CN106828843A - A kind of underwater robot attitude regulation mechanism - Google Patents
A kind of underwater robot attitude regulation mechanism Download PDFInfo
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- CN106828843A CN106828843A CN201610932771.3A CN201610932771A CN106828843A CN 106828843 A CN106828843 A CN 106828843A CN 201610932771 A CN201610932771 A CN 201610932771A CN 106828843 A CN106828843 A CN 106828843A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
A kind of underwater robot athletic posture governor motion, is related to mechanical engineering and submarine navigation device field；Using integrated design, using precision ball screw ball spline, coordinate ball bearing, and biased gear group, axial movement gear train to be driven, be to be capable of achieving mechanism shaft to motion, circumferential movement using an axle, realize axial attitude regulation and the yaw-position regulation of underwater robot, organization volume is small, lightweight, convenient assembly and disassembly, rotating accuracy high, transmission efficiency high are capable of achieving, axial attitude regulation and the yaw-position regulation of underwater spectroradiometer is met；Using the battery pack of axially symmetric structure as axial movement regulation counterweight, counterweight is adjusted as circumferential movement using the battery bias block under the battery pack+biasing centre axis of axially symmetric structure, realize that different motor adjustment institute bringing onto loads are different, motor adjustment energy consumption is reduced, underwater robot voyage is improve.
Description
Technical field
The present invention relates to a kind of mechanical engineering and submarine navigation device field, particularly a kind of underwater robot athletic posture
Governor motion.
Background technology
Underwater glider is in order to the need for meeting current marine environmental monitoring and measuring, by buoy technology and underwater
People's technology is combined a kind of underwater ROV of development, and it not only can be monitored operation along vertical section, can be with
Large-scale marine environment measurement and monitoring are carried out in horizontal profile.
Attitude regulation mechanism is one of this kind of critical component of underwater robot, and small size, low energy consumption, high reliability are to protect
Card vertical section and the key of horizontal profile gliding on a large scale, its performance quality directly affect the performance of underwater robot
With reliability.
However, existing attitude regulation mechanism structure is complicated, taken up too much space, and can only axially or circumferentially be adjusted
Section, unitary function, it is all same to be adjusted axially with load and circumferential roll regulation load, in the presence of many when realizing each autokinesis
Complementary energy consumes, it is impossible to meet the requirement of miniaturization, lightweight and low energy consumption.
The content of the invention
Above-mentioned deficiency it is an object of the invention to overcome prior art, there is provided a kind of underwater robot is adjusted with athletic posture
Section mechanism, solves the problems, such as that existing organization volume is larger, energy consumption is higher, reliability is relatively low.
Above-mentioned purpose of the invention is achieved by following technical solution：
A kind of underwater robot athletic posture governor motion, ball spline shaft, hanging, hanging adaptor, spline mother I,
Preceding connecting plate, spline mother I bearing blocks, bearing inner shield ring, taper roll bearing, tie rod, left connection board, battery pack, hollow company
Spindle, right connection board, leading screw spline spindle, axial gear wheel, nut, yaw drive system, rear connecting plate, main connected with outer casing,
Yaw drive system installing plate, biasing little gear, compression piece I, biasing gear wheel, right baffle-plate, battery balancing weight, right shell body, axle
Hold top cover, compress piece II, axial little gear, axial drive system contiguous block, ball bearing I, nut bearing block, axially driving system
System, spline mother II bearing blocks, ball bearing II and spline mother II；
Wherein, spline mother I is fixedly mounted on ball spline shaft；It is female that bearing inner shield ring is fixedly mounted on spline by connecting pin
On I, taper roll bearing is fixedly mounted between spline mother I and spline mother's I bearing blocks；Bearing top cover is arranged on taper roller axle
The one end held, and spline mother's I bearing blocks and bearing top cover are by taper roll bearing axial compression；
Hanging adaptor is arranged on one end of spline mother I；Battery balancing weight is fixed on using right baffle-plate and right shell body is hung
In hanging, then hanging is fixedly connected with hanging adaptor；Spline mother's I bearing blocks are closely connected with preceding connecting plate；
Left connection board and right connection board are separately mounted to the axial both sides of battery pack, by tie rod by left connection board, the right side
Connecting plate and battery pack are closely connected；Hollow connecting shaft inserts left connection board and right connection board, realizes left connection board, right connection
Plate, battery pack and hollow connecting shaft are closely connected；
Ball bearing I is fixedly mounted between nut and nut bearing block along track, realizes ball bearing I, nut, nut bearing
Seat be fixedly connected；
Ball bearing II is mounted between spline mother II and spline mother's II bearing blocks along track, realizes spline mother II bearing blocks, ball
Bearing I I, spline mother II are fixedly connected；
Yaw drive system installing plate is fixedly mounted on one end of main connected with outer casing, nut bearing block after the connection,
Spline mother II bearing blocks are fixedly connected from left side with right side with the two ends of main connected with outer casing respectively；
Leading screw spline spindle passes axially through nut and spline mother II；
Biasing gear wheel is fixedly mounted on leading screw spline spindle from right side, and closely coupled with spline mother II；Deflection is driven
Dynamic system is fixedly mounted on the top of yaw drive system installing plate, compresses piece I and biasing little gear is fixedly mounted on into deflection drive
On the projecting shaft of dynamic system；
Axial gear wheel is from being fixedly mounted on leading screw spline spindle；Nut is fixedly mounted on axial gear wheel；Axially
Drive system is fixedly mounted on the bottom of main connected with outer casing by axial drive system contiguous block, will axially by compressing piece II
Little gear is fixed on the projecting shaft of axial drive system
Main connected with outer casing is fixedly mounted on rear connecting plate, and leading screw spline spindle is fixedly linked with hollow connecting shaft, ball
Splined shaft is coated on the outer wall of hollow connecting shaft, realizes the axis weight of ball spline shaft, hollow connecting shaft, leading screw spline spindle
Close.
In a kind of above-mentioned underwater robot athletic posture governor motion, the biasing little gear is engaged with biasing gear wheel
Form biased gear group to be driven so that mechanism can realize ± 360 ° of motions.
In a kind of above-mentioned underwater robot athletic posture governor motion, the axial little gear is engaged with axial gear wheel
Form axial movement gear train to be driven, coordinate leading screw spline spindle, nut so that mechanism can realize axial reciprocating straight line
Motion.
In a kind of above-mentioned underwater robot athletic posture governor motion, the yaw drive system is straight with biasing little gear
Axis and leading screw spline spindle, hollow connecting shaft, the diameter parallel of ball spline shaft after even but misaligned.
In a kind of above-mentioned underwater robot athletic posture governor motion, the axial drive system is straight with axial little gear
Axis and leading screw spline spindle, hollow connecting shaft, the diameter parallel of ball spline shaft after even but misaligned.
Between a kind of above-mentioned underwater robot athletic posture governor motion, the spline mother I and spline mother's I bearing blocks
A pair of the taper roll bearings for loading, the taper roll bearing is installed using face-to-face mode.
In a kind of above-mentioned underwater robot athletic posture governor motion, the battery pack is axially symmetric structure.
In a kind of above-mentioned underwater robot athletic posture governor motion, it is characterised in that：The battery balancing weight is inclined
Put under the central axis of hanging.
The present invention has the following advantages that compared with prior art：
(1) present invention uses Integration Design, using precision ball screw ball spline, coordinates ball bearing, and
Biased gear group, axial movement gear train are driven, and are to be capable of achieving axial movement, circumferential movement using an axle, small volume,
It is lightweight, rotating accuracy high, transmission efficiency high are capable of achieving, mechanism can realize that ± 360 ° of circumferential movements, ± 80 millimeters of axial directions are past
Multiple motion, realizes axial attitude regulation and the yaw-position regulation of underwater glider, can meet multiple-task demand；
(2) in the present invention, battery pack, battery bias block can carry out ± 360 ° of circumferential movements, improve mechanism's attitude horizontal
Rolling adjustable range, and then improve the yaw-position adjustable range of underwater robot；
(3) present invention in battery pack and install battery pack used by left connection board, right connection board and in hollow connecting shaft
Using easily-disassembled, easily changeable structure, convenient assembly and disassembly reduce mission preparation time, improve task efficiency；
(4) present invention is carried out axial linear movement, is realized underwater using the battery pack of axially symmetric structure as mechanism
The regulating load of people's pitch attitude change, battery bias block is not moved from without expending energy；And use the electricity of axially symmetric structure
Battery bias block under pond group+biasing centre axis as mechanism carry out roll adjust and ensure shipping-direction stability, reality
The regulating load of existing underwater robot yaw-position change, the spent energy of battery pack rotation of axially symmetric structure is seldom realized
It is adjusted axially motion, roll regulation motion institute bringing onto load different, greatly reduces unnecessary motor adjustment energy consumption, water can be improved
Lower robot voyage；
(5) present invention uses ball spline realization to be axially moved support, and a pair are devised on spline mother in high precision, greatly
The taper roll bearing of load, is installed using face-to-face mode, convenient to install and dismantle, and can bear to act on the power in mechanism
And torque.
Brief description of the drawings
Fig. 1 is underwater robot athletic posture governor motion structural representation of the present invention；
Fig. 2 is athletic posture governor motion front view of the present invention；
Fig. 3 is athletic posture governor motion A-A cross section views of the present invention；
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
It is as shown in Figure 1 underwater robot athletic posture governor motion structural representation, as seen from the figure, a kind of machine under water
Device people uses athletic posture governor motion, including：Ball spline shaft 1, hanging 2, hanging adaptor 3, spline mother I4, preceding connecting plate 5,
Bearing block 6, bearing inner shield ring 7, taper roll bearing 8, tie rod 9, left connection board 10, battery pack 11, hollow connecting shaft 12, the right side
Connecting plate 13, leading screw spline spindle 14, axial gear wheel 15, nut 16, yaw drive system 17, rear connecting plate 18, main connection
Shell 19, yaw drive system installing plate 20, biasing little gear 21, compression piece I22, biasing gear wheel 23, right baffle-plate 24, battery
Balancing weight 25, right shell body 26, bearing top cover 27, compression piece II28, axial little gear 29, axial drive system contiguous block 30, ball
Bearing I 31, nut bearing block 32, axial drive system 33, spline mother II bearing blocks 34, ball bearing II35 and spline mother II36.
Spline mother I4 is loaded on ball spline shaft 1 so that splined shaft 1 and spline mother I4 form high torque formula ball flower
Key.By bearing inner shield ring 7 on spline mother I4, in spline, mother loads a pair of taper roll bearings 8 between I4 and bearing block 6,
So that spline mother I4, bearing block 6, bearing inner shield ring 7 and taper roll bearing 8 are closely connected, bearing top cover 27 is arranged on circular cone
The right side of roller bearing 8, and bearing block 6 and bearing top cover 27 are by the axial compression of taper roll bearing 8.
Athletic posture governor motion front view is illustrated in figure 2, as seen from the figure, hanging adaptor 3 spline is arranged on female
The left side of I4.Battery balancing weight 25 is fixed in hanging 2 using right baffle-plate 24 and right shell body 26, is then arranged on hanging 2
Hang the left side of adaptor 3.
Bearing block 6 is closely connected with preceding connecting plate 5.
Left connection board 10 and right connection board 13 are separately mounted to the left side and right side of battery pack 11, using tie rod 9 by a left side
Connecting plate 10, right connection board 13 and battery pack 11 are closely connected, then hollow connecting shaft 12 is inserted into left connection board 10 with right connection
Plate 13 so that left connection board 10, right connection board 13, battery pack 11 and hollow connecting shaft 12 are closely connected.
Ball bearing I31 is mounted between nut 16 and nut bearing block 32 along track so that ball bearing I31, nut 16, spiral shell
Mother's axle bearing 32 is closely connected.
Ball bearing II35 is mounted between spline mother II36 and spline mother II bearing blocks 34 along track so that spline mother's II axles
Bearing 34, ball bearing II35, spline mother II36 are closely connected.
Yaw drive system installing plate 20 is linked together with main connected with outer casing 19, then by the nut shaft after above-mentioned connection
Bearing 32, spline mother II bearing blocks 34 are closely connected from left side with right side with main connected with outer casing 19 respectively.
Leading screw spline spindle 14 is inserted into nut 16, spline mother II 36 so that leading screw spline spindle 14, nut 16 and flower
Key mother II 36 constitutes precision ball screw ball spline.
Biasing gear wheel 23 is loaded on leading screw spline spindle 14 from right side, and it is closely coupled with spline mother II 36.Will be inclined
Turn the top that drive system 17 loads yaw drive system installing plate 20, be fixed on biasing little gear 21 using piece I 22 is compressed
On the projecting shaft of yaw drive system 17.The biasing little gear 21 to form biased gear group and carry out with biasing gear wheel 23 and engaging
Transmission so that mechanism can realize ± 360 ° of motions.
Axial gear wheel 15 is loaded on leading screw spline spindle 14 from left side, and it is closely coupled with nut 16.By axial drive
Dynamic system 33 loads the bottom of main connected with outer casing 19 by axial drive system contiguous block 30, will axially using piece II 28 is compressed
Little gear 29 is fixed on the projecting shaft of axial drive system 33.The axial little gear 29 engages formation with axial gear wheel 15
It is axially moved gear train to be driven, coordinates leading screw spline spindle 14, nut 16 so that mechanism can realize axial reciprocating straight line
Motion.
Main connected with outer casing 19 is fixedly mounted on rear connecting plate 18 again, by leading screw spline spindle 14, hollow connecting shaft 12
It is connected, then hollow connecting shaft 12, ball spline shaft 1 is closely connected so that ball spline shaft 1, hollow connecting shaft 12, leading screw flower
The axis of key main shaft 14 overlaps.
The battery pack 11 is axially symmetric structure.
The battery balancing weight 25 is that biasing is put in the hanging 2 under central axis.
Axis and leading screw spline spindle 14, hollow connection after the yaw drive system 17 is direct-connected with biasing little gear 21
Axle 12, the diameter parallel of ball spline shaft 1 but misaligned.
Axis and leading screw spline spindle 14, hollow connection after the axial drive system 33 is direct-connected with axial little gear 29
Axle 12, the diameter parallel of ball spline shaft 1 but misaligned.
A pair of taper roll bearings 8 that the spline mother loads between I4 and bearing block 6 are installed using face-to-face mode.
The biasing little gear 21 to form biased gear group and be driven with biasing gear wheel 23 and engaging so that mechanism can be with
Realize ± 360 ° of motions.
The axial little gear 29 engages formation axial movement gear train with axial gear wheel 15 and is driven, and coordinates leading screw
Spline spindle 14, nut 16 so that mechanism can realize that axial reciprocating moves along a straight line.
The present invention uses Integration Design, using precision ball screw ball spline (leading screw spline spindle 14+ nuts 16+
Spline mother II 36), coordinate ball bearing, and biased gear group (biasing little gear 21 and biasing gear wheel 23), axial movement tooth
Wheel group (axial little gear 29 and axial gear wheel 15) is driven, using an axle (the hollow connecting shafts of leading screw spline spindle 14+
12+ ball spline shafts 1) it is to be capable of achieving axial movement, circumferential movement, small volume is lightweight, is capable of achieving rotating accuracy high, Gao Chuan
Efficiency of movement, mechanism can realize ± 360 ° of circumferential movements, ± 80 millimeters of axially reciprocatings, realize the axial appearance of underwater glider
State is adjusted and deflection attitude regulation, can meet multiple-task demand.
Battery pack 11, battery bias block 25 can carry out ± 360 ° of circumferential movements in mechanism, improve mechanism's attitude roll
Adjustable range, and then improve the yaw-position adjustable range of underwater robot；
Be illustrated in figure 3 athletic posture governor motion A-A cross section views, as seen from the figure, battery pack 11 and install battery pack
Left connection board 10 used, right connection board 13 and hollow connecting shaft 12 use easily-disassembled, easily changeable structure, convenient assembly and disassembly,
Mission preparation time is reduced, task efficiency is improve.
The present invention is carried out axial linear movement, is realized that underwater robot is bowed using the battery pack of axially symmetric structure as mechanism
The regulating load of attitudes vibration is faced upward, battery bias block is not moved from without expending energy；And the battery pack of use axially symmetric structure+
Battery bias block under biasing centre axis carries out roll and adjusts and ensure shipping-direction stability, realizes under water as mechanism
The regulating load of robot yaw-position change, the spent energy of battery pack rotation of axially symmetric structure seldom realizes axial direction
Regulation motion, roll regulation motion institute bringing onto load are different, greatly reduce unnecessary motor adjustment energy consumption, can improve underwater
People's voyage.
The load that attitude regulation mechanism bears is complicated and instantaneous magnitude is larger, especially bears larger rolling moment,
In order to will act at the load transmission in mechanism to housing, a pair of high accuracy, larger loads are devised in spline mother I4 supports
The standard taper roll bearing of lotus, is installed using face-to-face mode, and convenient to install and dismantle, cost performance is good, the effect of can bearing
Power and torque in mechanism.
By project experimental test, the inventive embodiments meet being capable of underwater spectroradiometer attitude regulation needs, realization
Required pitch regulation, yaw adjustment；Energy consumption needed for each attitude regulation is reduced, in the battery-powered situation of identical capacity
Under, effectively extend underwater glider run time；Battery pack is installed, the take-down time is or so half an hour, compared with conventional
Three hours experiment times greatly reduced, and improve test efficiency.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (8)
1. a kind of underwater robot athletic posture governor motion, it is characterised in that including：Ball spline shaft (1), hanging (2),
Hanging adaptor (3), spline mother I (4), preceding connecting plate (5), spline mother I bearing blocks (6), bearing inner shield ring (7), taper roller
Bearing (8), tie rod (9), left connection board (10), battery pack (11), hollow connecting shaft (12), right connection board (13), leading screw flower
Key main shaft (14), axial gear wheel (15), nut (16), yaw drive system (17), rear connecting plate (18), main connected with outer casing
(19), yaw drive system installing plate (20), biasing little gear (21), compression piece I (22), biasing gear wheel (23), right baffle-plate
(24), battery balancing weight (25), right shell body (26), bearing top cover (27), compression piece II (28), axial little gear (29), axial direction
Drive system contiguous block (30), ball bearing I (31), nut bearing block (32), axial drive system (33), spline mother's II bearing blocks
(34), ball bearing II (35) and spline mother II (36)；
Wherein, spline mother I (4) is fixedly mounted on ball spline shaft (1)；Be fixedly mounted on for bearing inner shield ring (7) by connecting pin
On spline mother I (4), taper roll bearing (8) is fixedly mounted between spline mother I (4) and spline mother I bearing blocks (6)；Bearing top
Lid (27) is installed in one end of taper roll bearing (8), and spline mother I bearing blocks (6) and bearing top cover (27) are by taper roller
Bearing (8) axial compression；
Hanging adaptor (3) is installed in one end of spline mother I (4)；Using right baffle-plate (24) and right shell body (26) by battery counterweight
Block (25) is fixed in hanging (2), and then hanging (2) is fixedly connected with hanging adaptor (3)；By spline mother I bearing blocks (6)
Closely it is connected with preceding connecting plate (5)；
Left connection board (10) is separately mounted to the axial both sides of battery pack (11) with right connection board (13), will by tie rod (9)
Left connection board (10), right connection board (13) and battery pack (11) are closely connected；Hollow connecting shaft (12) inserts left connection board (10)
With right connection board (13), realize that left connection board (10), right connection board (13), battery pack (11) and hollow connecting shaft (12) closely connect
Connect；
Ball bearing I (31) is fixedly mounted between nut (16) and nut bearing block (32) along track, realize ball bearing I (31),
Nut (16), nut bearing block (32) are fixedly connected；
Ball bearing II (35) is mounted between spline mother II (36) and spline mother II bearing blocks (34) along track, realizes spline mother's II axles
Bearing (34), ball bearing II (35), spline mother II (36) are fixedly connected；
Yaw drive system installing plate (20) is fixedly mounted on one end of main connected with outer casing (19), the nut bearing after the connection
Seat (32), spline mother II bearing blocks (34) are fixedly connected from left side with right side with the two ends of main connected with outer casing (19) respectively；
Leading screw spline spindle (14) passes axially through nut (16) and spline mother II (36)；
Biasing gear wheel (23) is fixedly mounted on leading screw spline spindle (14) from right side, and with the tight phase of spline mother II (36)
Even；Yaw drive system (17) is fixedly mounted on the top of yaw drive system installing plate (20), and compression piece I (22) will bias small
Gear (21) is fixedly mounted on the projecting shaft of yaw drive system (17)；
Axial gear wheel (15) is from being fixedly mounted on leading screw spline spindle (14)；Nut (16) is fixedly mounted on axial gear wheel
(15) on；Axial drive system (33) is fixedly mounted on main connected with outer casing (19) by axial drive system contiguous block (30)
, be fixed on axial little gear (29) on the projecting shaft of axial drive system (33) by compressing piece II (28) by bottom
Main connected with outer casing (19) is fixedly mounted on rear connecting plate (18), and leading screw spline spindle (14) is solid with hollow connecting shaft (12)
Fixed to be connected, ball spline shaft (1) is coated on the outer wall of hollow connecting shaft (12), realizes ball spline shaft (1), hollow connecting shaft
(12), the axis of leading screw spline spindle (14) overlaps.
2. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：The biasing is small
Gear (21) engage to form biased gear group and be driven with biasing gear wheel (23) so that mechanism can realize that ± 360 ° are transported
It is dynamic.
3. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：The axial direction is small
Gear (29) engages formation axial movement gear train with axial gear wheel (15) and is driven, cooperation leading screw spline spindle (14),
Nut (16) so that mechanism can realize that axial reciprocating moves along a straight line.
4. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：The deflection is driven
Axis and leading screw spline spindle (14), hollow connecting shaft (12), ball after dynamic system (17) is direct-connected with biasing little gear (21)
The diameter parallel of splined shaft (1) but misaligned.
5. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：It is described axially to drive
Axis and leading screw spline spindle (14), hollow connecting shaft (12), ball after dynamic system (33) is direct-connected with axial little gear (29)
The diameter parallel of splined shaft (1) but misaligned.
6. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：The spline is female
A pair of the taper roll bearings (8) loaded between I (4) and spline mother I bearing blocks (6), the taper roll bearing (8) uses face
Opposite mode is installed.
7. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：The battery pack
(11) it is axially symmetric structure.
8. a kind of underwater robot athletic posture governor motion according to claim 1, it is characterised in that：The battery is matched somebody with somebody
Pouring weight (25) is setoff installation under the central axis of hanging (2).
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| CN201610932771.3A CN106828843B (en) | 2016-10-31 | 2016-10-31 | A kind of underwater robot attitude regulation mechanism |
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| CN201610932771.3A CN106828843B (en) | 2016-10-31 | 2016-10-31 | A kind of underwater robot attitude regulation mechanism |
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| CN107310701A (en) * | 2017-06-19 | 2017-11-03 | 浙江大学 | A kind of underwater glider posture comprehensive regulating device in length and breadth |
| CN108263583A (en) * | 2018-02-13 | 2018-07-10 | 王昕� | A kind of binocular tracking underwater robot of drive lacking |
| CN109368164A (en) * | 2018-11-29 | 2019-02-22 | 中国航天空气动力技术研究院 | A kind of heavy duty shipment activity |
| CN110588928A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Bionic flexible mass center adjusting mechanism for underwater vehicle |
| CN110588929A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Based on bionical glider matter heart adjustment mechanism under water |
| CN113799950A (en) * | 2021-09-10 | 2021-12-17 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
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| CN107310701A (en) * | 2017-06-19 | 2017-11-03 | 浙江大学 | A kind of underwater glider posture comprehensive regulating device in length and breadth |
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| CN110588929A (en) * | 2019-09-25 | 2019-12-20 | 西北工业大学 | Based on bionical glider matter heart adjustment mechanism under water |
| CN110588928B (en) * | 2019-09-25 | 2021-11-16 | 西北工业大学 | Centroid adjusting mechanism of bionic flexible underwater vehicle |
| CN110588929B (en) * | 2019-09-25 | 2021-11-16 | 西北工业大学 | Centroid adjusting mechanism of bionic underwater glider |
| CN113799950A (en) * | 2021-09-10 | 2021-12-17 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
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