CN114524058A - Bionic water strider scientific research ship - Google Patents
Bionic water strider scientific research ship Download PDFInfo
- Publication number
- CN114524058A CN114524058A CN202210156957.XA CN202210156957A CN114524058A CN 114524058 A CN114524058 A CN 114524058A CN 202210156957 A CN202210156957 A CN 202210156957A CN 114524058 A CN114524058 A CN 114524058A
- Authority
- CN
- China
- Prior art keywords
- leg
- frame
- central
- transmission structure
- connecting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a bionic water strider scientific research ship, which comprises a central frame; the four end legs of the central ship frame are provided with a position adjusting device; a floating body is connected to the position below the position adjusting device and close to the water surface; the positioning device comprises an active positioning leg and a passive positioning leg; the passive positioning legs are connected with the central ship frame; the active positioning leg is connected with the floating body; the passive positioning leg comprises an upper connecting plate, an air damping damper, an active positioning leg connecting frame and a lower connecting plate; the active positioning leg comprises a box seat, a box cover, a transmission mechanism and a base; the transmission mechanism comprises a first transmission structure and a second transmission structure; the first transmission structure comprises an upper driving motor, a first belt transmission structure, an outer driving leg, a driving leg outer bearing and a first driven leg; the second transmission structure comprises a lower driving motor, a second belt transmission structure, an inner driving leg, a driving leg inner bearing and a second driven leg. The invention can ensure the stability of the central frame in the running process in unbalanced load and wind and wave environments by imitating the physiological structure of the water strider.
Description
Technical Field
The invention relates to a bionic water strider scientific research ship, and belongs to the field of bionic machinery.
Background
With the continuous progress of modern science and technology, people have stronger and stronger imitation ability on biological characteristics. Because the anti-jamming capability of the water strider to waves is very strong, and the water strider has extremely strong stability and acts rapidly on the water surface, people continuously imitate and make the characteristics of the water strider so as to collect water samples or carry out practical work such as rescue on the water. However, the existing water strider robot in the prior art has low efficiency, slow advancing speed on the water surface and lower wind and wave resistance and interference resistance than the expectation.
Disclosure of Invention
In view of the problems of the prior art, the present invention provides a bionic water strider scientific research vessel, thereby improving the anti-jamming capability and the movement speed of the water strider robot.
In order to achieve the purpose, the invention adopts the technical scheme that: a bionic water strider scientific research ship comprises a central ship frame; the central shipway comprises a central rod connected with the front and the rear positions and central frames positioned on two sides of the central rod; the central frame comprises an upper U-shaped frame and a lower U-shaped frame which are arranged in parallel and a vertical supporting rod positioned between the upper U-shaped frame and the lower U-shaped frame; the four end feet of the central ship frame are provided with a position adjusting device; a floating body is connected to the position below the position adjusting device, which is close to the water surface; the positioning device comprises an active positioning leg and a passive positioning leg; the passive positioning legs are connected with the central ship frame; the active positioning leg is connected with the floating body;
the passive positioning leg comprises an upper connecting plate, an air damping damper, an active positioning leg connecting frame and a lower connecting plate; one end of the upper connecting plate is connected to the U-shaped frame close to the upper end of the central frame, and the other end of the upper connecting plate is connected to one side of the active positioning leg connecting frame; one end of the lower connecting plate is connected to the U-shaped frame close to the lower end of the central frame, and the other end of the lower connecting plate is connected to one side of the active positioning leg connecting frame; the air damping damper is arranged between the upper connecting plate and the lower connecting plate, and two ends of the air damping damper are respectively connected to the U-shaped frame close to the upper end of the central frame and the active positioning leg connecting frame;
the active positioning leg comprises a box seat, a box cover, a transmission mechanism positioned in the box seat and a base; the transmission mechanism comprises a first transmission structure and a second transmission structure;
the first transmission structure comprises an upper driving motor, a first belt transmission structure, an outer driving leg, a driving leg outer bearing and a first driven leg; the upper driving motor is arranged in the box seat and is in transmission connection with the belt I; one side of the belt transmission structure is connected with the outer driving legs; the outer driving leg is connected with the first driven leg through a leg connecting shaft; the first driven leg is connected with the base through a base connecting shaft;
the second transmission structure comprises a lower driving motor, a second belt transmission structure, an inner driving leg, a driving leg inner bearing and a driven leg II; the belt transmission structure II is arranged in the box seat and is connected with the belt transmission structure II; one side of the belt transmission structure II is connected with an inner driving leg; the inner driving leg is connected with the driven leg II through a leg connecting shaft; the driven leg two-way is connected with the base through a base connecting shaft; the base is fixed on the floating body.
Furthermore, the upper connecting plate, the shock absorption damper and the lower connecting plate are respectively provided with a connecting hole or an integrated connecting shaft which is connected with the corresponding position of the center frame in a matching way; the active positioning leg connecting frame is provided with corresponding connecting holes and an integrated connecting shaft on the back plate, and the active positioning leg connecting frame is respectively connected with the connecting holes or the integrated connecting shaft on the upper connecting plate, the damping damper and the lower connecting plate in a matching way.
Furthermore, the connecting lines of the inner end and the outer end of the upper connecting plate and the lower connecting plate are equal in length; the lengths of the corresponding positions of the active positioning leg connecting frame, the central frame and the two connecting plates in the vertical direction are equal.
Furthermore, the box seat is welded and fixed with the connecting frame of the active positioning leg of the passive positioning leg.
Further, the outer driving leg and the inner driving leg are nested and connected in parallel, and torque is provided by the upper driving motor and the lower driving motor respectively; the upper driving motor and the lower driving motor are symmetrical and equal in rotating amplitude.
Furthermore, the four corners of the center frame and the connecting frames of the active positioning legs are provided with single-axis acceleration sensors and linear displacement sensors, and the lower rod in the center of the center frame is provided with a speed sensor.
Furthermore, the number of the central rods of the central shipway frame is three, and the central rods are symmetrically distributed between the two central frames.
The invention has the beneficial effects that: according to the invention, the stability of the central hull frame in the running process of the water strider in unbalanced load and wind wave environments is ensured by imitating the physiological structure of the water strider and by the active positioning legs and the passive positioning legs which are arranged at the four corners of the central hull frame.
Drawings
FIG. 1 is a schematic diagram of the overall apparatus of the present invention;
FIG. 2 is a schematic exploded view of a passive positioning leg of the bionic water strider scientific research vessel of the present invention;
FIG. 3 is a schematic exploded view of the active positioning leg of the bionic water strider scientific research vessel of the present invention;
FIG. 4 is a schematic view showing the connection structure of the external driving leg and the internal driving leg with the base of the bionic water strider scientific research vessel of the present invention;
FIG. 5 is a schematic cross-sectional view showing the internal structure of the cartridge of the bionic water strider scientific research vessel of the present invention.
In the figure: 1. the automatic positioning device comprises a driving positioning leg, 2, a driven positioning leg, 3, a central shipway frame, 31, a central rod, 4, a floating body, 5, an upper connecting plate, 6, an air damper, 7, a driving positioning leg connecting frame, 8, a lower connecting plate, 9, a central frame, 91, a U-shaped frame, 92, a vertical supporting rod, 10, a box seat, 11, a box cover, 12, an upper driving motor, 13, a lower driving motor, 14, a belt transmission structure I, 15, a belt transmission structure II, 16, an outer driving leg, 17, an inner driving leg, 18, a driving leg outer bearing, 19, a driving leg inner bearing, 20, a driven leg I, 21, a driven leg II, 22, a leg connecting shaft, 23, a base, 24 and a base connecting shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
As shown in FIGS. 1, 2 and 3, a bionic water strider scientific research vessel comprises a central frame 3; the central shipway frame 3 comprises a central rod 31 connected with the front and rear positions and a central frame 9 positioned at two sides of the central rod 31; the central frame 9 comprises an upper U-shaped frame 91 and a lower U-shaped frame 91 which are arranged in parallel, and a vertical supporting rod 92 positioned between the upper U-shaped frame 91 and the lower U-shaped frame 91; the four end feet of the central ship frame 3 are provided with a position adjusting device; a floating body 4 is connected to the position below the position adjusting device and close to the water surface; the positioning device comprises an active positioning leg 1 and a passive positioning leg 2; the passive positioning legs 2 are connected with a central ship frame 3; the active positioning leg 1 is connected with the floating body 4;
the passive positioning leg 2 comprises an upper connecting plate 5, an air damping damper 6, an active positioning leg connecting frame 7 and a lower connecting plate 8; one end of the upper connecting plate 5 is connected to the U-shaped frame 91 close to the upper end of the central frame 9, and the other end of the upper connecting plate is connected to one side of the active positioning leg connecting frame 7; one end of the lower connecting plate 8 is connected to the U-shaped frame 91 close to the lower end of the central frame 9, and the other end of the lower connecting plate is connected to one side of the active positioning leg connecting frame 7; the air damping damper 6 is arranged between the upper connecting plate 5 and the lower connecting plate 8, and two ends of the air damping damper are respectively connected to the U-shaped frame 91 close to the upper end of the central frame 9 and the active positioning leg connecting frame 7;
the active positioning leg 1 comprises a box base 10, a box cover 11, a transmission mechanism positioned in the box base 10 and a base 23; the transmission mechanism comprises a first transmission structure and a second transmission structure;
the first transmission structure comprises an upper driving motor 12, a first belt transmission structure 14, an outer driving leg 16, a driving leg outer bearing 18 and a driven leg one 20; an upper driving motor 12 is arranged in the box base 10 and is connected with a belt transmission unit 14; one side of the belt transmission structure I14 is connected with an outer driving leg 16; the outer driving leg 16 is connected with the driven leg I20 through a leg connecting shaft 22; the driven leg I20 is connected with a base 23 through a base connecting shaft 24;
the second transmission structure comprises a lower driving motor 13, a second belt transmission structure 15, an inner driving leg 17, a driving leg inner bearing 19 and a second driven leg 21; the second belt transmission structure 15 is arranged in the box base 10 and is connected with the second belt transmission structure 15; one side of the belt transmission structure II 15 is connected with an inner driving leg 17; the inner driving leg 17 is connected with the second driven leg 21 through a leg connecting shaft 22; the driven leg II 21 is connected with the base 23 through a base connecting shaft 24; the base 23 is fixed to the floating body 4.
Referring to fig. 4, a circular hole for embedding a first transmission structure and a second transmission structure is formed in the case cover 11, a circular hole is formed in an outer driving leg 16 of the first transmission structure, an inner driving leg 17 of the second transmission structure is connected to the circular hole formed in the outer driving leg 16 and fixed through respective bearings, and the bearings are connected in an interference fit manner.
Preferably, the upper connecting plate 5, the shock absorption damper 6 and the lower connecting plate 8 are respectively provided with a connecting hole or an integral connecting shaft which is matched and connected with the corresponding position of the center frame 9; the active positioning leg connecting frame 7 is provided with corresponding connecting holes and an integrated connecting shaft on the back plate, and the connecting holes or the integrated connecting shaft are respectively matched and connected with the connecting holes or the integrated connecting shaft on the upper connecting plate 5, the shock absorption damper 6 and the lower connecting plate 8.
Preferably, the connection line lengths of the inner end and the outer end of the upper connecting plate 5 and the lower connecting plate 8 are equal; the lengths of the corresponding positions of the active positioning leg connecting frame 7 and the central frame 9 matched with the two connecting plates are equal in the vertical direction.
Preferably, the box base 1 and the active positioning leg connecting frame 7 of the passive positioning leg 2 are welded and fixed.
In the structure, preferably, the outer driving leg 16 and the inner driving leg 17 are nested and connected in parallel, and the torque is provided by the upper driving motor 12 and the lower driving motor 13 respectively; the upper driving motor 12 and the lower driving motor 13 are symmetrical in amplitude.
The structure is preferred, the four corners of the central frame 9 and the active positioning leg connecting frames 7 are provided with single-axis acceleration sensors and linear displacement sensors, and the lower rod in the center of the central frame 9 is provided with a speed sensor.
In the present structure, preferably, three central rods 31 of the central cradle 3 are provided, which are symmetrically distributed between the two central cradles 9.
The operation mode comprises a low-speed mode and a high-speed mode, when the ship speed measured by the speed sensor is less than or equal to 6m/s, the system defaults to a low-speed operation mode, and the operation mode is suitable for a coast area with small wave shock and low running speed; according to the design concept, in a low-speed operation mode, the balance of the ship body is mainly influenced by gravity center offset and wave impact with smaller amplitude caused by applying load, so that the system allocates larger allowable rotating amplitude to the driving motors of the active seasoning legs 1, namely allocates larger allowable vertical direction as displacement to the active positioning legs 1, takes a linear displacement sensor as main negative feedback, adjusts the posture of the ship body through the active positioning legs 1, and reduces the oscillation through the damping dampers 6;
when the penetration speed measured by the speed sensor is more than 6m/s, the system defaults to a high-speed operation mode, and the mode is suitable for open sea areas with large wave shock and high running speed; according to the design concept, under the high-speed operation mode, the balance of the ship body is mainly influenced by sea wave impact with large amplitude in a far sea area and high relative impact speed, and under the condition of high relative impact speed, the damping dampers 6 have better response sensitivity, so that the system can keep the vertical height of each active positioning leg 1 with central balance when storing the low-speed operation mode, distribute small allowable rotating amplitude to the driving motors of each active positioning leg 1, improve allowable torque and reset response speed, keep each active positioning leg 1 in a stable posture, transmit the impact to the outer end of each passive positioning leg 2, absorb the impact by the damping dampers 6, and keep the central ship frame 3 stable.
The operation mode can be manually switched, and when the manual mode switching is carried out, the system reminds an operator whether the operator is mistakenly touched through the voice module so as to prevent the operation mode switching from being not suitable for the current actual operation condition and prevent the center of gravity deviation caused by the allowable vertical displacement conversion of the active positioning leg 1.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the invention is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (7)
1. A bionic water strider scientific research ship is characterized by comprising a central ship frame (3); the central shipway frame (3) comprises a central rod (31) connected with the front and rear positions and a central frame (9) positioned on two sides of the central rod (31); the central frame (9) comprises an upper U-shaped frame (91) and a lower U-shaped frame (91) which are arranged in parallel and a vertical supporting rod (92) which is positioned between the upper U-shaped frame and the lower U-shaped frame (91); the four end feet of the central ship frame (3) are provided with a position adjusting device; a floating body (4) is connected to the position below the position adjusting device and close to the water surface; the positioning device comprises an active positioning leg (1) and a passive positioning leg (2); the passive positioning legs (2) are connected with the central ship frame (3); the active positioning leg (1) is connected with the floating body (4);
the passive positioning leg (2) comprises an upper connecting plate (5), an air damping damper (6), an active positioning leg connecting frame (7) and a lower connecting plate (8); one end of the upper connecting plate (5) is connected to the U-shaped frame (91) close to the upper end of the central frame (9), and the other end of the upper connecting plate is connected to one side of the active positioning leg connecting frame (7); one end of the lower connecting plate (8) is connected to the U-shaped frame (91) close to the lower end of the central frame (9), and the other end of the lower connecting plate is connected to one side of the active positioning leg connecting frame (7); the air damping damper (6) is arranged between the upper connecting plate (5) and the lower connecting plate (8), and two ends of the air damping damper are respectively connected to the U-shaped frame (91) close to the upper end of the central frame (9) and the active positioning leg connecting frame (7);
the active positioning leg (1) comprises a box seat (10), a box cover (11), a transmission mechanism positioned in the box seat (10) and a base (23); the transmission mechanism comprises a first transmission structure and a second transmission structure;
the first transmission structure comprises an upper driving motor (12), a first belt transmission structure (14), an outer driving leg (16), a driving leg outer bearing (18) and a first driven leg (20); the upper driving motor (12) is arranged in the box base (10) and is connected with the belt transmission unit (14); one side of the belt transmission structure I (14) is connected with an outer driving leg (16); the outer driving leg (16) is connected with the first driven leg (20) through a leg connecting shaft (22); the driven leg I (20) is connected with the base (23) through a base connecting shaft (24);
the second transmission structure comprises a lower driving motor (13), a second belt transmission structure (15), an inner driving leg (17), a driving leg inner bearing (19) and a second driven leg (21); the second belt transmission structure (15) is arranged in the box base (10) and is connected with the second belt transmission structure (15); one side of the belt transmission structure II (15) is connected with an inner driving leg (17); the inner driving leg (17) is connected with the driven leg II (21) through a leg connecting shaft (22); the second driven leg (21) is connected with the base (23) through a base connecting shaft (24); the base (23) is fixed on the floating body (4);
and a circular hole for embedding a first transmission structure and a second transmission structure is formed in the box cover (11).
2. The bionic water strider scientific research ship as claimed in claim 1, wherein the upper connecting plate (5), the shock absorption damper (6) and the lower connecting plate (8) are respectively provided with a connecting hole or an integrated connecting shaft, and are connected with the corresponding positions of the center frame (9) in a matching manner; the active positioning leg connecting frame (7) is provided with corresponding connecting holes and an integrated connecting shaft on a back plate, and the connecting holes or the integrated connecting shaft are respectively matched and connected with the connecting holes or the integrated connecting shaft which are formed on the upper connecting plate (5), the shock absorption damper (6) and the lower connecting plate (8).
3. The bionic water strider scientific research ship as claimed in claim 1, wherein the connecting lines of the inner end and the outer end of the upper connecting plate (5) and the lower connecting plate (8) are equal in length; the lengths of the corresponding positions of the active positioning leg connecting frame (7) and the central frame (9) matched with the two connecting plates are equal in the vertical direction.
4. The bionic water strider scientific research vessel as claimed in claim 1, wherein the case base (1) is welded and fixed with the active positioning leg connecting frame (7) of the passive positioning leg (2).
5. The biomimetic water strider scientific research vessel as claimed in claim 1, wherein the outer drive leg (16) and the inner drive leg (17) are nested and connected in parallel, and are provided with torque by an upper drive motor (12) and a lower drive motor (13), respectively; the upper driving motor (12) and the lower driving motor (13) are symmetrical and equal in rotating amplitude.
6. The bionic water strider scientific research vessel as claimed in claim 1, wherein the four corners of the center frame (9) and the active positioning leg connecting frames (7) are provided with single-axis acceleration sensors and linear displacement sensors, and the lower rod in the center of the center frame (9) is provided with a speed sensor.
7. The bionic water strider scientific research vessel as claimed in claim 1, wherein the number of the central rods (31) of the central frame (3) is three, and the three central rods are symmetrically distributed between the two central frames (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156957.XA CN114524058B (en) | 2022-02-21 | 2022-02-21 | Bionic water strider scientific research ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156957.XA CN114524058B (en) | 2022-02-21 | 2022-02-21 | Bionic water strider scientific research ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114524058A true CN114524058A (en) | 2022-05-24 |
| CN114524058B CN114524058B (en) | 2022-12-02 |
Family
ID=81625771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210156957.XA Active CN114524058B (en) | 2022-02-21 | 2022-02-21 | Bionic water strider scientific research ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114524058B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61139567A (en) * | 1984-12-10 | 1986-06-26 | Mitsubishi Heavy Ind Ltd | Walking machine |
| BRMU8802277U2 (en) * | 2008-06-26 | 2010-02-23 | Miguel Ignacio Serrano | pneumatically operated hexapod articulated robot |
| CN104176223A (en) * | 2014-08-25 | 2014-12-03 | 哈尔滨工业大学 | Water-skipper-imitated water sports robot |
| CN107571933A (en) * | 2017-08-15 | 2018-01-12 | 北京航空航天大学 | A kind of suspension applied to quadruped robot |
| CN210653415U (en) * | 2019-05-28 | 2020-06-02 | 广东省智能制造研究所 | Agile quadruped robot based on coaxial parallel mechanism |
| CN113120110A (en) * | 2021-04-12 | 2021-07-16 | 华侨大学 | Wheeled-foot robot |
-
2022
- 2022-02-21 CN CN202210156957.XA patent/CN114524058B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61139567A (en) * | 1984-12-10 | 1986-06-26 | Mitsubishi Heavy Ind Ltd | Walking machine |
| BRMU8802277U2 (en) * | 2008-06-26 | 2010-02-23 | Miguel Ignacio Serrano | pneumatically operated hexapod articulated robot |
| CN104176223A (en) * | 2014-08-25 | 2014-12-03 | 哈尔滨工业大学 | Water-skipper-imitated water sports robot |
| CN107571933A (en) * | 2017-08-15 | 2018-01-12 | 北京航空航天大学 | A kind of suspension applied to quadruped robot |
| CN210653415U (en) * | 2019-05-28 | 2020-06-02 | 广东省智能制造研究所 | Agile quadruped robot based on coaxial parallel mechanism |
| CN113120110A (en) * | 2021-04-12 | 2021-07-16 | 华侨大学 | Wheeled-foot robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114524058B (en) | 2022-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6027090B2 (en) | Pitch-driven wave energy converter device and system | |
| CN107225924B (en) | A kind of amphibious robot and its control method of wheel paddle leg one | |
| CN205819522U (en) | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage | |
| CN102180249B (en) | Intelligent biomimetic robotic dolphin | |
| CN204846312U (en) | Prevent wind bionical water skipper robot of unrestrained type with mode conversion function | |
| AU2012236812A1 (en) | Multi-mode wave energy converter devices and systems | |
| CN104943832B (en) | Bionic wind-proof and wave-proof type water strider robot with schema translation function | |
| CN109720526A (en) | A kind of pendulous device of imitative whale tail | |
| CN114524058B (en) | Bionic water strider scientific research ship | |
| CN112693570A (en) | Water surface garbage cleaning robot fish based on motion of auxiliary tail fin of pectoral fin | |
| CN207708149U (en) | Reciprocating vibration type motion device | |
| CN101391648A (en) | Amplitude-adjustable platform with single freedom degree | |
| CN216580945U (en) | A bionical machine fish for aquaculture | |
| CN209719883U (en) | A kind of pendulous device of imitative whale tail | |
| CN110091966A (en) | A kind of overturn-preventing water strider robot of center of gravity automatic adjusument | |
| CN211058944U (en) | Floated wave energy power generation facility | |
| CN111003115A (en) | Damping capable of resisting up-and-down fluctuation of ship body | |
| CN209037817U (en) | Underwater glider gravity adjusting device | |
| CN110884587B (en) | Pneumatic quadruped robot | |
| CN112265623A (en) | Gravity center and floating and sinking adjusting device of underwater robot | |
| CN117212034B (en) | Deformable multi-degree-of-freedom multistable wave energy power generation device | |
| CN202250578U (en) | Resonant wave power generation device | |
| Yan et al. | A new type large-scale water-jumping robot design and simulation | |
| CN221606032U (en) | Rope drives parallelly connected six degrees of freedom boats and ships and sways test device | |
| CN113982809B (en) | Hydraulic turbine roll/pitch simulation experiment device and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |