CN117232881A - Multi-pose motion simulation experiment device and method for underwater propeller - Google Patents
Multi-pose motion simulation experiment device and method for underwater propeller Download PDFInfo
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- CN117232881A CN117232881A CN202311520570.9A CN202311520570A CN117232881A CN 117232881 A CN117232881 A CN 117232881A CN 202311520570 A CN202311520570 A CN 202311520570A CN 117232881 A CN117232881 A CN 117232881A
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- 238000004088 simulation Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title abstract description 4
- 238000002474 experimental method Methods 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 21
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- 238000010586 diagram Methods 0.000 description 1
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Abstract
The application discloses a multi-pose motion simulation experiment device and an experiment method for an underwater propeller, belonging to the technical field of the underwater propeller, and comprising an experiment table; the experiment table comprises a base, wherein a rectangular supporting frame is arranged at the top end of the base; the rectangular support frame is matched with the support guide rail in a sliding way; a support trolley is arranged on the support guide rail; the bottom end of the supporting trolley is in rotary fit with the rotary disk, and a second driving motor is arranged on the supporting trolley; the bottom end of the rotating disk is provided with two electric push rods, the top ends of the electric push rods are in running fit with the rotating disk, and the swinging shaft is connected with the steering engine; the clamping component is arranged at the bottom end of the electric push rod. In the application, the first driving piece controls the back-and-forth movement of the underwater propeller, the supporting trolley controls the left-and-right movement of the underwater propeller, and the second driving motor controls the rotation movement of the underwater propeller; the steering engine realizes the adjustment of the inclination angle of the underwater propeller by controlling the inclination angle of the electric push rod, and the steering engine is matched with the forward and backward movement, the left and right movement and the rotation to form the simulation of the multi-pose movement of the underwater propeller.
Description
Technical Field
The application belongs to the technical field of underwater propellers, and particularly relates to an experimental device and an experimental method for multi-pose motion simulation of an underwater propeller.
Background
Underwater propulsion is commonly used in underwater equipment such as submarines, underwater robots, and underwater vehicles, and not only provides necessary propulsion power, but also plays a key role in maintaining stable balance, maneuvering, efficiency, and the like. The underwater equipment needs to have multi-pose motion capabilities to perform various tasks, so the underwater propulsor also needs to follow the multi-pose motion.
In order to evaluate the safety and stability of the underwater propulsor in various postures, the underwater propulsor needs to be tested for multi-posture movement. And the multi-pose motion test is carried out on the underwater propeller, so that the multi-pose motion of the underwater propeller needs to be simulated.
Based on the requirement for multi-pose motion simulation of the underwater propeller, the application provides an experimental device and an experimental method for multi-pose motion simulation of the underwater propeller.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provides a multi-pose motion simulation experiment device for an underwater propeller.
In order to achieve the above purpose, the application adopts the following technical scheme:
an underwater propeller multi-pose motion simulation experiment device comprises an experiment table;
the experiment table comprises a base, wherein four corners of the top end of the base are respectively provided with a support column extending along the vertical direction, and the top ends of the four support columns are fixedly provided with rectangular support frames;
a support guide rail is slidably matched between the left inner side wall and the right inner side wall of the rectangular support frame along the front-rear direction, and a first driving piece for driving the support guide rail to move front and rear is arranged on the rectangular support frame;
the support rail is provided with a support trolley capable of moving left and right along the support rail;
the bottom end of the supporting trolley is in rotary fit with a rotary disk, and a second driving motor for driving the rotary disk to rotate is arranged on the supporting trolley;
the bottom end of the rotating disc is provided with two electric push rods, the top ends of the electric push rods are in running fit with the rotating disc through a swinging shaft, and the swinging shaft is connected with a steering engine;
the bottom end of the electric push rod is provided with a clamping part for clamping the underwater propeller.
Preferably, the left and right ends of the supporting guide rail are provided with sliding blocks, and the left and right inner side walls of the rectangular supporting frame are provided with sliding grooves which extend along the front and rear directions and are in sliding fit with the corresponding sliding blocks.
Preferably, the first driving member includes a driving screw extending in a front-rear direction;
a threaded hole is formed in one sliding block, and the driving screw rod is in threaded fit with the threaded hole; the two ends of the driving screw rod are in running fit with the rectangular supporting frame;
one end of the driving screw rod is coaxially and fixedly connected with the output end of the first driving motor;
the first driving motor is fixedly connected with the rectangular supporting frame through a first motor bracket.
Preferably, the top end of the electric push rod is fixedly provided with a U-shaped connecting plate which is opened upwards, and the swinging shaft is fixedly arranged between two side plates of the U-shaped connecting plate;
the swinging shafts of the two electric push rods are coaxially arranged;
the bottom end fixing of rotary disk is provided with two and carries out normal running fit's supporting box with corresponding oscillating axle respectively, the steering wheel sets up in the supporting box.
Preferably, the clamping component comprises a fixed plate, the top end of the fixed plate is fixedly connected with the bottom end of the electric push rod, and a fixed clamping plate and a movable clamping plate are arranged at the bottom end of the fixed plate;
the fixed clamping plate is fixedly connected with the fixed plate, and the movable clamping plate is in sliding fit with the fixed plate;
the movable clamping plate is used for clamping the underwater propeller when being close to the fixed clamping plate, and loosening of the underwater propeller when being far away from the fixed clamping plate.
Preferably, a connecting stud is arranged between the fixed clamping plate and the movable clamping plate, and a connecting nut is arranged on the connecting stud.
Preferably, the first driving motor, the supporting trolley, the second driving motor, the electric push rod and the steering engine are all connected with the control display screen, and instructions are set for the first driving motor, the supporting trolley, the second driving motor, the electric push rod and the steering engine through the control display screen;
the control display screen is arranged on the operation desk.
Preferably, the control display screen is provided with a first driving motor module, a supporting trolley module, a second driving motor module, an electric push rod module and a steering engine module;
the first driving motor module comprises a forward command key for realizing forward movement of the supporting guide rail, a backward command key for realizing backward movement of the supporting guide rail and a first driving motor rotating speed input frame;
the supporting trolley module comprises a left-going command key, a right-going command key and a supporting trolley speed input frame;
the second driving motor module comprises a forward rotation instruction key, a reverse rotation instruction key and a second driving motor rotating speed input frame;
the electric push rod module comprises a water depth input frame;
the steering engine module comprises a positive inclination angle input frame and a negative inclination angle input frame.
Preferably, the fixed clamping plate is provided with a vibration sensor for collecting vibration data of the underwater propeller;
the vibration sensor is connected with the control display screen, and the control display screen receives and displays the vibration data acquired by the vibration sensor.
The application also provides a multi-pose motion simulation experiment method of the underwater propeller.
The experimental method for simulating the multi-pose motion of the underwater propeller is implemented by adopting an experimental device for simulating the multi-pose motion of the underwater propeller, and comprises the following steps of:
step 1: clamping and fixing the underwater propeller by adopting a clamping component;
step 2: determining simulation water depth and multi-pose motion simulation parameters of the underwater propeller;
step 3: inputting simulated water depth in a water depth input frame, and conveying an underwater propeller to the simulated water depth by an electric push rod;
step 4: according to the multi-gesture motion simulation parameters, pressing down each corresponding instruction key, and inputting each corresponding speed value;
step 5: and pressing a power-on button, and enabling the underwater propeller to enter a multi-gesture motion simulation experiment state.
The beneficial effects of the application are as follows:
the electric push rod is used for controlling the depth of the underwater propeller in water; the first driving piece controls the underwater propeller to move in the front-back direction, the supporting trolley controls the underwater propeller to move in the left-right direction, and the second driving motor controls the underwater propeller to rotate; the steering engine realizes the adjustment of the inclination angle of the underwater propeller by controlling the inclination angle of the electric push rod, and the steering engine is matched with the forward and backward movement, the left and right movement and the rotation to form the simulation of the multi-pose movement of the underwater propeller.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic perspective view of a multi-pose motion simulation experiment device of an underwater propeller;
FIG. 2 is an enlarged view of a portion of FIG. 1A;
FIG. 3 is a schematic right side view of the structure of the experimental device for simulating the multi-pose motion of the underwater propeller;
FIG. 4 is an enlarged view of a portion of B in FIG. 3;
FIG. 5 is a schematic diagram of the cooperation of the support cart, the rotary disk and the electric push rod in the application;
FIG. 6 is a schematic view of the structure of the console according to the present application;
FIG. 7 is a schematic illustration of an operational display screen in accordance with the present application;
wherein:
the device comprises the following components of a 1-experiment table, a 11-base, a 12-support column, a 13-rectangular support frame, a 131-chute, a 14-support guide rail, a 141-slider, a 15-drive screw rod, a 16-first drive motor, a 161-first motor bracket, a 17-support trolley, a 18-rotating disk, a 181-support box, a 19-electric push rod, a 191-swinging shaft, a 192-U-shaped connecting plate, a 20-clamping part, a 201-fixed plate, a 202-fixed clamping plate, a 203-movable clamping plate, a 204-connecting stud and a 205-connecting nut;
2-operation panel, 21-control display screen, 22-steering engine module, 221-positive inclination angle input frame, 222-negative inclination angle input frame, 23-first driving motor module, 231-forward instruction key, 232-backward instruction key, 233-first driving motor rotating speed input frame, 24-supporting trolley module, 241-left-going instruction key, 242-right-going instruction key, 243-supporting trolley speed input frame, 25-second driving motor module, 251-positive rotation instruction key, 252-reverse rotation instruction key, 253-second driving motor rotating speed input frame, 26-electric push rod module, 261-water depth input frame.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present application, the terms such as "upper", "lower", "bottom", "top", and the like refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely relational terms used for convenience in describing the structural relationships of the various components or elements of the present application, and are not meant to designate any one component or element of the present application, and are not to be construed as limiting the present application.
In the present application, terms such as "connected," "connected," and the like are to be construed broadly and mean either fixedly connected or integrally connected or detachably connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present application can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present application.
The application will be further described with reference to the drawings and examples.
Example 1
An underwater propeller multi-pose motion simulation experiment device comprises an experiment table 1;
as shown in fig. 1-5, the experiment table 1 comprises a base 11, four corners at the top end of the base 11 are respectively provided with a support column 12 extending along the vertical direction, and the top ends of the four support columns 12 are fixedly provided with a rectangular support frame 13;
a support rail 14 is slidably matched between the left and right inner side walls of the rectangular support frame 13 along the front-rear direction, and a first driving piece for driving the support rail 14 to move front and rear is arranged on the rectangular support frame 13;
the support rail 14 is provided with a support carriage 17 movable in the left-right direction along the support rail 14;
the bottom end of the supporting trolley 17 is in rotary fit with a rotary disk 18, and a second driving motor for driving the rotary disk 18 to rotate is arranged on the supporting trolley 17;
the bottom end of the rotary disk 18 is provided with two electric push rods 19, the top ends of the electric push rods 19 are in running fit with the rotary disk 18 through a swinging shaft 191, and the swinging shaft 191 is connected with a steering engine;
the bottom end of the electric push rod 19 is provided with a clamping component 20 for clamping the underwater propeller.
Preferably, as shown in fig. 2, the left and right ends of the support rail 14 are provided with sliding blocks 141, and the left and right inner walls of the rectangular support frame 13 are provided with sliding grooves 131 extending in the front-rear direction and slidably engaged with the corresponding sliding blocks 141.
Preferably, the first driving member includes a driving screw 15 extending in a front-rear direction;
a threaded hole is formed in one of the sliding blocks 141, and the driving screw rod 15 is in threaded fit with the threaded hole; two ends of the driving screw rod 15 are in running fit with the rectangular supporting frame 13;
one end of the driving screw rod 15 is coaxially and fixedly connected with the output end of the first driving motor 16;
the first driving motor 16 is fixedly connected with the rectangular supporting frame 13 through a first motor bracket 161.
Under the sliding limit fit of the sliding block 141 and the sliding groove 131 and the threaded fit of the driving screw rod 15 and the threaded hole, when the first driving motor 16 is started, the driving screw rod 15 rotates to drive the supporting guide rail 14 to move in the front-rear direction.
Preferably, as shown in fig. 5, the top end of the electric push rod 19 is fixedly provided with a U-shaped connecting plate 192 that is opened upwards, and the swinging shaft 191 is fixedly arranged between two side plates of the U-shaped connecting plate 192;
the swing shafts 191 of the two electric push rods 19 are coaxially arranged;
the bottom end fixing of rotary disk 18 is provided with two supporting boxes 181 that carry out normal running fit with corresponding oscillating axle 191 respectively, the steering wheel sets up in supporting boxes 181.
Preferably, as shown in fig. 4, the clamping member 20 includes a fixed plate 201, the top end of the fixed plate 201 is fixedly connected with the bottom end of the electric push rod 19, and the bottom end of the fixed plate 201 is provided with a fixed clamping plate 202 and a movable clamping plate 203;
the fixed clamping plate 202 is fixedly connected with the fixed plate 201, and the movable clamping plate 203 is in sliding fit with the fixed plate 201;
the movable clamping plate 203 clamps the underwater propeller when approaching the fixed clamping plate 202, and the movable clamping plate 203 releases the underwater propeller when being far away from the fixed clamping plate 202.
Preferably, a connection stud 204 is disposed between the fixed clamping plate 202 and the movable clamping plate 203, and a connection nut 205 is disposed on the connection stud 204.
Preferably, the first driving motor 16, the supporting trolley 17, the second driving motor, the electric push rod 19 and the steering engine are all connected with the control display screen 21, and instructions are set for the first driving motor 16, the supporting trolley 17, the second driving motor, the electric push rod 19 and the steering engine through the control display screen 21;
the control display 21 is provided on the console 2. Wherein the structure of the console 2 is shown in fig. 6.
Specifically, the operation desk 2 is also provided with a power-on button to realize the power supply of the whole device.
Preferably, as shown in fig. 7, the control display screen 21 is provided with a first driving motor module 23, a supporting trolley module 24, a second driving motor module 25, an electric push rod module 26 and a steering engine module 22;
the first driving motor module 23 includes a forward command key 231 for realizing forward movement of the support rail 14, a backward command key 232 for realizing backward movement of the support rail 14, and a first driving motor rotation speed input frame 233;
the supporting trolley module 24 includes a left command key 241, a right command key 242, and a supporting trolley speed input box 243;
the second driving motor module 25 includes a forward rotation command key 251, a reverse rotation command key 252, and a second driving motor rotation speed input box 253;
the electric push rod module 26 comprises a water depth input frame 261;
the steering engine module 22 includes a positive tilt angle input box 221 and a negative tilt angle input box 222. The inclination angle refers to the angle between the electric push rod 19 and the vertical direction. The underwater propeller rotates clockwise to form a positive inclination when seen from the head end to the tail end of the underwater propeller, and rotates anticlockwise to form a negative inclination.
Preferably, the fixed clamping plate 202 is provided with a vibration sensor for collecting vibration data of the underwater propulsor;
the vibration sensor is connected with the control display screen 21, and the control display screen 21 receives and displays vibration data acquired by the vibration sensor.
The electric push rod 19 is used for controlling the depth of the underwater propeller in water; the first driving piece controls the underwater propeller to move in the front-back direction, the supporting trolley 17 controls the underwater propeller to move in the left-right direction, and the second driving motor controls the underwater propeller to rotate; the steering engine realizes the adjustment of the inclination angle of the underwater propeller by controlling the inclination angle of the electric push rod 19, and the steering engine is matched with the forward and backward movement, the left and right movement and the rotation to form the simulation of the multi-pose movement of the underwater propeller.
Example 2
The experimental method for simulating the multi-pose motion of the underwater propeller is implemented by adopting the experimental device for simulating the multi-pose motion of the underwater propeller in the embodiment 1, and comprises the following steps:
step 1: clamping and fixing the underwater propeller by adopting a clamping component 20; specifically, the underwater propeller is placed between the movable clamping plate 203 and the fixed clamping plate 202 and clamped, and then the connecting nut 205 is screwed down to realize the clamping and fixing of the clamping part 20 to the underwater propeller;
step 2: determining simulation water depth and multi-pose motion simulation parameters of the underwater propeller;
step 3: inputting a simulated water depth in a water depth input box 261, and conveying the underwater propeller to the simulated water depth by an electric push rod 19;
in the application, the simulated water depth is input in a water depth input box 261, and the electric push rod 19 determines the push rod extension length according to the simulated water depth;
step 4: according to the multi-gesture motion simulation parameters, pressing down each corresponding instruction key, and inputting each corresponding speed value;
the multi-gesture motion simulation parameters of the underwater propeller comprise a front-back motion direction, a front-back motion speed, a left-right motion direction, a left-right motion speed, a rotation direction, a rotation speed, an inclination direction and an inclination angle;
wherein the forward and backward movement direction comprises forward movement and backward movement, the forward movement is controlled by a forward command key 231, the backward movement is controlled by a backward command key 232, and the forward and backward movement speed is input in a first driving motor rotation speed input frame 233;
the left-right movement direction comprises a left row and a right row, the left row is controlled by a left row command key 241, the right row is controlled by a right row command key 242, and the left-right movement speed is input in a supporting trolley speed input box 243;
the rotation direction comprises forward rotation and reverse rotation, wherein the clockwise rotation is changed into forward rotation in overlook, the anticlockwise rotation is changed into reverse rotation in overlook, the forward rotation is controlled by a forward rotation command key 251, the reverse rotation is controlled by a reverse rotation command key 252, and the rotation speed is input in a second driving motor rotation speed input frame 253;
the tilting direction comprises a positive tilting and a negative tilting, and the front tilting and the negative tilting are seen from the head end to the tail end of the underwater propeller, wherein the underwater propeller rotates in the clockwise direction to form the positive tilting, the underwater propeller rotates in the anticlockwise direction to form the negative tilting, the positive tilting angle is input in the positive tilting angle input frame 221, and the negative tilting angle is input in the negative tilting angle input frame 222;
step 5: and pressing a power-on button, and enabling the underwater propeller to enter a multi-gesture motion simulation experiment state.
While the foregoing is directed to embodiments of the present application, other and further embodiments of the application may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. The multi-pose motion simulation experiment device for the underwater propeller is characterized by comprising an experiment table;
the experiment table comprises a base, wherein four corners of the top end of the base are respectively provided with a support column extending along the vertical direction, and the top ends of the four support columns are fixedly provided with rectangular support frames;
a support guide rail is slidably matched between the left inner side wall and the right inner side wall of the rectangular support frame along the front-rear direction, and a first driving piece for driving the support guide rail to move front and rear is arranged on the rectangular support frame;
the support rail is provided with a support trolley capable of moving left and right along the support rail;
the bottom end of the supporting trolley is in rotary fit with a rotary disk, and a second driving motor for driving the rotary disk to rotate is arranged on the supporting trolley;
the bottom end of the rotating disc is provided with two electric push rods, the top ends of the electric push rods are in running fit with the rotating disc through a swinging shaft, and the swinging shaft is connected with a steering engine;
the bottom end of the electric push rod is provided with a clamping part for clamping the underwater propeller.
2. The experimental device for simulating multi-pose motion of an underwater propeller according to claim 1, wherein the left and right ends of the supporting guide rail are provided with sliding blocks, and the left and right inner side walls of the rectangular supporting frame are provided with sliding grooves which extend along the front and rear directions and are in sliding fit with the corresponding sliding blocks.
3. The underwater vehicle multi-pose motion simulation experiment device of claim 2, wherein the first driving member comprises a driving screw extending in a front-rear direction;
a threaded hole is formed in one sliding block, and the driving screw rod is in threaded fit with the threaded hole; the two ends of the driving screw rod are in running fit with the rectangular supporting frame;
one end of the driving screw rod is coaxially and fixedly connected with the output end of the first driving motor;
the first driving motor is fixedly connected with the rectangular supporting frame through a first motor bracket.
4. The experimental device for simulating the multi-pose motion of the underwater propeller according to claim 3, wherein the top end of the electric push rod is fixedly provided with a U-shaped connecting plate which is opened upwards, and the swinging shaft is fixedly arranged between two side plates of the U-shaped connecting plate;
the swinging shafts of the two electric push rods are coaxially arranged;
the bottom end fixing of rotary disk is provided with two and carries out normal running fit's supporting box with corresponding oscillating axle respectively, the steering wheel sets up in the supporting box.
5. The experimental device for simulating the multi-pose motion of the underwater propeller according to claim 4, wherein the clamping component comprises a fixed plate, the top end of the fixed plate is fixedly connected with the bottom end of the electric push rod, and a fixed clamping plate and a movable clamping plate are arranged at the bottom end of the fixed plate;
the fixed clamping plate is fixedly connected with the fixed plate, and the movable clamping plate is in sliding fit with the fixed plate;
the movable clamping plate is used for clamping the underwater propeller when being close to the fixed clamping plate, and loosening of the underwater propeller when being far away from the fixed clamping plate.
6. The experimental device for simulating the multi-pose motion of the underwater propeller according to claim 5, wherein a connecting stud is arranged between the fixed clamping plate and the movable clamping plate, and a connecting nut is arranged on the connecting stud.
7. The experimental device for simulating the multi-pose motion of the underwater propeller according to claim 5, wherein the first driving motor, the supporting trolley, the second driving motor, the electric push rod and the steering engine are all connected with a control display screen, and instructions are set for the first driving motor, the supporting trolley, the second driving motor, the electric push rod and the steering engine through the control display screen;
the control display screen is arranged on the operation desk.
8. The experimental device for simulating the multi-pose motion of the underwater propeller according to claim 7, wherein the control display screen is provided with a first driving motor module, a supporting trolley module, a second driving motor module, an electric push rod module and a steering engine module;
the first driving motor module comprises a forward command key for realizing forward movement of the supporting guide rail, a backward command key for realizing backward movement of the supporting guide rail and a first driving motor rotating speed input frame;
the supporting trolley module comprises a left-going command key, a right-going command key and a supporting trolley speed input frame;
the second driving motor module comprises a forward rotation instruction key, a reverse rotation instruction key and a second driving motor rotating speed input frame;
the electric push rod module comprises a water depth input frame;
the steering engine module comprises a positive inclination angle input frame and a negative inclination angle input frame.
9. The experimental device for simulating the multi-pose motion of the underwater propeller according to claim 8, wherein the vibration sensor for collecting the vibration data of the underwater propeller is arranged on the fixed clamping plate;
the vibration sensor is connected with the control display screen, and the control display screen receives and displays the vibration data acquired by the vibration sensor.
10. The experimental method for simulating the multi-pose motion of the underwater propeller is characterized by being implemented by adopting the experimental device for simulating the multi-pose motion of the underwater propeller as claimed in claim 9, and comprises the following steps:
step 1: clamping and fixing the underwater propeller by adopting a clamping component;
step 2: determining simulation water depth and multi-pose motion simulation parameters of the underwater propeller;
step 3: inputting simulated water depth in a water depth input frame, and conveying an underwater propeller to the simulated water depth by an electric push rod;
step 4: according to the multi-gesture motion simulation parameters, pressing down each corresponding instruction key, and inputting each corresponding speed value;
step 5: and pressing a power-on button, and enabling the underwater propeller to enter a multi-gesture motion simulation experiment state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311520570.9A CN117232881A (en) | 2023-11-15 | 2023-11-15 | Multi-pose motion simulation experiment device and method for underwater propeller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311520570.9A CN117232881A (en) | 2023-11-15 | 2023-11-15 | Multi-pose motion simulation experiment device and method for underwater propeller |
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Application publication date: 20231215 |
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| RJ01 | Rejection of invention patent application after publication |