission mechanism and the rolling transmission mechanism are both driven by a speed reducing motor; the speed reducing motor comprises a stepping motor and a planet wheel speed reducer arranged on a stator shaft of the stepping motor; the pitch drive mechanism effects 180 degree rotation within the first sealed housing; the roll transmission mechanism realizes 360-degree rotation in the first sealing shell.
The first sealing shell is hollow and the inner space of the first sealing shell is of a T-shaped structure; an opening of the first sealing shell is provided with a mounting rack; and a hollow cylinder is fixedly arranged at the other opening of the first sealing shell.
The pitching transmission mechanism further comprises a first sealing tailstock, a first magnetic inner rotor, a first bearing and a first magnetic outer rotor; the first sealing tailstock is in watertight connection with one end of the first sealing shell; the speed reducing motor is fixedly arranged on the end face of the first sealing tailstock, and is arranged in the first sealing shell; the speed reduction motor provides a rotary driving force to drive the first magnetic inner rotor to rotate in the first sealing shell; the first magnetic inner rotor drives the first magnetic outer rotor to rotate through magnetic coupling; the first magnetic outer rotor is mounted on the outer wall of the hollow cylinder through the first bearing; the first magnetic inner rotor is arranged on the inner wall of the hollow cylinder.
A flange is welded on the magnetic outer rotor, and one end of the U-shaped frame is installed on the magnetic outer rotor through the flange.
The first sealing tailstock is also provided with a nonmagnetic outer rotor through another first bearing; the other end of the U-shaped frame is arranged on the nonmagnetic outer rotor.
And a propeller or a steering engine arm can be fixedly arranged outside the first magnetic outer rotor.
The roll transmission mechanism also comprises a second sealing tailstock, a second magnetic inner rotor, a second sealing shell, a second bearing and a second magnetic outer rotor; the second sealing tail seat is connected with one end of the second sealing shell in a watertight manner; the other speed reducing motor is fixedly arranged on the end face of the second sealing tailstock and is arranged in the second sealing shell; the speed reduction motor provides a rotary driving force to drive the second magnetic inner rotor to rotate in the second sealing tailstock; the second magnetic inner rotor drives the second magnetic outer rotor to rotate through magnetic coupling; the second magnetic outer rotor is mounted on the outer wall of the second sealing shell through the second bearing; the second magnetic outer rotor is rotatably connected with the first sealing shell through the mounting frame.
The first bearing and the second bearing are both self-lubricating bearings.
The invention discloses the following technical effects: 1. the invention changes the traditional rotary mechanical dynamic sealing mode into a static sealing mode and a torque transmission mode through magnetic coupling. The underwater steering engine and the cradle head can be used in the environment with large depth and even large depth;
2. the output rotation angle of a motor of a traditional analog or digital steering engine can reach 270 degrees at most, and the controllable angle range is reduced through a speed reducer. The steering engine is replaced by the continuously rotatable stepping motor, so that the steering engine can rotate continuously, and the angle control range of the steering engine can be arbitrarily selected within 360 degrees through the speed reducer;
3. the traditional underwater cradle head mechanism has low load moment and can only adjust the poses of light loads such as a camera and the like. The tripod head mechanism provided by the invention is provided with a multistage speed reducer, so that the load moment can be greatly improved, and large-load underwater operation equipment and other cabin sections in an AUV (autonomous underwater vehicle) with a multi-section structure can be carried.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a two-axis underwater platform profile of the present invention;
FIG. 2 is an exploded view of the pitch drive mechanism configuration;
FIG. 3 is an exploded view of the roll drive mechanism;
FIG. 4 is a simulation diagram of an angle control algorithm;
FIG. 5 is a schematic diagram of the magnetic coupling torque transfer;
FIG. 6 is a schematic view of radial magnetization of magnetic inner and outer rotors;
FIG. 7 is a planetary gear reducer profile;
fig. 8 is a scene in which a multi-cabin variable structure AUV uses the pan-tilt;
wherein, 1, the nonmagnetic outer rotor; 2. a first sealing tailstock; 3. a reduction motor; 4. a first magnetic inner rotor; 5. a U-shaped frame; 6. a first sealed housing; 7. a first bearing; 8. a first magnetic outer rotor; 9. a second magnetic outer rotor; 10. a hollow cylinder; 11. a second sealed tailstock; 12. a second magnetic inner rotor; 13. a second sealed housing; 14. a second bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a large-depth large-load full-angle two-axis underwater pan-tilt, which comprises: a pitching transmission mechanism and a rolling transmission mechanism; the pitching transmission mechanism and the rolling transmission mechanism are both rotatably arranged in the first sealed shell 6; the pitching transmission mechanism and the rolling transmission mechanism are both driven by a speed reducing motor 3; the speed reducing motor 3 comprises a stepping motor and a planet wheel speed reducer arranged on a stator shaft of the stepping motor; the pitching transmission mechanism realizes 180-degree rotation in the first sealed shell 6; the roll drive mechanism achieves 360 degrees of rotation within the first sealed housing 6.
In one embodiment of the invention, the angle control of the underwater pan-tilt is the angle control of two motors forming the joint structure of the underwater pan-tilt. The motors capable of performing angle control with high speed and high precision mainly include a stepping motor and a servo motor. The stepping motor is controlled by an open loop angle, and the angle control method is used for controlling the number of pulses to determine the rotating angle. The servo motor is a closed-loop control in which a rotary encoder is added on the basis of a stepping motor to feed back the rotation angle. The servo motor is higher than the stepping motor in control precision. But it is structurally necessary to provide additional space for the rotary encoder. In view of the rigors of the underwater environment, it is desirable to minimize the size of the joint mechanism. So a stepper motor is used. The stepping motor can accurately control the rotating angle under the rated power, and the underwater cradle head does not need larger angle precision. Compared with a servo motor, the stepping motor does not need to be internally provided with an encoder, and the size of the motor is reduced. In the control method, the servo motor needs to be controlled in a closed loop mode, and the size of a controller of the servo motor is large. The stepping motor only needs to send pulse for control, and the controller is small in size and can be integrated with other controllers.
Further, the motor is typical rotating equipment, always can cause the gap when the motor shaft is rotatory, makes inside water infiltrates the motor, and rotary device's dynamic seal just can't guarantee zero seepage in principle, in the deep ocean environment, receives water pressure's influence to accelerate the sea water infiltration moreover. Therefore, the method of rotary dynamic sealing is difficult to apply to a large depth marine environment. At present, the static pressure-resistant cabin and the deepwater cable interface can achieve large depth. Therefore, the motor can be completely put into the pressure-resistant casing, the motor extending shaft carries the inner rotor, the surface of the inner rotor is distributed with the magnetic array, the pressure-resistant casing carries the outer rotor, and the inner part of the outer rotor is also distributed with the magnetic array. The magnetic arrays of the inner rotor and the outer rotor form a magnetic coupling coupler or a magnetic wheel to realize angle transmission. The rotating motor is sleeved in a pressure-resistant sealing sleeve shell, an inner rotor with a magnetic array is installed on an extending shaft, and an outer rotor with a magnetic array is installed outside the sleeve shell. The magnetic coupling does not require two shafts to be in contact, and friction is reduced.
Furthermore, a gear reducer is a common method for improving torque of a rotary actuating mechanism such as a motor, and a steering engine structure which is also an angle actuating part is used for improving torque by using the gear reducer. However, the gear reducer often offsets the rotating output shaft and the rotor of the motor by a certain angle, so that the volume is increased in the radial direction, and meanwhile, the mass center of the whole body of the reducer and the motor is also offset from the output shaft. In order to reduce the problems of radial size and integral mass center offset, the use of a planet wheel is considered to reduce the transmission ratio and improve the torque.
In one embodiment of the present application, as shown in fig. 7, the planetary reducer is embodied as a 3-stage planetary reducer structure; the structure aligns the center of a stator shaft of a motor of the stepping motor with the center of an output shaft, increases the size in the axial direction, and keeps the integral mass center on the axis of the stator shaft; through the multi-stage deceleration, although the rotation speed and the output angle per step are reduced, the applicable load torque is improved.
The first sealing shell 6 is hollow and the inner space is in a T-shaped structure; an opening of the first seal housing 6 is formed with a mounting bracket; the other opening of the first sealed housing 6 is fixedly provided with a hollow cylinder 10.
The pitching transmission mechanism further comprises a first sealing tailstock 2, a first magnetic inner rotor 4, a first bearing 7 and a first magnetic outer rotor 8; the first sealing tailstock 2 is in watertight connection with one end of a first sealing shell 6; a speed reducing motor 3 is fixedly arranged on the end face of the first sealing tailstock 2, and the speed reducing motor 3 is arranged in the first sealing shell 6; the speed reduction motor 3 provides a rotary driving force to drive the first magnetic inner rotor 4 to rotate in the first sealed shell 6; the first magnetic inner rotor 4 drives the first magnetic outer rotor 8 to rotate through magnetic coupling; the first magnetic outer rotor 8 is arranged on the outer wall of the hollow cylinder 10 through a first bearing 7; the first magnetic inner rotor 4 is disposed on the inner wall of the hollow cylinder 10.
A flange is welded on the first magnetic outer rotor 8, and one end of the U-shaped frame 5 is installed on the first magnetic outer rotor 8 through the flange.
The first sealing tailstock 2 is also provided with a nonmagnetic outer rotor 1 through another first bearing 7; the other end of the U-shaped frame 5 is arranged on the nonmagnetic outer rotor 1.
In one embodiment of the present invention, as shown in fig. 2, the first sealing tail stock 2 and the first sealing shell 6 are connected by water-tight screw to form a static sealing shell. The speed reducing motor 3 is fixed on the first sealing tailstock 2 through threaded connection, and the speed reducing motor 3 provides a rotary driving force to drive the first magnetic inner rotor 4 to rotate; the first magnetic inner rotor 4 drives the first magnetic outer rotor 8 to rotate through magnetic coupling; a flange is welded on the first magnetic outer rotor 8 and used for being connected with the U-shaped frame 5, and the first magnetic outer rotor 8 drives the U-shaped frame 5 to rotate when rotating. The first bearing 7 plays a role of supporting the first magnetic outer rotor 8; the whole magnetic coupling transmission mode can be summarized as a speed reducing motor 3, a first magnetic inner rotor 4, a first magnetic outer rotor 8 and a U-shaped frame 5.
A propeller or a steering engine arm can be fixedly arranged outside the first magnetic outer rotor 8.
In an embodiment of the present invention, as shown in fig. 5, the protruding end of the gear motor 3 is fixedly connected to the first magnetic inner rotor 4 or the second magnetic inner rotor 12 by key connection or screw connection, so as to drive the first magnetic inner rotor 4 or the second magnetic inner rotor 12 to rotate, and the first magnetic outer rotor 8 or the second magnetic outer rotor 9 is supported by a self-lubricating bearing; but only the first magnetic outer rotor 8 can be fixedly connected with components such as a propeller, a U-shaped frame, a rudder horn and the like.
The roll transmission mechanism further comprises a second sealing tailstock 11, a second magnetic inner rotor 12, a second sealing shell 13, a second bearing 14 and a second magnetic outer rotor 9; the second sealing tailstock 11 is in watertight connection with one end of a second sealing shell 13; another gear motor 3 is fixedly arranged on the end surface of the second sealing tailstock 11, and the gear motor 3 is arranged in the second sealing shell 13; the speed reducing motor 3 provides a rotary driving force to drive the second magnetic inner rotor 12 to rotate in the second sealing tailstock 11; the second magnetic inner rotor 12 drives the second magnetic outer rotor 9 to rotate through magnetic coupling; the second magnetic outer rotor 9 is mounted on the outer wall of the second sealing shell 13 through a second bearing 14; the second magnetic outer rotor 9 is rotatably connected to the first seal housing 6 by a mounting bracket.
In one embodiment of the present invention, as shown in fig. 3, the principle of magnetic coupling of the roll gear is the same as that of the pitch gear; however, since the roll transmission mechanism does not need to transmit torque to the double-arm structure of the U-shaped frame 5, it is not necessary to configure a support structure at both ends, and thus the nonmagnetic outer rotor 1 is not provided, and only the first seal housing 6 is driven to rotate.
The first bearing 7 and the second bearing 14 are both self-lubricating bearings.
In one embodiment of the present invention, the inner and outer magnetic rotors are magnetized as shown in FIG. 6, with the direction of the arrows indicating the direction of the magnetic field. Because of the attraction of the opposite poles of the neodymium magnet, the like poles repel each other. The power of rotation can be transmitted in the circumferential direction only by radially magnetizing the inner and outer rotors. When the magnetic inner rotor rotates, a certain point of the outer surface of the magnetic inner rotor is an S pole, and the inner surface of the magnetic outer rotor in the same diameter direction with the point is an N pole. If the inner surface of the magnetic outer rotor is the same as the S pole, it will be subjected to the repulsive force of the outer surface of the magnetic inner rotor on the diameter line and the attractive force of the outer surface on the non-diameter line. The distribution mode is acted by the attraction force and the repulsion force of the magnets at the same time, and the magnetism of the inner rotor and the outer rotor is always kept in the distribution mode. Thereby completing the transmission of the axial rotational force.
In an embodiment of the present invention, fig. 8 is a schematic view of an application scenario of the present invention. The invention is applied to the multi-cabin variable structure underwater robot. The weight of each cabin section is generally larger than that of detection parts such as a camera, an underwater lamp and the like. The resulting load moment is also large. The invention has a structure for improving the torque, so that the cabin section can rotate a certain angle relative to the previous cabin section in roll and pitch motion. The arrow on the left of the figure indicates roll motion in the horizontal axis and the arrow on the right indicates pitch motion in an axis perpendicular to the horizontal and diagonal axes.
In one embodiment of the present invention, FIG. 4 illustrates a simulation of an angle control algorithm without a retarder; the control process of the joint angle can be briefly described as that an intelligent decision system or an operator inputs the angle (Demand in the figure) required to rotate by the joint, the controller compares the angle required to rotate with the current angle measured by the angle sensor, when the two angles are equal, the controller does not generate PWM pulse, and the stepping motor does not rotate. When the two angles have difference, the controller generates PWM pulse to rotate the stepping motor until the two angles are equal; the control structure comprises a controller, a driver and a stepping motor from left to right in sequence; the controller generates PWM pulse of low level according to the calculated difference, and the stepper motor driver generates driving force of large voltage and large current to drive the rightmost stepper motor under the action of the pulse of low level.
Furthermore, the driving of the rotation angle uses a stepping motor, the rotation angle of the stepping motor depends on the received pulse number, and the stepping motor can continuously rotate, so that even if the rotation angle of each step is reduced by a speed reducing mechanism, the rotation angle within the range of 0-360 degrees can be finally output because the rotation angle can be continuously rotated.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (8)
1. The utility model provides a big full angle two of degree of depth heavy load cloud platform under water which characterized in that includes: a pitching transmission mechanism and a rolling transmission mechanism; the pitching transmission mechanism and the rolling transmission mechanism are both rotatably arranged in the first sealing shell (6); the pitching transmission mechanism and the rolling transmission mechanism are both driven by a speed reducing motor (3); the speed reducing motor (3) comprises a stepping motor and a planetary gear reducer arranged on a stator shaft of the stepping motor; the pitch drive mechanism achieves 180 degrees of rotation within the first sealed housing (6); the roll transmission mechanism realizes 360-degree rotation in the first sealing shell (6).
2. The large-depth large-load full-angle two-axis underwater pan-tilt head as claimed in claim 1, wherein: the first sealing shell (6) is hollow and the inner space of the first sealing shell is of a T-shaped structure; an opening of the first sealing shell (6) is provided with a mounting rack; and a hollow cylinder (10) is fixedly arranged at the other opening of the first sealing shell (6).
3. The large-depth large-load full-angle two-axis underwater pan-tilt head as claimed in claim 2, wherein: the pitching transmission mechanism further comprises a first sealing tailstock (2), a first magnetic inner rotor (4), a first bearing (7) and a first magnetic outer rotor (8); the first sealing tail seat (2) is connected with one end of the first sealing shell (6) in a watertight manner; the speed reducing motor (3) is fixedly arranged on the end face of the first sealing tailstock (2), and the speed reducing motor (3) is arranged in the first sealing shell (6); the speed reducing motor (3) provides a rotary driving force to drive the first magnetic inner rotor (4) to rotate in the first sealing shell (6); the first magnetic inner rotor (4) drives the first magnetic outer rotor (8) to rotate through magnetic coupling; the first magnetic outer rotor (8) is arranged on the outer wall of the hollow cylinder (10) through the first bearing (7); the first magnetic inner rotor (4) is arranged on the inner wall of the hollow cylinder (10).
4. The large-depth large-load full-angle two-axis underwater pan-tilt head as claimed in claim 3, wherein: a flange is welded on the first magnetic outer rotor (8), and one end of the U-shaped frame (5) is installed on the first magnetic outer rotor (8) through the flange.
5. The large-depth large-load full-angle two-axis underwater pan-tilt head as claimed in claim 4, wherein: the first sealing tailstock (2) is also provided with a nonmagnetic outer rotor (1) through another first bearing (7); the other end of the U-shaped frame (5) is arranged on the nonmagnetic outer rotor (1).
6. The large-depth large-load full-angle two-axis underwater pan-tilt head as claimed in claim 3, wherein: besides, a propeller or a steering engine arm can be fixedly arranged outside the first magnetic outer rotor (8).
7. The large-depth large-load full-angle two-axis underwater tripod head of claim 3, wherein: the roll transmission mechanism also comprises a second sealing tailstock (11), a second magnetic inner rotor (12), a second sealing shell (13), a second bearing (14) and a second magnetic outer rotor (9); the second sealing tailstock (11) is in watertight connection with one end of a second sealing shell (13); the other speed reducing motor (3) is fixedly arranged on the end face of the second sealing tailstock (11), and the speed reducing motor (3) is arranged in the second sealing shell (13); the speed reducing motor (3) provides a rotary driving force to drive the second magnetic inner rotor (12) to rotate in the second sealing tailstock (11); the second magnetic inner rotor (12) drives the second magnetic outer rotor (9) to rotate through magnetic coupling; the second magnetic outer rotor (9) is mounted on the outer wall of the second sealing shell (13) through the second bearing (14); the second magnetic outer rotor (9) is rotatably connected with the first sealing shell (6) through the mounting frame.
8. The large-depth large-load full-angle two-axis underwater pan-tilt head as claimed in claim 7, wherein: the first bearing (7) and the second bearing (14) are both self-lubricating bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211465172.7A CN115789438A (en) | 2022-11-22 | 2022-11-22 | Large-depth large-load full-angle two-axis underwater cradle head |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211465172.7A CN115789438A (en) | 2022-11-22 | 2022-11-22 | Large-depth large-load full-angle two-axis underwater cradle head |
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| CN115789438A true CN115789438A (en) | 2023-03-14 |
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| CN202211465172.7A Pending CN115789438A (en) | 2022-11-22 | 2022-11-22 | Large-depth large-load full-angle two-axis underwater cradle head |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116436254A (en) * | 2023-06-13 | 2023-07-14 | 成都理工大学 | Multistage torque amplification self-reduction motor based on composite excitation structure |
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2022
- 2022-11-22 CN CN202211465172.7A patent/CN115789438A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116436254A (en) * | 2023-06-13 | 2023-07-14 | 成都理工大学 | Multistage torque amplification self-reduction motor based on composite excitation structure |
| CN116436254B (en) * | 2023-06-13 | 2023-09-12 | 成都理工大学 | Multistage torque amplification self-reduction motor based on composite excitation structure |
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