CN106904258B - Bi-motor is multidirectional to promote underwater autonomous robot - Google Patents
Bi-motor is multidirectional to promote underwater autonomous robot Download PDFInfo
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- CN106904258B CN106904258B CN201710190500.XA CN201710190500A CN106904258B CN 106904258 B CN106904258 B CN 106904258B CN 201710190500 A CN201710190500 A CN 201710190500A CN 106904258 B CN106904258 B CN 106904258B
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- swivel plate
- fixed
- movable link
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 4
- 238000005192 partition Methods 0.000 claims description 22
- 238000007789 sealing Methods 0.000 claims description 6
- 239000013535 sea water Substances 0.000 claims description 4
- 230000008450 motivation Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 8
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of multidirectional underwater autonomous robots of propulsion of bi-motor, and including being located at the fixed part on head and positioned at the driving mechanism and angle adjusting mechanism of tail portion, the angle adjusting mechanism includes: swivel plate；The fixation connecting rod of the fixed swivel plate center, the fixation connecting rod one end and the swivel plate center are hinged, and the other end and the head are relatively fixed；The swivel plate is driven to swing to change the movable link of its angle, movable link one end and the swivel plate are hinged；The driver of movable link operation is driven, the output end of driver is connect with the movable link other end.Novel cableless underwater robot of the invention, using more flexible angle regulating mechanism, strong applicability realizes the accurate adjustment to robot traffic direction by the vector propeller of tail portion, and then realizes that robot acquires the data of target location.Total quality of the present invention is light, small in size simultaneously.
Description
Technical field
The invention belongs to mechanical engineering technical fields, are specifically related to a kind of multidirectional underwater autonomous machine of propulsion of bi-motor
People.
Background technique
AUV is the english abbreviation of cableless underwater robot.Underwater robot is broadly divided into two major classes at present: one kind is that have cable
Underwater robot, habit are known as telecontrolled submergence rescue vehicle (Remote Operated Vehicle, abbreviation ROV)；Another kind of is untethered underwater
Robot, habit are known as autonomous underwater and dive device (Autonomous Underwater Vehicle, abbreviation AUV).Autonomous type water
Lower robot is underwater robot of new generation, has many advantages, such as that scope of activities is big, mobility is good, safety, intelligence, becomes completion
The important tool of various subsea tasks.For example, can be used for pipeline installation, submarine survey, data collection, drilling well in civil field
It supports, subsea construction, underwater equipment maintenance and maintenance etc.；It then can be used for scouting in military domain, mine-laying, clearance, help latent and rescue
It is raw etc..Since cableless underwater robot has many advantages, such as that scope of activities is not limited by cable, good concealment, so from the sixties
From phase, industry and the military start to take up to cableless underwater robot.
Existing cableless underwater robot mostly uses center of gravity adjusting or buoyancy regulating device to realize underwater free movement, deposits
It is big in volume, the problems such as quality is big, and flexibility is insufficient.
Summary of the invention
The present invention provides a kind of cable underwater robot of miniaturization, compact-sized and flexibility is higher, more suitable for
Shallow sea, lake work, are also convenient for large-scale network-estabilishing and lay.For meeting detection demand, detection efficient is improved.
A kind of bi-motor is multidirectional to promote underwater autonomous robot, including being located at the fixed part on head and positioned at tail portion
Driving mechanism and angle adjusting mechanism, the angle adjusting mechanism include:
Swivel plate；
The fixation connecting rod of the fixed swivel plate center, the fixation connecting rod one end and the swivel plate center are hinged,
The other end and the head are relatively fixed；
The swivel plate is driven to swing to change the movable link of its angle, movable link one end and the swivel plate are cut with scissors
It connects；
The driver of movable link operation is driven, the output end of driver is connect with the movable link other end.
In the present invention, the positioning to swivel plate is realized by fixed connecting rod, guarantee swivel plate carry out along axis swing (or
Rotation).By servo driving movable link, it can be achieved that adjustment to swivel plate angle, and then realize to robot traffic direction
Adjustment.
Preferably, the driver is steering engine.In the present invention, driver is using steering engine, it can be achieved that swivel plate angle
Accurate control.
Preferably, the angle adjusting mechanism further includes and the relatively-stationary back shroud of fixed part, the swivel plate
The two sides of back shroud are located at driver, and the fixed connecting rod other end is fixed with the back shroud, on the back shroud
It is equipped with: the limit hole passed through for the movable link, so that movable link is only capable of along axial operation.In the present invention, back shroud one
Aspect realizes the positioning to swivel plate, while also achieving the wire restraint to movable link, moreover, also achieving driving machine
The positioning of structure and angle adjusting mechanism and fixed part, so that robot constitutes an entirety.
Preferably, the movable link and steering engine are corresponding two groups, two movable links and swivel plate
Hinge position is vertical with the line in swivel plate axle center.Using the technical program, but guarantee that two groups of movable links and steering engine are mutually assisted
Make, realizes in the two-dimensional direction without the rotation at dead angle, and then realize comprehensive adjusting to robot traffic direction.
Preferably, one end that the movable link is connect with steering engine is equipped with the linkage ring of bar shaped limit hole；The steering engine
Rocker arm be equipped with the push rod that is slidably fitted in the bar shaped limit hole.By the setting of bar shaped limit hole, it is further ensured that
Movable link is in direction initialization stable operation.
Preferably, the movable link is hinged using universal ball end structure with the swivel plate.Guarantee side of the invention
It is more flexible to adjusting.
Preferably, the driving mechanism includes the motor being fixed on swivel plate, and it is fixed on motor output shaft
Propeller.
Preferably, the fixed part includes:
Front shroud；
The front shroud and back shroud are sealed against each other to fixed cavity wall；
It is equipped in the cavity wall for installing the service area of power supply and for the chip region of chip.
As further preferred, the cavity wall sealing is fixed at least two partitions, which is divided into cavity wall inner cavity solely
The vertical service area and the chip region.Locating rod spiral shell can be passed through between two partitions and between partition and front shroud
Line is fixed.The service area can be formed before between two partitions, can be realized by structures such as bracket and locating rods to electricity
The fixation of source battery.The chip region can be formed between forward partition and front shroud, for realizing consolidating for various chips
Fixed and installation.In this example, the main chip used includes: the depth transducer for sensed water level depth, GPS, and inertia is led
Sensor needed for boat compass, STM32 and other detections；Sensor or the quantity of chip installation can be according to actual needs.This
In invention, by software programming etc., automatic control of the STM32 to driving mechanism, direction angle regulating mechanism is realized.
Preferably, the headward side of the front shroud is fixed with pod, the front shroud is equipped with evacuation core
The avoid holes of depth transducer in section, the pod is equipped with limbers, so that depth transducer directly contacts seawater.
Robot of the invention can 360 degree of screw propellers control movements turned to by tail portion.The other side of swivel plate
The fixation connecting rod that movable rod that two are connected with steering engine rocker arm and one are connected with robot rear end cap is installed.Pass through steering engine
Rotation adjusts the extension elongation of two movable rods, cooperates fixed connecting rod, the rotation of swivel plate may be implemented, to reach vector
The effect of propulsion.
Compared with prior art, the beneficial effects of the present invention are embodied in:
Novel cableless underwater robot of the invention, using more flexible angle regulating mechanism, strong applicability passes through tail
The vector propeller in portion realizes the accurate adjustment to robot traffic direction, and then realizes that the data of target location are adopted by robot
Collection.Meanwhile the present invention, in order to reduce the volume and weight of robot, the main material of the robot uses plastics, organic glass
And aluminium alloy.
Detailed description of the invention
Fig. 1 is the multidirectional structural schematic diagram for promoting underwater autonomous robot of bi-motor of the invention.
Fig. 2 is the multidirectional partitioned organization schematic diagram for promoting underwater autonomous robot of bi-motor of the invention.
Fig. 3 is the structural schematic diagram of the multidirectional fixed part for promoting underwater autonomous robot of bi-motor of the invention.
Fig. 4, which is that bi-motor of the invention is multidirectional, promotes underwater autonomous robot direction adjustment organization operation logic schematic diagram.
In above-mentioned attached drawing:
1, swivel plate；2, movable link；3, fixed connecting rod；4, steering engine；5, service area；6, chip region；7, pod；8, after
End cap；8a, mounting portion；8b, abutting part；9, drive end bearing bracket；9a, mounting portion；9b, abutting part；10, partition；11, partition；12, first
Locating rod；13, the second locating rod；14, battery.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
As shown in Figure 1-Figure 3, a kind of bi-motor is multidirectional promotes underwater autonomous robot, including following major part:
Swivel plate 1, movable link 2, fixed connecting rod 3, steering engine 4, service area 5, chip region 6, pod 7, cavity wall (not shown), after
End cap 8, drive end bearing bracket 9 and driving mechanism etc..
In the present embodiment, in addition to cavity wall and pod use acrylic material, the part of exposure in water is aluminium alloy
Material (swivel plate, front and rear cover etc.), content portion support use form of the plastics in conjunction with aluminium alloy, are guaranteeing fixing intensity
In the case where mitigate weight.
This example can be divided into two parts (as shown in Figure 2) of A, B according to motion conditions.Wherein, part A is to fix
Part is used to store battery, chip.Main chip used in this example includes: depth transducer (for detecting institute, robot
In depth), GPS (positioning for robot), inertial navigation compass, STM32 is (for realizing to driving mechanism and steering engine etc.
Control) and other detections needed for sensor, the number amount and type of sensor can be determine according to actual needs.Part B is movement
Part, for controlling robot mass motion.A, it is not connected between B two parts in inside, it is mutually solid into being realized by cavity wall
It is fixed.
8 in Fig. 2 be rear end cap, and 9 be drive end bearing bracket, and drive end bearing bracket 9 and rear end cap 8 are disc-shaped structure, and drive end bearing bracket 9 is with after
The opposite side of end cap 8 is equipped with axial raised mounting portion 8a and mounting portion 9a, diameter on the mounting portion of drive end bearing bracket 9 and rear end cap 8
To sealing ring is equipped with, for being tightly connected with cavity wall both ends inner wall；Drive end bearing bracket 9 and 8 outer periphery of rear end cap are to extension simultaneously
It stretches, forms abutting part 8b and abutting part 9b, two abutting parts are abutted with the both ends of cavity wall respectively, further realize sealing.Cavity wall
It is connected by screw to for cylindrical acrylic pipe (underwater robot outer wall, figure in be not drawn into), to reach connection A, B two parts
And to the effect that the content between front and rear cover is sealed.
With reference to Fig. 3, the part A of this example is divided into several regions by drive end bearing bracket 9 and 11 two partition 10, partition partitions.
Partition 10, partition 11 and drive end bearing bracket 9 and rear end cap 8 are coaxially disposed, and partition 10, partition 11 are arranged in drive end bearing bracket 9 and rear end cap 8
Between, by the first positioning before partition 10, partition 11,12 are connected and fixed, service area is formed between partition 10, partition 11, every
It is fixed with acrylic bracket between plate 10, partition 11, for installing battery 14, is compressed admittedly when fixed by the first locating rod 12
Fixed, the first locating rod uses aluminium alloy thin bar, the first locating rod at least two, generally two to three.Partition 11 and drive end bearing bracket 9
Between be connected and fixed by the second locating rod 13, form chip region 6, there is acrylic and aluminium alloy to make in chip region 6
Bracket, for installing the above-mentioned chip enumerated.Wherein depth transducer is screwed on drive end bearing bracket by pipe screw thread, detects its front
Drive end bearing bracket is stretched out at position (drive end bearing bracket is equipped with corresponding avoid holes).Pod 7 is fixed on drive end bearing bracket, is punched thereon, as
Limbers, inside expose in the seawater, to guarantee depth transducer front contact to seawater.Lead between drive end bearing bracket and two pieces of partitions
It crosses aluminium alloy thin bar to be connected, so that entire part A is fixed into an entirety.
The part B of this example is motion parts, mainly include swivel plate 1, movable link 2, fixed connecting rod 3, steering engine 4 this four
A part.Steering engine 4 itself and fixed connecting rod 3 are connected on rear end cap 8, with robot integrally without relative motion.On rear end cap 8
It is equipped with the limit hole (circular hole generally cooperated with movable link dynamic sealing) passed through for two movable links 2 simultaneously, guarantees two
A movable link 2 is only capable of axially moving back and forth.One end of two movable links 2 together, is hinged on rotation with fixed connecting rod 3
On plate 1, the other end and steering engine rocker arm are hinged.Movable link passes through the limit hole on rear end cap, using dynamic sealing.Movable link is only
The movement of one degree of freedom can be axially done along circular hole.Propeller is connected on motor output shaft, and motor is fixed on swivel plate, electricity
Machine provides operation power by driving rotation slurry, to entire robot.Movable link 2 and fixed connecting rod 3 and swivel plate 1 are hinged
The universal ball end articulated structure of ballhead and spherical groove can be used in position.One of 2 energy of movable link in two movable links 2
Enough drive swivel plate 1 in the rotation (such as x-axis) of an axial direction, another movable link 2 then can drive swivel plate 1 another
Outer one vertical axial rotation (such as y-axis), two movable links 2 cooperate, and swivel plate 1 may be implemented in two-dimensional directional
Freely swing, while 1 center of swivel plate is fixed different in the case where fixed connecting rod 3 acts on.
Two movable links 2 are equipped with the linkage ring with bar shaped limit hole, two linkage rings far from one end of swivel plate 1
The axial direction of bar shaped limit hole be mutually perpendicular to.There are two steering engines, is equipped on the rocker arm of two steering engines and item in corresponding linkage ring
The push rod that shape limit hole is slidably matched, in steering engine operational process, push rod is run along its corresponding bar shaped limit hole.
The motion principle of this example is illustrated by attached drawing 4.Three-dimensional cartesian coordinate system is established in attached drawing 4.X-axis positive direction is machine
Device head part institute is towards direction.1,2,3 three line respectively indicates movable link 1, movable link 2 and fixed connecting rod 3, wherein fixing
The position of connecting rod 3 remains stationary, and left and right endpoint is respectively in (- 2,0,0), and on (0,0,0), movable link 1 can only transport along the x-axis direction
Dynamic, left and right ends point initial position (left hand view in Fig. 4) is respectively (- 2,1,1), and (0,1,1) movable link 2 can only be along x-axis side
To movement, left and right ends point initial position (left hand view in Fig. 4) is respectively (- 2, -1,1), (0, -1,1).These above-mentioned number of coordinates
According to the motion principle just to illustrate three connecting rods, does not have to limit to the length of three connecting rods or setting angle and make
With the plane that 3 endpoints are formed on the left of three lines is plane where swivel plate.The positional relationship of the plane determines swivel plate
Direction, that is, determine the direction of propeller.
At initial position (left hand view in Fig. 4), the parallel yz of plane where swivel plate known to You Sandian positional relationship is flat
Face, the thrust that propeller generates at this time is towards positive direction of the x-axis, robot straight ahead.
After through the position of the mobile movable link 1 of steering engine rocker arm (right part of flg in Fig. 4), 1 two sides endpoint of movable link becomes
For (- 1, -1,1), (1, -1,1).At this point, plane is by 3 points of left side (- 1, -1,1) (- 2,1) (- 2,0,1) where swivel plate
It determines, angle is changed.At this time it can be seen that thrust is towards predominantly positive direction of the x-axis component, but also there is fraction z-axis
The thrust of negative direction and positive direction of the y-axis.
By movable link 1, the change in location of movable link 2, so that plane direction realizes approximate 180 degree where swivel plate
Variation, so that robot meets the needs of 360 degree of free movements (motor can realize deboost with forward and reverse)
During robot motion, by y, z-axis direction component adjusts robot direction, passes through x-axis direction component
Drive robot front and back operation.
In this example, steering engine controls the side-to-side movement of two movable links by special sliding slot connection structure (from figure
Middle direction is seen).Three connecting rods are fixed on swivel plate by special fixed structure, control swivel plate by its different amount of movement
Rotation.Motor and propeller are fixed on swivel plate, adjust thrust direction by the rotation of swivel plate, to control entirety
Movement.
In this example, in addition to cavity wall and pod use acrylic material, the part of exposure in water is aluminium alloy material
Matter (swivel plate, front and rear cover etc.), content portion support use form of the plastics in conjunction with aluminium alloy, are guaranteeing fixing intensity
In the case of mitigate weight.
This patent propose small-sized cableless underwater robot be cylinder, principal dimensions be diameter 8cm, overall length 45cm, always
Quality is 2g.The small-sized cableless underwater robot propeller is powered using 12V, highest route speed 1m/s.The small-sized untethered water
The detecting devices and sensor that lower robot carries are suitable for depth capacity 100m.
Claims (3)
1. a kind of bi-motor is multidirectional to promote underwater autonomous robot, including being located at the fixed part on head and positioned at the drive of tail portion
Motivation structure and angle adjusting mechanism, which is characterized in that the angle adjusting mechanism includes:
Swivel plate；
The fixation connecting rod of the fixed swivel plate center, the fixation connecting rod one end and the swivel plate center are hinged, another
It holds relatively fixed with the head；
The swivel plate is driven to swing to change the movable link of its angle, movable link one end and the swivel plate are hinged；
The driver of movable link operation is driven, the output end of driver is connect with the movable link other end；
The driver is steering engine；
The movable link is hinged using universal ball end structure with the swivel plate；
The driving mechanism includes the motor being fixed on swivel plate, and the propeller being fixed on motor output shaft；
The angle adjusting mechanism further includes distinguishing position with the relatively-stationary back shroud of fixed part, the swivel plate and driver
In the two sides of back shroud, and the fixed connecting rod other end is fixed with the back shroud, and the back shroud is equipped with:
For the limit hole that the movable link passes through, so that movable link is only capable of along axial operation；
The movable link and steering engine is corresponding two groups, hinge position and the swivel plate of two movable links and swivel plate
The line in axle center is vertical；
The fixed part includes:
Front shroud；
The front shroud and back shroud are sealed against each other to fixed cavity wall；
It is equipped in the cavity wall for installing the service area of power supply and for the chip region of chip；
Cavity wall sealing is fixed at least two partitions, which is divided into the independent service area and described for cavity wall inner cavity
Chip region.
2. bi-motor according to claim 1 is multidirectional to promote underwater autonomous robot, which is characterized in that the movable link
The one end connecting with steering engine is equipped with the linkage ring of bar shaped limit hole；The rocker arm of the steering engine is equipped with and is slidably fitted in the bar shaped
Push rod in limit hole.
3. bi-motor according to claim 1 is multidirectional to promote underwater autonomous robot, which is characterized in that the front shroud court
It is fixed with pod to the side on head, the front shroud is equipped with the avoid holes of depth transducer in evacuation chip region, described
Pod is equipped with limbers, so that depth transducer directly contacts seawater.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710190500.XA CN106904258B (en) | 2017-03-28 | 2017-03-28 | Bi-motor is multidirectional to promote underwater autonomous robot |
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| CN201710190500.XA CN106904258B (en) | 2017-03-28 | 2017-03-28 | Bi-motor is multidirectional to promote underwater autonomous robot |
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| CN106904258B true CN106904258B (en) | 2019-03-19 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625215B (en) * | 2018-12-05 | 2020-09-22 | 山东大学 | Underwater vector propulsion propeller and underwater vehicle |
| US20200240952A1 (en) | 2019-01-24 | 2020-07-30 | Square Robot, Inc. | Systems, methods and apparatus for in-service tank inspections |
| CN110304227B (en) * | 2019-07-16 | 2021-01-15 | 大连海事大学 | Hydraulic artificial muscle vector regulation water jet propulsion system and vector regulation method thereof |
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| CN101028859A (en) * | 2007-03-30 | 2007-09-05 | 哈尔滨工程大学 | Reconfigured underwater robot structure |
| CN101062714A (en) * | 2006-04-29 | 2007-10-31 | 中国科学院沈阳自动化研究所 | Underwater robot sliding under buoyancy driving |
| US7465201B1 (en) * | 2004-09-20 | 2008-12-16 | The United States Of America As Represented By The Secretary Of The Navy | Articulation mechanism and elastomeric nozzle for thrust-vectored control of an undersea vehicle |
| CN103538709A (en) * | 2013-10-18 | 2014-01-29 | 天津大学 | Parallel vector propulsion mechanism of autonomous underwater vehicle |
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| CN106275341A (en) * | 2016-08-05 | 2017-01-04 | 杭州霆舟无人科技有限公司 | Universal propeller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101293312B1 (en) * | 2011-11-10 | 2013-08-05 | 한국해양과학기술원 | underwater vector thruster using constant speed joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7465201B1 (en) * | 2004-09-20 | 2008-12-16 | The United States Of America As Represented By The Secretary Of The Navy | Articulation mechanism and elastomeric nozzle for thrust-vectored control of an undersea vehicle |
| CN101062714A (en) * | 2006-04-29 | 2007-10-31 | 中国科学院沈阳自动化研究所 | Underwater robot sliding under buoyancy driving |
| CN101028859A (en) * | 2007-03-30 | 2007-09-05 | 哈尔滨工程大学 | Reconfigured underwater robot structure |
| CN103538709A (en) * | 2013-10-18 | 2014-01-29 | 天津大学 | Parallel vector propulsion mechanism of autonomous underwater vehicle |
| CN103612728A (en) * | 2013-10-30 | 2014-03-05 | 上海交通大学 | Underwater three-dimensional detection gliding robot |
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| CN106275341A (en) * | 2016-08-05 | 2017-01-04 | 杭州霆舟无人科技有限公司 | Universal propeller |
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| CN106904258A (en) | 2017-06-30 |
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