CN101565095A - Underwater spherical robot with six degrees of freedom - Google Patents
Underwater spherical robot with six degrees of freedom Download PDFInfo
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- CN101565095A CN101565095A CNA200910084791XA CN200910084791A CN101565095A CN 101565095 A CN101565095 A CN 101565095A CN A200910084791X A CNA200910084791X A CN A200910084791XA CN 200910084791 A CN200910084791 A CN 200910084791A CN 101565095 A CN101565095 A CN 101565095A
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Abstract
The invention discloses an underwater spherical robot with six degrees of freedom, comprising a spherical shell; the spherical shell is internally provided with a long shaft and a piston type water storage device; the two ends of the long shaft are fixed in two round holes; a cavity of the long shaft is only provided with an underwater propeller; the middle part of the long shaft is sleeved with a rotating square cylinder; one end of the square cylinder is provided with a large gear which is sleeved and fixed on the long shaft; the left side of the square cylinder is provided with a first motor; the output shaft of the first motor is provided with a small gear which is meshed with a large gear; the front side and the rear side of the square cylinder are respectively provided with a short rod and the two short rods are symmetrical; the outer end part of each short rod is provided with a swinging arm; the lower end part of each swinging arm is provided with a weight; the right side of the square cylinder is provided with a connecting rod and a second motor; the output shaft of the second motor and a chain wheel arranged at one end of the connecting rod are connected with a chain wheel of one short rod by a chain; a chain wheel arranged at the other end of the connecting rod is connected with a chain wheel of the other short rod by a chain; and the piston type water storage device, the first motor, the second motor and the underwater propeller are connected with a central controller. The robot can realize underwater omnidirectional motion with six degrees of freedom.
Description
Technical field
The present invention relates to a kind of robot, refer to a kind of underwater spherical robot with six degrees of freedom especially.
Background technology
Along with the increase of earth population and human life quality's raising, the more natural resources of Human's production and living needs satisfies, and present land resource has exceedingly been exploited, and energy shock becomes increasingly conspicuous.The ocean has covered the area of the earth 2/3rds, and a large amount of solid mineral resource and hydrocarbon resources are being contained in its inside, and it will be the maximum resource supplier of human survival and development.Yet, human to sea exploration ground zero also up to now, the understanding of ocean interior and bottom thereof is still rested on the primary stage.In the understanding exploration and development process of the mankind to the ocean, exist many limiting factors, marine environment wherein complicated and changeable and development of science and technology level are chief reasons.This shows that under-water robot is extremely important.People can carry out the measurement of various oceanography key elements and geophysics parameters by under-water robot, contain manganese ore ball in the depths, ocean, the working service of stationary industrial installations and repairing under water etc. as the investigation in seabed and photography, submarine laying cable, geological sampling and salvaging.In addition, under-water robot militarily also has a wide range of applications.Therefore, working out the under-water robot that a kind of mankind of replacement carry out the undersea search activity is the problem of needing solution at present badly.
Summary of the invention
The object of the present invention is to provide a kind of underwater spherical robot with six degrees of freedom, this underwater spherical robot can be realized the motion of six degree of freedom under water, and its motion is flexible, the operating efficiency height.
To achieve these goals, the present invention has adopted following technical scheme:
A kind of underwater spherical robot with six degrees of freedom is characterized in that:
It comprises a spherical housing, this spherical housing is spliced by upper hemispherical shell and lower hemisphere shell sealing, on this spherical housing, offer two circular ports, the line of centres of these two circular ports runs through the center of this spherical housing, be provided with the major axis of a cylinder catheter-like in this spherical housing, the two ends of this major axis are separately fixed in these two circular ports, between the two ends of this major axis and this spherical housing for being tightly connected, the cavity of this major axis is connected with the outside by this circular port, only be provided with a underwater propeller in the cavity of this major axis, a sheathed rotation square tube on the excircle of this major axis middle part, one end of this rotation square tube is provided with a big gear wheel, this big gear wheel is sheathed to be fixed on this major axis, the left side of this rotation square tube is provided with one first motor, the output shaft of this first motor is provided with a miniature gears, this miniature gears and this big gear wheel are meshing, this first motor is used for rotating around big gear wheel self driven rotary square tube being rotated around major axis by driving miniature gears, before this rotation square tube, rear side respectively is movably equipped with a quarter butt, before being somebody's turn to do, the quarter butt of rear side is and is symmetrical arranged, this quarter butt and this major axis are in vertical state, the outer end of each quarter butt is provided with arm pendulum, the bottom of each arm pendulum is provided with a counterweight, the right side of this rotation square tube is provided with a connecting rod and one second motor, the output shaft of this second motor, the sprocket wheel that this connecting rod one end is provided with links to each other by a chain with the sprocket wheel that this quarter butt place is provided with, the sprocket wheel that this quarter butt place of sprocket wheel and another that this connecting rod other end is provided with is provided with links to each other by a chain, and this second motor is used for interlock by drivening rod and connecting rod and quarter butt, and to make quarter butt drive counterweight be that rotate at the center with the quarter butt; Be provided with piston type water storage equipment in this spherical housing, this piston type water storage equipment, first motor, second motor and underwater propeller all be arranged on this spherical housing in a central controller link to each other.
Described underwater propeller is propeller or boost pump.
Described piston type water storage equipment comprises a piston type reserve tank.
In the described spherical housing detection equipment is installed, this detection equipment links to each other with described central controller.
Advantage of the present invention is:
1, underwater spherical robot with six degrees of freedom shell of the present invention is totally-enclosed, is easy to water-tight.Except that propelling unit under water, all devices all is closed in enclosure, can not be short-circuited or lead such as hangs at problem.
2, owing to action of gravity, when underwater spherical robot with six degrees of freedom of the present invention was walked in water, there was not the overturning problem in its enclosure equipment, and anti-pourability is strong, and is easy to use.
3, underwater spherical robot with six degrees of freedom motion of the present invention flexibly, can advance and retreat under water, motions such as sidesway, floating, the revolution of diving, rolling, trim, the present invention only uses the interior steering hardware of a underwater propeller and spherical housing to combine and just can be completely achieved six degree of freedom omnibearing movable in the water, and turn radius is zero.
In a word, underwater spherical robot with six degrees of freedom of the present invention be a kind of simple in structure, motion flexibly, mobile robot under water that operating efficiency is high, it has very strong adaptive capacity to environment, scope of work is extensive, easily lay and reclaim, can serve as in reconnaissance equipment, the water and the operation task system at the bottom, the carrier of communication system, carry out human territory, the coastal waters several work task that can't finish.
Description of drawings
Fig. 1 is the structural representation of underwater spherical robot with six degrees of freedom of the present invention;
Fig. 2 is the back view of Fig. 1;
Fig. 3 is the A-A section-drawing of Fig. 1.
The specific embodiment
Describe the present invention below in conjunction with accompanying drawing.
Structure in the spherical housing after Fig. 1, Fig. 2 show spherical housing partly cutd open.As shown in Figure 1 to Figure 3, underwater spherical robot with six degrees of freedom of the present invention comprises a spherical housing 101, and this spherical housing 101 is spliced by upper hemispherical shell 1011 and lower hemisphere shell 1012 sealings.Offer two circular ports 1013,1014 on this spherical housing 101, the line of centres of these two circular ports 1013,1014 runs through the center of this spherical housing 101.Be provided with the major axis 102 of a cylinder catheter-like in this spherical housing 101, the two ends of this major axis 102 are separately fixed in these two circular ports 1013,1014, between the two ends of this major axis 102 and this spherical housing 101 for being tightly connected, the cavity 1021 of this major axis 102 is connected with the outside by this circular port 1013,1014, only is provided with a underwater propeller 103 in the cavity 1021 of this major axis 102.A sheathed rotation square tube 104 on the excircle of these major axis 102 middle parts, one end of this rotation square tube 104 is provided with a big gear wheel 114, these big gear wheel 114 sheathed being fixed on this major axis 102, the left side of this rotation square tube 104 is provided with one first motor 112, the output shaft of this first motor 112 is provided with a miniature gears 113, this miniature gears 113 is meshing with this big gear wheel 114, this first motor 112 is used for rotating around big gear wheel 114 self driven rotary square tube 104 being rotated around major axis by driving miniature gears 113, thereby make counterweight 1071,1072 around major axis 102 rotations, before this rotation square tube 104, rear side respectively is movably equipped with a quarter butt 1051,1052 (end of each quarter butt flexibly connects mutually with major axis 102), two quarter butts 1051,1052 are collectively referred to as minor axis, before being somebody's turn to do, the quarter butt 1051 of rear side, 1052 are and are symmetrical arranged, this quarter butt 1051,1052 with this major axis 102 in vertical state, the outer end of each quarter butt is provided with arm pendulum, the outer end that is quarter butt 1051 is provided with arm pendulum 1061, the outer end of quarter butt 1052 is provided with arm pendulum 1062, the bottom of each arm pendulum is provided with a counterweight, the bottom that is arm pendulum 1061 is provided with a counterweight 1071, the bottom of arm pendulum 1062 is provided with a counterweight 1072, the right side of this rotation square tube 104 is provided with a connecting rod 109 and one second motor 108, the output shaft of this second motor 108, the sprocket wheel that these connecting rod 109 1 ends are provided with links to each other by a chain 110 with the sprocket wheel that these quarter butt 1051 places are provided with, the sprocket wheel that these quarter butt 1052 places of sprocket wheel and another that these connecting rod 109 other ends are provided with are provided with links to each other by a chain 111, and this second motor 108 is used for by drivening rod 109 and connecting rod 109 and quarter butt 1051,1052 interlock and make quarter butt 1051 drive counterweights 1071 with quarter butt 1051 be the center rotate and quarter butt 1052 to drive counterweights 1072 be the center rotation with quarter butt 1052.Be provided with piston type water storage equipment (not shown) in this spherical housing 101, this piston type water storage equipment, first motor 112, second motor 108 and underwater propeller 103 all be arranged on this spherical housing 101 in a central controller (not shown) link to each other.
In actual design, underwater propeller 103 can be propeller or boost pump.Piston type water storage equipment comprises a piston type reserve tank (piston type water storage equipment is known technology, so do not describe in detail) here.In the spherical housing 101 detection equipment can be installed, as it is first-class to make a video recording, this detection equipment links to each other with central controller.
During work, the present invention carries out water filling by central controller order piston type water storage equipment, after injecting the suitable water yield in the piston type reserve tank, underwater spherical robot with six degrees of freedom of the present invention by the increase of self gravitation and dive under water, wait for and carry out operation.
Under water, underwater spherical robot with six degrees of freedom of the present invention reaches control to robot motion's mode and direction by the control to the rotating speed of first motor 112, second motor 108, time of run.Be specially: the operation of second motor 108 is controlled by central controller, counterweight 1071,1072 among the present invention can realize rotating around quarter butt separately, according to conservation of angular momentum principle, spherical housing 101 can rotate around minor axis towards the opposite sense that counterweight 1071,1072 is rotated, when the rotation of spherical housing 101 makes that the length direction of major axis 102 forwards target direction to, central controller order underwater propeller 103 starts, at this moment, robot of the present invention just can advance towards target direction.By central controller the operation of first motor 112 is controlled, rotation square tube 104 among the present invention can realize rotating around major axis 102, thereby make counterweight 1071,1072 realize rotating around major axis 102, according to conservation of angular momentum principle, spherical housing 101 can rotate around major axis 102 towards the opposite sense that counterweight 1071,1072 is rotated, when the rotation of spherical housing 101 makes that the length direction of major axis 102 forwards target direction to, central controller order underwater propeller 103 starts, at this moment, robot of the present invention just can advance towards target direction.Simultaneously the operation of first motor 112, second motor 108 is controlled by central controller, counterweight 1071,1072 among the present invention can realize around minor axis, the rotation in various degree of major axis 102 both directions, according to conservation of angular momentum principle, spherical housing 101 meetings are rotated towards the opposite sense of the rotation compound direction of this both direction, when the rotation of spherical housing 101 makes that the length direction of major axis 102 forwards target direction to, central controller order underwater propeller 103 starts, at this moment, robot of the present invention just can advance towards target direction.This shows, because spherical housing 101 has the advantages that omni-directional is rotated, therefore, by adjusting to first motor 112,108 operations of second motor, the length direction of major axis 102 can forward all directions to, thereby robot of the present invention has also just possessed the characteristics of moving to each different directions in water.
In robot motion's of the present invention process or after arriving the target location, central controller may command detection equipment carries out the corresponding detection task.
After work was finished, the present invention carried out draining by central controller order piston type water storage equipment.After the water in the piston type reserve tank is discharged from, underwater spherical robot with six degrees of freedom of the present invention just can on float to the water surface, thereby finish operation.
In the reality,, can make that robot of the present invention is realized in the water, water-bed operation by the water yield in the control plunger formula reserve tank.Water in injecting the piston type reserve tank makes the total weight of robot of the present invention when himself buoyancy equates, robot of the present invention can be implemented in the operation that suspends in the water.When the water in injecting the piston type reserve tank made the total weight of robot of the present invention greater than himself buoyancy, robot of the present invention can be implemented in water-bed operation.
Advantage of the present invention is:
1, underwater spherical robot with six degrees of freedom shell of the present invention is totally-enclosed, is easy to water-tight.Except that propelling unit under water, all devices all is closed in enclosure, can not be short-circuited or lead such as hangs at problem.
2, owing to action of gravity, when underwater spherical robot with six degrees of freedom of the present invention was walked in water, there was not the overturning problem in its enclosure equipment, and anti-pourability is strong, and is easy to use.
3, underwater spherical robot with six degrees of freedom motion of the present invention flexibly, can advance and retreat under water, motions such as sidesway, floating, the revolution of diving, rolling, trim, the present invention only uses the interior steering hardware of a underwater propeller and spherical housing to combine and just can be completely achieved six degree of freedom omnibearing movable in the water, and turn radius is zero.
In a word, underwater spherical robot with six degrees of freedom of the present invention be a kind of simple in structure, motion flexibly, mobile robot under water that operating efficiency is high, it has very strong adaptive capacity to environment, scope of work is extensive, easily lay and reclaim, can serve as in reconnaissance equipment, the water and the operation task system at the bottom, the carrier of communication system, carry out human territory, the coastal waters several work task that can't finish.
The above is preferred embodiment of the present invention and the know-why used thereof; for a person skilled in the art; under the situation that does not deviate from the spirit and scope of the present invention; any based on conspicuous changes such as the equivalent transformation on the technical solution of the present invention basis, simple replacements, all belong within the protection domain of the present invention.
Claims (4)
1, a kind of underwater spherical robot with six degrees of freedom is characterized in that:
It comprises a spherical housing, this spherical housing is spliced by upper hemispherical shell and lower hemisphere shell sealing, on this spherical housing, offer two circular ports, the line of centres of these two circular ports runs through the center of this spherical housing, be provided with the major axis of a cylinder catheter-like in this spherical housing, the two ends of this major axis are separately fixed in these two circular ports, between the two ends of this major axis and this spherical housing for being tightly connected, the cavity of this major axis is connected with the outside by this circular port, only be provided with a underwater propeller in the cavity of this major axis, a sheathed rotation square tube on the excircle of this major axis middle part, one end of this rotation square tube is provided with a big gear wheel, this big gear wheel is sheathed to be fixed on this major axis, the left side of this rotation square tube is provided with one first motor, the output shaft of this first motor is provided with a miniature gears, this miniature gears and this big gear wheel are meshing, this first motor is used for rotating around big gear wheel self driven rotary square tube being rotated around major axis by driving miniature gears, before this rotation square tube, rear side respectively is movably equipped with a quarter butt, before being somebody's turn to do, the quarter butt of rear side is and is symmetrical arranged, this quarter butt and this major axis are in vertical state, the outer end of each quarter butt is provided with arm pendulum, the bottom of each arm pendulum is provided with a counterweight, the right side of this rotation square tube is provided with a connecting rod and one second motor, the output shaft of this second motor, the sprocket wheel that this connecting rod one end is provided with links to each other by a chain with the sprocket wheel that this quarter butt place is provided with, the sprocket wheel that this quarter butt place of sprocket wheel and another that this connecting rod other end is provided with is provided with links to each other by a chain, and this second motor is used for interlock by drivening rod and connecting rod and quarter butt, and to make quarter butt drive counterweight be that rotate at the center with the quarter butt;
Be provided with piston type water storage equipment in this spherical housing, this piston type water storage equipment, first motor, second motor and underwater propeller all be arranged on this spherical housing in a central controller link to each other.
2, underwater spherical robot with six degrees of freedom as claimed in claim 1 is characterized in that:
Described underwater propeller is propeller or boost pump.
3, underwater spherical robot with six degrees of freedom as claimed in claim 1 is characterized in that:
Described piston type water storage equipment comprises a piston type reserve tank.
4, underwater spherical robot with six degrees of freedom as claimed in claim 1 is characterized in that:
In the described spherical housing detection equipment is installed, this detection equipment links to each other with described central controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910084791XA CN101565095B (en) | 2009-05-22 | 2009-05-22 | Underwater spherical robot with six degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910084791XA CN101565095B (en) | 2009-05-22 | 2009-05-22 | Underwater spherical robot with six degrees of freedom |
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| Publication Number | Publication Date |
|---|---|
| CN101565095A true CN101565095A (en) | 2009-10-28 |
| CN101565095B CN101565095B (en) | 2011-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910084791XA Expired - Fee Related CN101565095B (en) | 2009-05-22 | 2009-05-22 | Underwater spherical robot with six degrees of freedom |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101870352A (en) * | 2010-06-29 | 2010-10-27 | 北京邮电大学 | Deformation mechanism for underwater robots |
| CN102358421A (en) * | 2011-09-06 | 2012-02-22 | 北京邮电大学 | Flyable spherical robot |
| CN103407562A (en) * | 2013-08-29 | 2013-11-27 | 上海交通大学 | Underwater robot provided with multiple feet |
| CN103466063A (en) * | 2013-09-24 | 2013-12-25 | 北京邮电大学 | Under-actuated spherical underwater robot with flexible movement |
| CN103600822A (en) * | 2013-11-26 | 2014-02-26 | 西南大学 | Underwater walking device |
| CN103832565A (en) * | 2014-03-20 | 2014-06-04 | 北京邮电大学 | Pendulum type three-propeller underwater spherical robot |
| CN104029805A (en) * | 2014-03-14 | 2014-09-10 | 上海大学 | An underwater spherical robot for shallow water detection |
| CN104075685A (en) * | 2014-06-30 | 2014-10-01 | 广州广船国际股份有限公司 | Universal sounding lead device |
| CN104554679A (en) * | 2015-01-29 | 2015-04-29 | 张涛 | Underwater vehicle |
| CN105564615A (en) * | 2015-12-29 | 2016-05-11 | 上海大学 | Six-degree-of-freedom spherical underwater robot bionic eye |
| CN106379505A (en) * | 2016-11-18 | 2017-02-08 | 重庆邮电大学 | Simple-pendulum differential underwater amphibious robot with deformability |
| CN106741757A (en) * | 2016-12-19 | 2017-05-31 | 东北石油大学 | A kind of portable underwater robot |
| CN106828831A (en) * | 2017-01-19 | 2017-06-13 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
| CN106882347A (en) * | 2017-02-27 | 2017-06-23 | 中国人民解放军海军工程大学 | underwater robot with six degrees of freedom |
| CN107380376A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| CN107380382A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | A kind of underwater robot that can be driven with any angle |
| CN107651143A (en) * | 2017-09-13 | 2018-02-02 | 北京邮电大学 | A kind of underwater sail power intelligent spherical robot |
| CN109899621A (en) * | 2019-03-26 | 2019-06-18 | 焦作大学 | A kind of intelligent spherical detecting robot of pipe |
| WO2020211580A1 (en) * | 2019-04-19 | 2020-10-22 | 南京涵铭置智能科技有限公司 | Unmanned underwater vehicle capable of steering by changing gravity and control method therefor |
| CN112918649A (en) * | 2021-04-08 | 2021-06-08 | 辽宁工程技术大学 | Underwater spherical robot capable of automatically realizing six-degree-of-freedom posture adjustment |
| CN113431749A (en) * | 2021-03-16 | 2021-09-24 | 王中君 | Dry pre-pressing energy-guiding source supply power generation, vehicle, ship, instrument and aircraft |
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| CN101318549B (en) * | 2008-05-22 | 2010-04-14 | 北京邮电大学 | Amphibious spherical robot |
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2009
- 2009-05-22 CN CN200910084791XA patent/CN101565095B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101870352A (en) * | 2010-06-29 | 2010-10-27 | 北京邮电大学 | Deformation mechanism for underwater robots |
| CN101870352B (en) * | 2010-06-29 | 2012-07-18 | 北京邮电大学 | Deformation mechanism for underwater robots |
| CN102358421A (en) * | 2011-09-06 | 2012-02-22 | 北京邮电大学 | Flyable spherical robot |
| CN103407562A (en) * | 2013-08-29 | 2013-11-27 | 上海交通大学 | Underwater robot provided with multiple feet |
| CN103466063B (en) * | 2013-09-24 | 2016-08-10 | 北京邮电大学 | One is moved drive lacking spherical underwater robot flexibly |
| CN103466063A (en) * | 2013-09-24 | 2013-12-25 | 北京邮电大学 | Under-actuated spherical underwater robot with flexible movement |
| CN103600822A (en) * | 2013-11-26 | 2014-02-26 | 西南大学 | Underwater walking device |
| CN103600822B (en) * | 2013-11-26 | 2016-05-25 | 西南大学 | One is running gear under water |
| CN104029805A (en) * | 2014-03-14 | 2014-09-10 | 上海大学 | An underwater spherical robot for shallow water detection |
| CN103832565A (en) * | 2014-03-20 | 2014-06-04 | 北京邮电大学 | Pendulum type three-propeller underwater spherical robot |
| CN104075685A (en) * | 2014-06-30 | 2014-10-01 | 广州广船国际股份有限公司 | Universal sounding lead device |
| CN104554679A (en) * | 2015-01-29 | 2015-04-29 | 张涛 | Underwater vehicle |
| CN105564615A (en) * | 2015-12-29 | 2016-05-11 | 上海大学 | Six-degree-of-freedom spherical underwater robot bionic eye |
| CN105564615B (en) * | 2015-12-29 | 2018-03-06 | 上海大学 | A kind of six degree of freedom spherical underwater robot bionic eye |
| CN106379505B (en) * | 2016-11-18 | 2018-02-27 | 重庆邮电大学 | A kind of underwater amphibious robot of single pendulum differential type with deformability |
| CN106379505A (en) * | 2016-11-18 | 2017-02-08 | 重庆邮电大学 | Simple-pendulum differential underwater amphibious robot with deformability |
| CN106741757A (en) * | 2016-12-19 | 2017-05-31 | 东北石油大学 | A kind of portable underwater robot |
| WO2018133314A1 (en) * | 2017-01-19 | 2018-07-26 | 河海大学 | Rolling and floating combined amphibious vehicle based on internal drive principle |
| CN106828831A (en) * | 2017-01-19 | 2017-06-13 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
| CN106882347A (en) * | 2017-02-27 | 2017-06-23 | 中国人民解放军海军工程大学 | underwater robot with six degrees of freedom |
| CN106882347B (en) * | 2017-02-27 | 2019-01-25 | 中国人民解放军海军工程大学 | Underwater robot with six degrees of freedom |
| CN107380376A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | Can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| CN107380382A (en) * | 2017-07-31 | 2017-11-24 | 苏州惠贝电子科技有限公司 | A kind of underwater robot that can be driven with any angle |
| CN107380382B (en) * | 2017-07-31 | 2018-06-19 | 乐清市风杰电子科技有限公司 | A kind of underwater robot that can be driven with any angle |
| CN107380376B (en) * | 2017-07-31 | 2018-06-19 | 乐清市风杰电子科技有限公司 | It can be in the spherical underwater robot of 360 degree of interior adjustment driving directions of ring week |
| CN107651143A (en) * | 2017-09-13 | 2018-02-02 | 北京邮电大学 | A kind of underwater sail power intelligent spherical robot |
| CN107651143B (en) * | 2017-09-13 | 2020-02-14 | 北京邮电大学 | Intelligent spherical robot with underwater sail power |
| CN109899621A (en) * | 2019-03-26 | 2019-06-18 | 焦作大学 | A kind of intelligent spherical detecting robot of pipe |
| CN109899621B (en) * | 2019-03-26 | 2020-06-30 | 焦作大学 | Intelligent spherical pipeline detection robot |
| WO2020211580A1 (en) * | 2019-04-19 | 2020-10-22 | 南京涵铭置智能科技有限公司 | Unmanned underwater vehicle capable of steering by changing gravity and control method therefor |
| CN113431749A (en) * | 2021-03-16 | 2021-09-24 | 王中君 | Dry pre-pressing energy-guiding source supply power generation, vehicle, ship, instrument and aircraft |
| CN112918649A (en) * | 2021-04-08 | 2021-06-08 | 辽宁工程技术大学 | Underwater spherical robot capable of automatically realizing six-degree-of-freedom posture adjustment |
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