CN104369850A - Pitching adjusting device for shallow water glider - Google Patents
Pitching adjusting device for shallow water glider Download PDFInfo
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- CN104369850A CN104369850A CN201310349949.8A CN201310349949A CN104369850A CN 104369850 A CN104369850 A CN 104369850A CN 201310349949 A CN201310349949 A CN 201310349949A CN 104369850 A CN104369850 A CN 104369850A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 230000008878 coupling Effects 0.000 claims description 34
- 238000010168 coupling process Methods 0.000 claims description 34
- 238000005859 coupling reaction Methods 0.000 claims description 34
- 230000001105 regulatory effect Effects 0.000 claims description 28
- 230000009467 reduction Effects 0.000 claims description 22
- 241000269799 Perca fluviatilis Species 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 8
- 244000309464 bull Species 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 8
- 241000755266 Kathetostoma giganteum Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Abstract
The invention relates to underwater measuring platforms, in particular to a pitching adjusting device for a shallow water glider. The pitching adjusting device comprises a bow connecting ring, a connecting shaft, a battery pack, a posture cabin connecting ring, a rack and a pitching driving device. The bow connecting ring and the posture cabin connecting ring are connected to the two ends of the connecting shaft respectively; the rack is arranged in the connecting shaft; the connecting shaft is sleeved by the battery pack in a relatively-moving manner; the pitching driving device is arranged on the battery pack and moves together with the battery pack; the pitching driving device is provided with a motor and a bull gear which is driven by the motor through a transmission mechanism; the bull gear is meshed with the rack; the battery pack is driven to perform axial reciprocating motion along the connecting shaft; and the center of gravity of the pitching adjusting device can be further changed through the reciprocating moving of the battery pack. The pitching adjusting device is used as an independent module to be designed; and the pitching adjusting device is compact in structure, good in transmission effect, reliable in working, small in energy consumption and large in pitching angle adjusting range.
Description
Technical field
The present invention relates to underwater measurement platform, specifically a kind of shallow water aerodone pitching regulating device.
Background technology
Underwater glider is a kind of novel underwater measurement platform, and its structure is simple, volume is little, lightweight, cost is low, safeguards and easy to use, have that scope of work is wide, production time grown, motor-driven controlled, the feature such as can to reuse.Underwater glider can be divided into shallow water aerodone and two kinds, deep water aerodone according to the difference of its working depth, and shallow water aerodone mainly designs for shallow sea area, and deep water aerodone mainly designs for broad marine site, ocean.Shallow water aerodone is due to the depth as shallow of operation, and the time in single dive cycle is shorter, so require stronger to the manoevreability of shallow water aerodone and controllability.With deep water aerodone unlike: 1. turning to of shallow water aerodone is realized by rudder; Turning to of deep water aerodone realizes by changing the radial center-of-gravity position (namely changing roll angle) of carrier.2. the trim attitude both is all realized by the position of change carrier shaft to center of gravity, but both principles are different, and shallow water aerodone is realized by rack pinion, and deep water aerodone is realized by screw slider.
Summary of the invention
The object of the present invention is to provide the shallow water aerodone pitching regulating device of a kind of compact conformation, reliable operation, for regulating the pitch angle of shallow water aerodone, realizing underwater glider heave movement.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes bow coupling link, adapter shaft, battery pack, attitude cabin coupling link, tooth bar and pitch drive, wherein bow coupling link and attitude cabin coupling link are connected to the two ends of adapter shaft, are provided with tooth bar in this adapter shaft; Described battery pack can be set on adapter shaft relatively movably, and pitch drive is installed on the battery pack, with battery pack movement jointly; Described pitch drive there is motor and by transmission device by motor-driven big gear wheel, this big gear wheel is meshed with described tooth bar, drive battery pack to move along the axial reciprocating of adapter shaft, and then move back and forth by battery pack the center of gravity changing described pitching regulating device.
Wherein: the two ends of described adapter shaft are respectively equipped with limit switch near the position of bow coupling link and attitude cabin coupling link, and two limit switches define the perch that battery pack moves back and forth on adapter shaft; Described adapter shaft is the tubular axis of square hollow, has the circular hole being convenient to inner cabling at the two ends of adapter shaft near the position of bow coupling link and attitude cabin coupling link; Described adapter shaft also has rectangular opening, and described tooth bar is meshed by rectangular opening with big gear wheel; The longitudinal center line conllinear of described bow coupling link, adapter shaft and attitude cabin coupling link;
Described pitch drive comprises housing, motor, epicyclic reduction gear, transmission device, worm-wheel shaft, worm gear, worm screw and big gear wheel, its middle shell is arranged in battery pack, described motor and epicyclic reduction gear are arranged in housing respectively, worm-wheel shaft and worm screw are rotatably installed in housing respectively, on worm-wheel shaft, key is connected with the worm gear be meshed with described worm screw, and the either end of described worm-wheel shaft passes housing, key is connected with big gear wheel; The output shaft of described epicyclic reduction gear is connected with worm screw by transmission device, drive worm screw to rotate, by engagement and then the drive bull gear drive of worm and wheel; Described housing is provided with the multipurpose rotary potentiometer measuring bull gear drive angle, this multipurpose rotary potentiometer is coaxially connected with worm-wheel shaft; Described worm-wheel shaft is rotatably installed on housing by bearing, and worm gear is by worm gear flat key and worm-wheel shaft interlock and by worm gear holding screw axial location; Described worm gear and worm screw have auto-lock function; Described housing is horizonally split structure, is divided into upper cover and base, and described epicyclic reduction gear is fixed on and covers, and motor is coaxially connected with epicyclic reduction gear; Described worm screw is rotatably installed in by bearing and covers, and the output shaft of epicyclic reduction gear and the axle stretch end of worm screw are passed by upper cover respectively, is connected by transmission device; Described transmission device comprises motor side gear and worm screw end tooth wheel, and the output shaft of epicyclic reduction gear is arranged with motor shaft sleeve, and described motor side geared sleeve is located on this motor shaft sleeve, and by motor side gear holding screw axial location; Described worm screw end tooth wheel is set in the axle stretch end of worm screw, and by worm screw end tooth wheel holding screw axial location.
Advantage of the present invention and good effect are:
1. pitching regulating device designs as an independent module by the present invention, and compact conformation, transmission is effective, reliable operation, and energy consumption is little, and pitch angle setting range is large.
2. the present invention is using the weight of battery pack as pitch regulation, alleviates the weight of whole carrier, improves the regulating power of pitching.
3. the present invention adopts rack pinion, and transmission is accurate, reliably.
4. have Worm Wheel System in the pitch drive in the present invention, thus achieve auto-lock function, when motor quits work, battery pack axial location is locked, ensure that the reliability of whole pitching regulating device work.
5. the present invention utilizes the anglec of rotation of multipurpose rotary potentiometer measurement big gear wheel, and then can by the horizontal displacement drawing battery pack that converts, thus make the change of whole carrier center of gravity controlled.
6. cost of the present invention is low, and without the need to special processing and special parts, wearing and tearing parts are easy to change.
Accompanying drawing explanation
Figure 1A is integral structure front view of the present invention;
Figure 1B is the birds-eye view of Figure 1A;
Fig. 2 A is the structural representation of pitch drive of the present invention;
Fig. 2 B is A-A view of Fig. 2 A;
Fig. 2 C is B-B view of Fig. 2 A;
Fig. 3 A is one of the present invention's application schematic diagram under water in aerodone;
Fig. 3 B is the application schematic diagram two of the present invention under water in aerodone;
Fig. 3 C is the application schematic diagram three of the present invention under water in aerodone;
Wherein: 1 is bow coupling link, 2 is adapter shaft, 3 is battery pack, 4 is potentiometer connecting element, 5 is multipurpose rotary potentiometer, 6 is limit switch, 7 is limit switch connecting element, 8 is attitude cabin coupling link, 9 is tooth bar, 10 is pitch drive, 11 is flathead screw, 12 is upper cover, 13 is base, 14 is bearing on the left of worm-wheel shaft, 15 is worm-wheel shaft, 16 is worm gear holding screw, 17 is worm gear flat key, 18 is worm gear, 19 is worm screw, 20 is bearing on the right side of worm-wheel shaft, 21 is big gear wheel holding screw, 22 is big gear wheel flat key, 23 is big gear wheel, 24 is bearing cap shim, 25 is bearing on the left of worm screw, 26 is motor, 27 is epicyclic reduction gear, 28 is motor side gear, 29 is motor shaft sleeve, 30 is motor side gear holding screw, 31 is worm screw end tooth wheel, 32 is bearing on the right side of worm screw, 33 is worm screw end tooth wheel holding screw, 34 is circular hole, 35 is rectangular opening.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1A, Figure 1B, the present invention includes bow coupling link 1, adapter shaft 2, battery pack 3, potentiometer connecting element 4, multipurpose rotary potentiometer 5, limit switch 6, limit switch connecting element 7, attitude cabin coupling link 8, tooth bar 9 and pitch drive 10.Described adapter shaft 2, bow coupling link 1 are concentric with attitude cabin coupling link 8 three, i.e. the longitudinal center line conllinear of bow coupling link 1, adapter shaft 2 and attitude cabin coupling link 8; Adapter shaft 2 is the tubular axis of square hollow, and the nut that passes on left of adapter shaft 2 is connected on bow coupling link 1, and the right side of adapter shaft 2 is fixed by screws on attitude cabin coupling link 8; A circular hole 34 has been offered respectively near bow coupling link 1 and the position of attitude cabin coupling link 8 in the two ends of adapter shaft 2, and the effect of this circular hole 34 is the cablings of adapter shaft 2 inside facilitating hollow; Adapter shaft 2 also has rectangular opening 35, and tooth bar 9 is placed in the inside of adapter shaft 2 by rectangular opening 35, and is fixed by screw.
Pitch drive 10 is fixed in battery pack 3, battery pack 3 is set on adapter shaft 2, battery pack 3 and pitch drive 10 integrally can reciprocatingly slide along the axis left and right of adapter shaft 2 by relative adapter shaft 2, and this reciprocatingly slides is realized by the engaged transmission of big gear wheel in pitch drive 10 23 with tooth bar 9.Battery pack 3 is except providing except electric energy for pitching regulating device, the effect of weight is also played in pitching regulating device, the center of gravity of pitching regulating device can be changed by the bilateral reciprocation of battery pack 3, alleviate the weight of whole pitching regulating device by battery pack 3 as weight.Limit switch 6 is fixed by screws on limit switch connecting element 7, and limit switch connecting element 7 is fixed by screws on adapter shaft 2; The two ends of adapter shaft 2 are provided with a limit switch 6 respectively near bow coupling link 1 and the position of attitude cabin coupling link 8, these two limit switches 6 define the perch of battery pack 3 sway on adapter shaft 2, ensure that pitching regulating device can not be stuck and burn out motor 26 due to overshoot.Multipurpose rotary potentiometer 5 is fixed by screws on potentiometer connecting element 4, multipurpose rotary potentiometer 5 is coaxially connected with worm-wheel shaft 15, be used for measuring the rotational angle of big gear wheel 23, thus the horizontal displacement of battery pack 3 can be calculated, potentiometer connecting element 4 is fixed by screws in pitch drive 10.
As shown in Fig. 2 A ~ 2C, pitch drive 10 comprises flathead screw 11, housing, bearing 14 on the left of worm-wheel shaft, worm-wheel shaft 15, worm gear holding screw 16, worm gear flat key 17, worm gear 18, worm screw 19, bearing 20 on the right side of worm-wheel shaft, big gear wheel holding screw 21, big gear wheel flat key 22, big gear wheel 23, bearing cap shim 24, bearing 25 on the left of worm screw, motor 26, epicyclic reduction gear 27, motor side gear 28, motor shaft sleeve 29, motor side gear holding screw 30, worm screw end tooth wheel 31, bearing 32 and worm screw end tooth wheel holding screw 33 on the right side of worm screw, described housing is horizonally split structure, be divided into upper cover 12 and base 13, upper cover 12 and base 13 synthesize housing by 6 flathead screw Connecting groups.Two axle shin places of worm-wheel shaft 15 to be arranged with on the left of worm-wheel shaft bearing 20 on the right side of bearing 14 and worm-wheel shaft respectively, and located by two bearing holes that upper cover 12 and base 13 subdivision are combined to form, the middle part of worm-wheel shaft 15 is provided with worm gear 18, worm-wheel shaft 15 and worm gear 18 are by worm gear flat key 17 transmitting torque, and worm gear 18 is by worm gear holding screw 16 axial location on it; The either end (the present embodiment is the right-hand member at worm-wheel shaft 15) of worm-wheel shaft 15 passes upper cover 12, is arranged with big gear wheel 23, and by with big gear wheel flat key 22 transmitting torque, carry out axial location by big gear wheel holding screw 21 pairs of big gear wheels 23.
Motor 26 is coaxially connected with epicyclic reduction gear 27, and epicyclic reduction gear 27 is fixed by screws on upper cover 12; Worm screw 19 is rotatably installed on upper cover 12, and the axle stretch end of worm screw 19 and the output shaft of epicyclic reduction gear 27 pass upper cover 12 respectively, is connected by transmission device; The longitudinal center line of worm screw 19 is coplanar and parallel with the longitudinal center line of epicyclic reduction gear 27 output shaft.Transmission device comprises motor side gear 28 and worm screw end tooth wheel 31, the output shaft of epicyclic reduction gear 27 is arranged with motor shaft sleeve 29, motor shaft sleeve 29 is arranged with motor side gear 28, motor side gear 28 is by motor side gear holding screw 30 axial location on it; Two axle shin places of worm screw 19 to be arranged with on the left of worm screw bearing 32(on the right side of bearing 25 and worm screw respectively and to be deep groove ball bearing), and by two bearing holes of upper cover 12; On the left of worm screw, bearing 25 carries out axial location by the left side shaft shoulder of worm screw 19 and bearing cap shim 24, and bearing cap shim 24 is fixed by screws on upper cover 12; On the right side of worm screw, bearing 32 carries out axial location by the right side shaft shoulder of worm screw 19 and the bearing hole step of upper cover 12; The axle stretch end of worm screw 19 is arranged with worm screw end tooth wheel 31, and worm screw end tooth wheel 31 is by worm screw end tooth wheel holding screw 33 axial location; It is the spur wheel be meshed for a pair that motor side gear 28 and worm screw end tooth take turns 31; Worm gear 18 and worm screw 19 are the Worm Wheel System matched, and lead angle and the worm gear 19 of worm gear 18 are 3 ° 35 ', are less than the equivalent friction angle of both materials, have auto-lock function.
Principle of work of the present invention is:
Motor 26 works, after epicyclic reduction gear 27 slows down, rotation is passed to motor side gear 28, motor side gear 28 by with worm screw end tooth take turns 31 engaged transmission effect, rotation is passed to worm screw end tooth wheel 31, then rotation is passed to worm screw 19 by worm screw end tooth wheel 31, rotation is passed to worm gear 18 by engagement by worm screw 19, and serves again the effect of deceleration; Then rotation is passed to worm-wheel shaft 15 by worm gear flat strong 17 by worm gear 18, rotation is passed to big gear wheel 23 by big gear wheel flat strong 22 by worm-wheel shaft 15, convert rotational motion is the straight-line motion of whole pitch drive 10 by the engagement with tooth bar 9 by big gear wheel 23, pitch drive 10 drives battery pack 3 to do straight-line motion along adapter shaft 2 axis direction, thus changes the axial location of pitching regulating device center of gravity; If motor 26 quits work, because worm gear 18 and the engaged transmission of worm screw 19 have auto-lock function, the big gear wheel 23 of pitch drive 10 will remain static, and this quiescence is not subject to tooth bar 9 on the impact of its driving torque size, and then battery pack 3 will be locked with the axial location of pitch drive 10, the center of gravity of pitching regulating device will stop change; If motor 26 reverse operation, then can change the moving direction of battery pack 3 and pitch drive 10; The detection effect of the rotating forward of motor 26, stopping, reversion three kinds of states cooperation multipurpose rotary Middle Eocene meter 5 pairs of battery pack 3 positions, just can control battery pack 3 and the axial location residing for pitch drive 10 easily, thus control the axial location of whole center of gravity of underwater glider.
The application of the present invention under water in aerodone:
After underwater glider machines, its structure and volume would not change, and so the centre of buoyancy (aerodone is at the point of action of buoyancy) of aerodone has just been decided.As shown in Figure 3A, F represents the buoyancy suffered by underwater glider, and G represents the gravity of underwater glider self, and e is that metancenter is high, and L is that center-of-gravity axis is to skew momentum.Buoyancy does not change, and by changing the position of the point of action (center of gravity) of underwater glider gravity, underwater glider just can be made to have different attitudes under water.
Assuming that when the battery pack 3 in pitching regulating device of the present invention is adjusted to a certain position, underwater glider is in horizontality, as shown in Figure 3A.When the battery pack 3 of pitching regulating device is moved along carrier bow direction (reversing sense of X-axis) under the driving of motor 26, the center of gravity of whole carrier also will move in the same direction, at this moment, the direction of gravity and buoyancy is not on the same line, a deflecting torque will be produced, promote shape α in an angle between carrier and X-axis, as shown in Figure 3 B.If when the center of gravity of pitching regulating device is moved along carrier stern direction (positive dirction of X-axis), then the effect produced as shown in Figure 3 C; The size at α angle changes, pitch angle α, center of gravity axial offset L with the change of the miles of relative movement of battery pack, and the pass of metancenter height e three is: α=atan (L/e).
The present invention regulates the pitch angle of carrier in real time by the position changing underwater glider carrier center of gravity, thus changes the state of kinematic motion of underwater glider.
Claims (9)
1. a shallow water aerodone pitching regulating device, it is characterized in that: comprise bow coupling link (1), adapter shaft (2), battery pack (3), attitude cabin coupling link (8), tooth bar (9) and pitch drive (10), wherein bow coupling link (1) and attitude cabin coupling link (8) are connected to the two ends of adapter shaft (2), are provided with tooth bar (9) in this adapter shaft (2); Described battery pack (3) can be set on adapter shaft (2) relatively movably, and pitch drive (10) is arranged in battery pack (3), with battery pack (3) movement jointly; The big gear wheel (23) that described pitch drive (10) is had motor (26) and driven by motor (26) by transmission device, this big gear wheel (23) is meshed with described tooth bar (9), drive battery pack (3) to move along the axial reciprocating of adapter shaft (2), and then move back and forth by battery pack (3) center of gravity changing described pitching regulating device.
2. by shallow water aerodone pitching regulating device according to claim 1, it is characterized in that: the two ends of described adapter shaft (2) are respectively equipped with limit switch (6) near bow coupling link (1) and the position in attitude cabin coupling link (8), and two limit switches (6) define the perch that battery pack (3) moves back and forth on adapter shaft (2).
3. by the shallow water aerodone pitching regulating device described in claim 1 or 2, it is characterized in that: the tubular axis that described adapter shaft (2) is square hollow, have near bow coupling link (1) and the position in attitude cabin coupling link (8) circular hole (34) being convenient to inner cabling at the two ends of adapter shaft (2); Described adapter shaft (2) also has rectangular opening (35), described tooth bar (9) is meshed by rectangular opening (35) with big gear wheel (23).
4. by shallow water aerodone pitching regulating device described in claim 1 or 2, it is characterized in that: the longitudinal center line conllinear in described bow coupling link (1), adapter shaft (2) and attitude cabin coupling link (8).
5. by shallow water aerodone pitching regulating device according to claim 1, it is characterized in that: described pitch drive (10) comprises housing, motor (26), epicyclic reduction gear (27), transmission device, worm-wheel shaft (15), worm gear (18), worm screw (19) and big gear wheel (23), its middle shell is arranged in battery pack (3), described motor (26) and epicyclic reduction gear (27) are arranged in housing respectively, worm-wheel shaft (15) and worm screw (19) are rotatably installed in housing respectively, the upper key of worm-wheel shaft (15) is connected with the worm gear (18) be meshed with described worm screw (19), the either end of described worm-wheel shaft (15) passes housing, key is connected with big gear wheel (23), the output shaft of described epicyclic reduction gear (27) is connected with worm screw (19) by transmission device, drive worm screw (19) to rotate, engaging and then driving big gear wheel (23) to rotate by worm screw (19) and worm gear (18).
6. by shallow water aerodone pitching regulating device according to claim 5, it is characterized in that: described housing is provided with the multipurpose rotary potentiometer (5) measuring big gear wheel (23) rotational angle, this multipurpose rotary potentiometer (5) is coaxially connected with worm-wheel shaft (15).
7. by shallow water aerodone pitching regulating device according to claim 5, it is characterized in that: described worm-wheel shaft (15) is rotatably installed on housing by bearing, worm gear (18) is by worm gear flat key (17) and worm-wheel shaft (15) interlock and by worm gear holding screw (16) axial location; Described worm gear (18) and worm screw (19) have auto-lock function.
8. by shallow water aerodone pitching regulating device according to claim 5, it is characterized in that: described housing is horizonally split structure, be divided into upper cover (12) and base (13), described epicyclic reduction gear (27) is fixed on upper cover (12), and motor (26) is coaxially connected with epicyclic reduction gear (27); Described worm screw (19) is rotatably installed on upper cover (12) by bearing, and the output shaft of epicyclic reduction gear (27) and the axle stretch end of worm screw (19) are passed by upper cover (12) respectively, is connected by transmission device.
9. by the shallow water aerodone pitching regulating device described in claim 5 or 8, it is characterized in that: described transmission device comprises motor side gear (28) and worm screw end tooth wheel (31), the output shaft of epicyclic reduction gear (27) is arranged with motor shaft sleeve (29), described motor side gear (28) is set on this motor shaft sleeve (29), and by motor side gear holding screw (30) axial location; Described worm screw end tooth wheel (31) is set in the axle stretch end of worm screw (19), and by worm screw end tooth wheel holding screw (33) axial location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310349949.8A CN104369850B (en) | 2013-08-12 | 2013-08-12 | A kind of shallow water aerodone pitching regulating device |
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| CN201310349949.8A CN104369850B (en) | 2013-08-12 | 2013-08-12 | A kind of shallow water aerodone pitching regulating device |
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| CN104369850A true CN104369850A (en) | 2015-02-25 |
| CN104369850B CN104369850B (en) | 2017-08-25 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105501417A (en) * | 2015-11-30 | 2016-04-20 | 天津大学 | Underwater aerodone compact gesture adjusting device |
| CN105711782A (en) * | 2016-01-25 | 2016-06-29 | 佛山市南海区广工大数控装备协同创新研究院 | Device for adjusting gravity center of underwater robot |
| CN106828843A (en) * | 2016-10-31 | 2017-06-13 | 中国航天空气动力技术研究院 | A kind of underwater robot attitude regulation mechanism |
| CN106926997A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot centroid adjustment device |
| CN107765714A (en) * | 2017-11-24 | 2018-03-06 | 钦州学院 | A kind of attitude regulating mechanism |
| CN108657398A (en) * | 2018-04-27 | 2018-10-16 | 江苏泰姆仕机器人科技有限公司 | A kind of underwater robot center of gravity regulating system and method |
| CN110550119A (en) * | 2018-06-01 | 2019-12-10 | 中国科学院沈阳自动化研究所 | four-module deformable mobile robot and deformation method thereof |
| CN114872870A (en) * | 2022-03-22 | 2022-08-09 | 重庆大学 | Self-locking type gravity center adjusting mechanism for AUV (autonomous Underwater vehicle) |
| CN108298051B (en) * | 2018-04-09 | 2023-06-16 | 西南石油大学 | Kangda effect propulsion system and underwater robot |
| CN116424528A (en) * | 2023-05-25 | 2023-07-14 | 中国船舶科学研究中心 | AUV kuppe mechanism with steady high regulatory function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106828843A (en) * | 2016-10-31 | 2017-06-13 | 中国航天空气动力技术研究院 | A kind of underwater robot attitude regulation mechanism |
| CN107765714A (en) * | 2017-11-24 | 2018-03-06 | 钦州学院 | A kind of attitude regulating mechanism |
| CN107765714B (en) * | 2017-11-24 | 2023-10-20 | 钦州学院 | Posture adjusting device |
| CN108298051B (en) * | 2018-04-09 | 2023-06-16 | 西南石油大学 | Kangda effect propulsion system and underwater robot |
| CN108657398B (en) * | 2018-04-27 | 2019-10-11 | 江苏泰姆仕机器人科技有限公司 | A kind of underwater robot center of gravity regulating system and method |
| CN108657398A (en) * | 2018-04-27 | 2018-10-16 | 江苏泰姆仕机器人科技有限公司 | A kind of underwater robot center of gravity regulating system and method |
| CN110550119A (en) * | 2018-06-01 | 2019-12-10 | 中国科学院沈阳自动化研究所 | four-module deformable mobile robot and deformation method thereof |
| CN114872870A (en) * | 2022-03-22 | 2022-08-09 | 重庆大学 | Self-locking type gravity center adjusting mechanism for AUV (autonomous Underwater vehicle) |
| CN114872870B (en) * | 2022-03-22 | 2024-04-26 | 重庆大学 | Self-locking gravity center adjusting mechanism for AUV |
| CN116424528A (en) * | 2023-05-25 | 2023-07-14 | 中国船舶科学研究中心 | AUV kuppe mechanism with steady high regulatory function |
| CN116424528B (en) * | 2023-05-25 | 2024-02-02 | 中国船舶科学研究中心 | AUV kuppe mechanism with steady high regulatory function |
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