CN201099351Y - Underwater navigation body modularized steering engine - Google Patents
Underwater navigation body modularized steering engine Download PDFInfo
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- CN201099351Y CN201099351Y CNU200720116456XU CN200720116456U CN201099351Y CN 201099351 Y CN201099351 Y CN 201099351Y CN U200720116456X U CNU200720116456X U CN U200720116456XU CN 200720116456 U CN200720116456 U CN 200720116456U CN 201099351 Y CN201099351 Y CN 201099351Y
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- rudder
- heave
- stepping motor
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- steering engine
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Abstract
The utility model provides a modular steering engine for underwater supercaviting bodies, which comprises a rudder module, an elevator module and a watertight chest body. A steering stepper motor and an elevating stepper motor are arranged in the watertight chest body. The rudder module is arranged at the front end of the watertight chest body, and two rudders are arranged on the output shaft of the steering stepper motor through the connection shaft of the rudders. The elevator module is positioned at the rear end of the watertight chest body. The power output by the elevating stepper motor changes direction through a conical gear pair and then is transferred to two elevators through the connection shaft of the elevators. The utility model is used for underwater supercaviting bodies and can realize simultaneous control of the rudders and the elevators; and the adoption of stepper motors for driving ensures precise transmission. Furthermore, the modular steering engine has the advantages of small volume, light weight, watertightness, safety, simple structure, flexible functions, low cost and so on.
Description
(1) technical field
The utility model provides a kind of steering wheel that is applied to underwater sailing body.
(2) background technology
Rudder belongs to thin streamiline body, is very suitable for controlling the motion of the underwater sailing bodys such as streamline under-water robot of high-speed motion.When the rotation rudder blade changed its position, hydraulic pressure produced moment by rudder blade to sail body, and this moment makes the sail body revolution reach the purpose of handling its course.But, because the restriction of factor such as the inner installation site of sail body under water of submarine navigation body profile, weight, air-proof condition and steering wheel, make the difficult point problem in the underwater sailing body structure design of being designed to of steering gear system.
Along with the high speed development of submarine navigation body technique, the modular design of underwater sailing body and intraware thereof has become a kind of trend of underwater sailing body structure design.So-called modularization is meant: the different product in the certain limit is being carried out on the basis of functional analysis and decomposition, divide and design, produce a series of general modules or standard module, then, from these modules, choose corresponding module and additional newly-designed special module and parts and make up accordingly together, satisfy a kind of normalized form of the product of various different needs with formation.Module can be made up of a part, also may be an assembly or parts.A product should be divided into several modules.Should exchange between each module of modular construction, this is convenient to the combination between each module, to obtain the requirement of difference in functionality.And each module is one group different purposes, and the elementary cell of different structure can reach different functional requirements, selectively to adapt to different needs after different combinations.But the modular design of steering gear system can improve the regroup and the interchangeability of steering wheel structure, increases the alerting ability and the variety of steering wheel function, and make the manufacturing of steering gear system integrability, install, and then reduce its manufacturing cost.
Number of patent application is 200520098347.0, name is called the patent of " the small-sized steering wheel of integrated form ", adopts oil pump to promote hydraulic ram and realizes that rudder blade rotates, and is mainly used on the surface navigation body such as boats and ships.Its complex structure, volume be big, waste energy the cost height.
(3) utility model content
The purpose of this utility model is to provide a kind of small and light, but modularization manufacturing, installation and directly apply in the liquid environment of neutrality or slant acidity, can realize turning to modular steering engine simultaneously with the underwater sailing body of heave movement control.
The purpose of this utility model is achieved in that it comprises and turns to rudder module, heave rudder module and seal case three parts; Seal case is made up of the O RunddichtringO of casing, tank ends; Turn to the composition of rudder module to comprise housing plate, turn to stepping motor, turn to rudder, the front end that turns to the rudder module to be positioned at seal case turns to stepping motor to be arranged at seal case, turning to stepping motor is the synchronous output motors in two ends, turn to the output shaft at stepping motor two ends stretch out housing plate outer and and housing plate between be provided with the sealing supporting device, two turn to rudder to turn on the stepping motor output shaft by turning to the rudder adapter shaft to be installed in, and housing plate is installed on tank ends and is sealed by the O RunddichtringO; The composition of heave rudder module comprises heave stepping motor, heave rudder, heave rudder module is positioned at the rear end of seal case, the heave stepping motor is arranged in the seal case, the output shaft of heave stepping motor stretches out a side of seal case, and and be provided with the sealing supporting device between the casing, after the power of heave stepping motor output turns to by the conical gear pair, pass to two heave rudders through heave rudder adapter shaft.
The utility model can also comprise some architectural features like this:
1, describedly turns to the output shaft of stepping motor and the sealing supporting device between the end cap to comprise O type circle between end cover, end cover and the end cap that is installed on the housing plate, is arranged at end cover and turns to outside framework oil seal and stainless steel bearing between the rudder adapter shaft.
2, turn to rudder to be installed in and turn on the rudder adapter shaft, between plunging joint and stainless steel bearing, be provided with buffer element by plunging joint.
3, describedly turn to the sealing supporting device between stepping motor output shaft and the housing plate to comprise the outside framework oil seal that is installed on the housing plate.
4, have two parallel boss a housing plate inboard.
5, the sealing supporting device between described heave stepping motor output shaft and the wall box comprises having between O RunddichtringO, end cover and the motor adapter shaft between end cover, end cover and the wall box that is installed on the wall box outside framework oil seal and stainless steel bearing.
6, the sealing supporting device between described heave stepping motor output shaft and the wall box comprises the outside framework oil seal that is installed on the wall box.
Advantage of the present utility model is:
1, realizes heave rudder and turn to rudder to rotate simultaneously.
The design of a lot of steering wheels is only at independent heave rudder or turn to rudder, and this steering gear system can drive the heave rudder simultaneously and turn to the rudder running, and the cooperation but also can work independently of not only can being coupled has improved the steering wheel serviceability.
2, modular construction design
This steering gear system is made up of three modules, can integratedly make, integrated installation, and cost is cheap, and is easy to change functional module, realizes the reorganization of steering wheel structure, and this also makes steering gear system can adapt to multiple job requirement, has enriched the function of steering wheel.
3, the big steering torque of Twin Rudders leaf
By rudder power computing formula as can be known, the steering torque that rudder blade produces is directly proportional with its fluoran stream surface is long-pending, the utility model is under the situation that does not increase whole steering wheel volume, each direction all symmetry is installed the dual rotation rudder blade, both made the stressed balance and stability more of steering wheel, increase moment numerical value again, improved steering wheel efficient.
4, heave rudder and turn to rudder can realize exchange function.
This steering gear system adopts be turn to rudder preceding heave rudder after design plan, but when working environment needs, also can make the heave rudder preceding with turning to the exchange of rudder and heave rudder, turn to rudder after, improved the comformability of steering gear system.And, because the heave rudder blade of native system is vertical mutually, symmetrical distribution with turning to rudder blade, if sail body roll occurs when moving or topples, heave rudder blade and turn to rudder blade can carry out role exchange immediately, guarantee that sail body moves on, finish homeward task, prevent the generation of accident.
5, both be applicable to low speed, small-sized underwater sailing body, be applicable to again at a high speed, large-scale underwater sailing body.
According to hydrodynamics knowledge, when the rotor inertia of underwater sailing body big (with square being directly proportional of quality and radius of gyration), its required deflecting torque is just big; And, by rudder power computing formula as can be known, square being directly proportional of the steering torque that rudder blade produces and the route speed of underwater sailing body.Therefore, the suffered moment of rudder blade of low speed, small-sized underwater sailing body is little; At a high speed, the suffered moment of the rudder blade of large-scale underwater sailing body is big.The utility model provides the different embodiments that is applicable to above-mentioned two kinds of situations: in the steering wheel structure shown in the accompanying drawing 3 as seen, between each stainless steel bearing and the plunging joint (or bevel gear shaft) buffer element is housed all, to offset the suffered axial force of rudder blade, and stainless steel bearing and outside framework oil seal can absorb, offset the rudder blade force in radial, it is bigger to make that whole steering gear system bears the scope of external load change ability, and this embodiment is applicable to the stressed big work condition environment of rudder blade; As seen, the stepping motor output shaft directly links to each other with adapter shaft in the steering wheel structure shown in the accompanying drawing 6,7, simplifies and has fallen stainless steel bearing and buffer element, and this embodiment is applicable to the stressed little work condition environment of rudder blade.
6, compact conformation, small and light.
The utility model takes into full account the design of mini problem, and only slightly greater than the oad of two drive motor, the concrete position of rudder blade also can guarantee by the length that changes rudderpost for structure design compactness, its seal case size.
7, the accurate angle control and the self-locking of stepping motor.
A lot of steering wheels adopt complicated mechanism to realize the accurate angle control of rudder blade, this steering wheel adopts stepping motor as the core drive element, can realize accurate angle control and necessary auto-lock function, when improving the steering wheel control efficiency, also save complicated control system.
8, provide new solution for other mechanism that need realize that the vertical output axle turns round simultaneously.
Under abominable and narrow and small industrial and mineral environment such as humidity, dust, often need also to realize other mechanism that mutually perpendicular output shaft turns round simultaneously that the utility model provides a kind of new solution for it.
In view of present most of underwater sailing bodys turn to, the heave rudder separates, the steering wheel complex structure, the big and less shortcoming of generation moment of quality, we adopt modular technology, researched and developed this modular steering engine system, its collection is turned to, the heave rudder is controlled in all over the body, simplified the sail body inner structure, make the steering wheel function more flexible, various, and the control of the Twin Rudders leaf of each direction makes sail body obtain more powerful deflecting torque, modular design has improved the reliability and the interchangeability of steering gear system greatly, and make the integrated manufacturing of steering gear system, be mounted for possibility, reduced the manufacturing cost of steering gear system.The mentality of designing of underwater sailing body steering wheel has been opened up in the development of this steering gear system, and further trial has been made in the miniaturization of sail body under water, modularization aspect, and this has important exploration to be worth at aspects such as cutting down the consumption of energy, improve propulsion coefficient.
The utility model is applied to underwater sailing body, control when can realize turning to rudder and heave rudder; Adopt step motor drive, its transmission is accurate.And, the utlity model has that volume is little, advantage such as light weight, sealingly secure, simple in structure, flexible function, low cost of manufacture.
(4) description of drawings
Fig. 1 is the front view of profile of the present utility model;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the rudder modular construction figure that turns to of the present utility model;
Fig. 4 is embodiment 1 structural representation of the present utility model;
Fig. 5 is heave rudder modular construction figure;
Fig. 6 is embodiment 2 structural representations of the present utility model;
Fig. 7 is embodiment 3 structural representations of the present utility model.
(5) specific embodiment
For example the utility model is done description in more detail below in conjunction with accompanying drawing:
The modular steering engine of underwater sailing body of the present utility model is by turning to rudder module, heave rudder module and seal case three parts to form.Three parts are separate on function, and mutually noninterfere had both guaranteed that the working stability of steering gear system was reliable, regulate freely; Can carry out fractionation work again in case of necessity, further simplify the sail body structure.
In conjunction with Fig. 1,2,3 and 4, turning to the rudder module is symmetrical structure up and down basically, now getting its following structure describes, following structure is by O type circle 1, end cover 2, turn to rudder adapter shaft 3, turn to rudder blade 4, compositions such as plunging joint 5, buffer element 6, stainless steel bearing 7, outside framework oil seal 8, housing plate I9 and stepping motor 10.End cover 2 is connected on the housing plate I9, and realizes the static seal that steering wheel is inside and outside by O type circle 1.Plunging joint 5 connections turn to rudder adapter shaft 3 and turn to rudder blade 4, turn to rudder adapter shaft 3 then to be installed on the output shaft of stepping motor 10, the power of stepping motor 10 just turns to rudder blade 4 by turning to rudder adapter shaft 3 and plunging joint 5 finally to pass to like this, thereby has realized that steering gear system turns to freely rotating of rudder.Turn to rudder adapter shaft 3 to realize the location by the stainless steel bearing 7 that is installed on the end cover 2, and realize the dynamic seal that steering wheel is inside and outside by outside framework oil seal 8, stainless steel bearing 7 and outside framework oil seal 8 all are nested in the end cover 2.Buffer element 6 is clipped between plunging joint 5 and the stainless steel bearing 7, and is enclosed within and turns on the rudder adapter shaft 3, turns to rudder blade 4 force in radial with transmission.Turn to the top structure of rudder module and last basic identical, just housing plate II13 and housing plate I9 wherein distinguishes to some extent, referring to accompanying drawing 3,4.For installation interface being provided for stepping motor 10, housing plate I9 has designed the inboard two parallel boss, and stepping motor 10 can accurately be fixed with it, is installed in steering wheel inside.In addition, stepping motor 10 is the synchronous output motors in two ends, and the upper end output shaft drives and turns to rudder module top mechanism, the lower end output shaft drives and turns to the following mechanism of rudder, therefore two turn to rudder blade with run-in synchronism work about, improve sail body and turn to efficient, the steady steaming running body.
In conjunction with Fig. 4 and Fig. 5, heave rudder module is made up of stepping motor 14, end cover 15, O RunddichtringO 16, outside framework oil seal 17, stainless steel bearing 18, bevel gear shaft 19, motor adapter shaft 20, heave rudder adapter shaft I21, conical gear pair 22,23, damper element 24, heave rudder blade 25, plunging joint 26, buffer element 27, heave rudder bearing 28, bearing support 29, coupler 30, heave rudder adapter shaft II31 etc.Stepping motor 14 is fixed on steering wheel inside, motor adapter shaft 20 and the bevel gear shaft 19 of its output shaft by being attached thereto, and will rotatablely move has passed to conical gear pair 22,23.Motor adapter shaft 20 is realized the dynamic seal that steering wheel is inside and outside by outside framework oil seal 17, and by the location and installation of stainless steel bearing 18 realizations with end cover 15, and stainless steel bearing 18 and outside framework oil seal 17 all are nested in the end cover 15.End cover 15 is fixed on the seal case 11 of steering wheel, and realizes the static seal that steering wheel is inside and outside by O-ring seals 16.Damper element 24 is enclosed within on the motor adapter shaft 20, is clipped between stainless steel bearing 18 and the bevel gear shaft 19.Because end that is installed in bevel gear shaft 19 of the gear in the conical gear pair 22,23, a middle part that is installed in heave rudder adapter shaft I21 then rotatablely moves through after 22,23 commutations of conical gear pair, drives heave rudder adapter shaft I21 motion.Heave rudder adapter shaft I21, heave rudder adapter shaft II31, realize coaxial connection by drive coupling 30, the two is enclosed within respectively in two heave rudder bearings 28, realize its location and installation, realize linking to each other with two heave rudder blades 25 in two ends then two plunging joints of overcoat 26, in addition, between each plunging joint 26 and the heave rudder bearing 28 buffer element 27 is housed all, transmits the suffered axial force of heave rudder blade 25.Two heave rudder bearings are nested in the bearing support 29 that is installed on the casing 11, realize being connected with the complete of whole steering wheel.Rotatablely moving of stepping motor 14 just finally has been delivered on the heave rudder blade 25 like this, drives the running of steering gear system heave rudder.Equally, the design of biplate heave rudder blade had not only taken into account the stress balance principle but also had improved sail body and turned to efficient.
Seal case is made up of casing 11 and purpose made O RunddichtringO 12 etc.Casing 11 is the rectangular box of a both ends open, it provides the installation carrier for stepping motor 14, end cover 15 and heave rudder bearing 28, and pass through two O-ring seals 12 and realize the static seal closure with housing plate I9 and housing plate II13 respectively, make heave rudder module with turn to the rudder module to finish organic the connection, form complete steering gear system.Whole seal case is for heave rudder module and turn to the rudder module that erecting stage is provided; the core driver element of two modules of seal protection has been saved the steering wheel space, simultaneously; mutually noninterfere again between them, work independence, reorganization make that the steering wheel flexible function is various easily.
Above-mentioned is a kind of specific embodiment of the present utility model, and the utility model can also adopt other the specific embodiment as required.Second kind of specific embodiment of the present utility model simplified on the basis of first kind of embodiment.When turning to rudder blade stressed hour, on the basis of the above-mentioned specific embodiment, the characteristics of binding modulesization will turn to the rudder module to be changed, and just produce second kind of embodiment, see accompanying drawing 6 for details.Turn to the rudder module by turning to rudder blade 4, plunging joint 5, outside framework oil seal 8, housing plate I9, long output shaft stepping motor 10, compositions such as housing plate II13.The both sides output shaft that stepping motor 10 is exported at two ends synchronously stretches out respectively outside the housing plate I9 and housing plate II13 that outside framework oil seal 8 is housed, and plunging joint 5 is directly installed on the both sides output shaft of stepping motor 10, and is connected with turning to rudder blade 4.Like this, the power of stepping motor 10 has been directly passed to by plunging joint 5 and has turned to rudder blade 4, has realized that steering gear system turns to freely rotating of rudder.This shows, be applied directly on the motor output shaft from turning to rudder blade 4 to transmit the power of coming, but, can not impact motor performance owing to turn to rudder stressed less through plunging joint 5.From Fig. 3,4,6 as can be seen, the component part number that turns to the rudder module reduces to 6 by original 11, has removed original supporting and static seal part, and structure is further simplified, the more convenient manufacturing and assembling.As can be seen, except that turning to the rudder module changed, all the other do not do change from Fig. 4,6.
When turning to rudder, heave rudder stressed when all very little, can adopt the third embodiment, see accompanying drawing 7 for details.On the basis of second kind of embodiment, seal case changes into directly with heave rudder module bonded assembly one side and cooperating with outside framework oil seal 17; In the heave rudder module, output shaft lengthening with stepping motor 14, simplify and fall end cover 15, O RunddichtringO 16, stainless steel bearing 18, motor adapter shaft 20, keep outside framework oil seal 17, bevel gear shaft 19, heave rudder adapter shaft I21, conical gear pair 22,23, damper element 24, heave rudder blade 25, plunging joint 26, buffer element 27, heave rudder bearing 28, bearing support 29, coupler 30, heave rudder adapter shaft II31.Because the heave rudder is stressed very little, so the engagement force of conical gear pair 22,23 needn't be very big, and the power that is delivered to through bevel gear shaft 19 on the output shaft of stepping motor 14 can not influence motor performance yet.
By top description as can be known, in the specific implementation,, only needed to change purpose that part of module in the utility model just can implementation be changed according to the difference of working environment.
Claims (9)
1. the modular steering engine of a underwater sailing body, it comprises and turns to rudder module, heave rudder module and seal case three parts; It is characterized in that: seal case is made up of the O RunddichtringO of casing, tank ends; Turn to the composition of rudder module to comprise housing plate, turn to stepping motor, turn to rudder, the front end that turns to the rudder module to be positioned at seal case turns to stepping motor to be arranged at seal case, turning to stepping motor is the synchronous output motors in two ends, turn to the output shaft at stepping motor two ends stretch out housing plate outer and and housing plate between be provided with the sealing supporting device, two turn to rudder to turn on the stepping motor output shaft by turning to the rudder adapter shaft to be installed in, and housing plate is installed on tank ends and is sealed by the O RunddichtringO; The composition of heave rudder module comprises heave stepping motor, heave rudder, heave rudder module is positioned at the rear end of seal case, the heave stepping motor is arranged in the seal case, the output shaft of heave stepping motor stretches out a side of seal case, and and be provided with the sealing supporting device between the casing, after the power of heave stepping motor output turns to by the conical gear pair, pass to two heave rudders through heave rudder adapter shaft.
2. the modular steering engine of underwater sailing body according to claim 1 is characterized in that: describedly turn to the output shaft of stepping motor and the sealing supporting device between the end cap to comprise O type circle between end cover, end cover and the end cap that is installed on the housing plate, be arranged at end cover and turn to outside framework oil seal and stainless steel bearing between the rudder adapter shaft.
3. the modular steering engine of underwater sailing body according to claim 2 is characterized in that: turn to rudder to be installed in by plunging joint and turn on the rudder adapter shaft, be provided with buffer element between plunging joint and stainless steel bearing.
4. the modular steering engine of underwater sailing body according to claim 1 is characterized in that: describedly turn to the sealing supporting device between stepping motor output shaft and the housing plate to comprise the outside framework oil seal that is installed on the housing plate.
5. according to the modular steering engine of any one described underwater sailing body of claim 1-4, it is characterized in that: have two parallel boss a housing plate inboard.
6. according to the modular steering engine of any one described underwater sailing body of claim 1-4, it is characterized in that: the sealing supporting device between described heave stepping motor output shaft and the wall box comprises having between O RunddichtringO, end cover and the motor adapter shaft between end cover, end cover and the wall box that is installed on the wall box outside framework oil seal and stainless steel bearing.
7. the modular steering engine of underwater sailing body according to claim 5, it is characterized in that: the sealing supporting device between described heave stepping motor output shaft and the wall box comprises having between O RunddichtringO, end cover and the motor adapter shaft between end cover, end cover and the wall box that is installed on the wall box outside framework oil seal and stainless steel bearing.
8. according to the modular steering engine of any one described underwater sailing body of claim 1-4, it is characterized in that: the sealing supporting device between described heave stepping motor output shaft and the wall box comprises the outside framework oil seal that is installed on the wall box.
9. the modular steering engine of underwater sailing body according to claim 5, it is characterized in that: the sealing supporting device between described heave stepping motor output shaft and the wall box comprises the outside framework oil seal that is installed on the wall box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720116456XU CN201099351Y (en) | 2007-06-25 | 2007-06-25 | Underwater navigation body modularized steering engine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720116456XU CN201099351Y (en) | 2007-06-25 | 2007-06-25 | Underwater navigation body modularized steering engine |
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| CN201099351Y true CN201099351Y (en) | 2008-08-13 |
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| CNU200720116456XU Expired - Lifetime CN201099351Y (en) | 2007-06-25 | 2007-06-25 | Underwater navigation body modularized steering engine |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171750A (en) * | 2013-03-28 | 2013-06-26 | 中国计量学院 | Direction adjusting device of underwater self-aircraft and control method thereof |
| CN103818534A (en) * | 2014-03-14 | 2014-05-28 | 中国计量学院 | Direction adjusting device of underwater gliding device and control method thereof |
| CN105370889A (en) * | 2015-12-21 | 2016-03-02 | 中国船舶重工集团公司第七一〇研究所 | Supporting and watertight mechanism of high-torque electric steering engine output shaft |
| CN109677575A (en) * | 2019-01-04 | 2019-04-26 | 浙江大学 | It is a kind of with the underwater helicopter that can revolve paddle structure |
| CN110750099A (en) * | 2019-10-22 | 2020-02-04 | 镇江市高等专科学校 | Course angle and depth driving device, control system and control method for semi-submersible unmanned ship |
| CN110793969A (en) * | 2019-10-14 | 2020-02-14 | 国网天津市电力公司电力科学研究院 | Micro-robot fish device for detecting internal defects of large transformer |
| CN111634410A (en) * | 2020-05-07 | 2020-09-08 | 北京航天控制仪器研究所 | Convenient small-size rudder cabin interior mounting structure who dismantles |
| CN114313175A (en) * | 2022-01-25 | 2022-04-12 | 重庆大学 | Driving unit modularized electric steering engine with double output shafts |
| CN115107962A (en) * | 2022-08-10 | 2022-09-27 | 华侨大学 | Jellyfish robot based on bionic design |
-
2007
- 2007-06-25 CN CNU200720116456XU patent/CN201099351Y/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171750A (en) * | 2013-03-28 | 2013-06-26 | 中国计量学院 | Direction adjusting device of underwater self-aircraft and control method thereof |
| CN103818534A (en) * | 2014-03-14 | 2014-05-28 | 中国计量学院 | Direction adjusting device of underwater gliding device and control method thereof |
| CN105370889A (en) * | 2015-12-21 | 2016-03-02 | 中国船舶重工集团公司第七一〇研究所 | Supporting and watertight mechanism of high-torque electric steering engine output shaft |
| CN105370889B (en) * | 2015-12-21 | 2017-05-03 | 中国船舶重工集团公司第七一〇研究所 | Supporting and watertight mechanism of high-torque electric steering engine output shaft |
| CN109677575A (en) * | 2019-01-04 | 2019-04-26 | 浙江大学 | It is a kind of with the underwater helicopter that can revolve paddle structure |
| CN110793969A (en) * | 2019-10-14 | 2020-02-14 | 国网天津市电力公司电力科学研究院 | Micro-robot fish device for detecting internal defects of large transformer |
| CN110750099A (en) * | 2019-10-22 | 2020-02-04 | 镇江市高等专科学校 | Course angle and depth driving device, control system and control method for semi-submersible unmanned ship |
| CN110750099B (en) * | 2019-10-22 | 2024-05-10 | 镇江市高等专科学校 | Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship |
| CN111634410A (en) * | 2020-05-07 | 2020-09-08 | 北京航天控制仪器研究所 | Convenient small-size rudder cabin interior mounting structure who dismantles |
| CN114313175A (en) * | 2022-01-25 | 2022-04-12 | 重庆大学 | Driving unit modularized electric steering engine with double output shafts |
| CN115107962A (en) * | 2022-08-10 | 2022-09-27 | 华侨大学 | Jellyfish robot based on bionic design |
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| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20070625 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |