CN205239873U - Barycenter adjusting device for underwater robot - Google Patents
Barycenter adjusting device for underwater robot Download PDFInfo
- Publication number
- CN205239873U CN205239873U CN201521128340.9U CN201521128340U CN205239873U CN 205239873 U CN205239873 U CN 205239873U CN 201521128340 U CN201521128340 U CN 201521128340U CN 205239873 U CN205239873 U CN 205239873U
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- CN
- China
- Prior art keywords
- heel
- pitching
- square tube
- underwater robot
- battery pack
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model belongs to the underwater robot field, specifically speaking is a barycenter adjusting device for underwater robot, utilizes the eccentric group battery conduct of underwater robot the utility model discloses a quality piece, every single move worm wheel, every single move worm and rack and pinion through every single move drive arrangement do the meshing transmission, make eccentric group battery slide on square tube shaft to realize that barycenter adjusting device adjusts the barycenter and is moving along its axis direction, meshing rotation is with the heel worm to heel worm wheel through heel adjusting device, drives square tube shaft and eccentric group battery and is rotary motion, because the barycenter of eccentric group battery is eccentric with square tube shaft's axis existence to realized that whole barycenter adjusting device barycenter winds the rotary motion of its axis, realized whole robot system's under water every single move and heel regulatory function like this. The utility model discloses satisfy robot structure compactness under water, the energy consumption is little, demands such as reliable operation.
Description
Technical field
The utility model belongs to underwater robot field, and specifically a kind of underwater robot is usedCentroid adjustment device.
Background technology
Underwater robot is the important tool of modern marine environmental observation and resource exploration, along with waterThe development of lower Robotics, has proposed more and more higher requirement to its transaction capabilities. Machine under waterDevice people due to the impact of ocean current, wave etc., causes underwater robot in water in operation processCan not keep holding position, affect its work capacity. In addition, underwater robot is at motion processIn often need to regulate self pitching and heel attitude, these can be by regulating machine under waterDevice people's centroid position is realized.
The attitude adjustment of underwater robot is mainly by alloting two kinds of liquid and moving mass pieces at presentMode, both essence is all that the relative position that changes underwater robot barycenter and centre of buoyancy reachesAdjust the effect of attitude. Allot liquid mode and be mainly robot bow stern or a carrier left side under waterSetting-out cabin is arranged in right both sides, and it is larger that this mode takies volume, centre of buoyancy in changing barycenterAlso to change system comparatively complicated thereupon at seat. Moving mass piece is by changing robot interiorThe position of pouring weight changes the object of carrier barycenter, simultaneously the appearance of this mode to underwater robotState control accuracy is higher.
Utility model content
The purpose of this utility model is to provide a kind of underwater robot centroid adjustment device. ShouldUnderwater robot with centroid adjustment device by regulate the mode of moving mass piece carry out heel andThe demands such as the adjusting of pitching, meets underwater robot structure compactness, and energy consumption is little, reliable operation.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprise pressure-resistant cabin body, front support ring, rear support ring, eccentric battery pack,Square tube axle, heel drive unit and pitch drive, wherein the two ends of pressure-resistant cabin body respectively withFront support ring and rear support ring are tightly connected, one end of described square tube axle be arranged on front support ringOn heel drive unit be connected, the other end and described rear support ring are rotationally connected; As qualityThe described eccentric battery pack of piece is connected with the party's tubular axis is eccentric, and described pitch drive is arranged onIn eccentric battery pack; Described heel drive unit comprise heel motor, heel Equal-diameter gear wheels,Heel worm gear, heel worm screw and heel rotating shaft, this heel motor is arranged on described front support ring,Output is connected with heel worm screw by described heel Equal-diameter gear wheels, and described heel rotating shaft is rotatedBe arranged on front support ring, one end is connected with one end of described square tube axle, other end interlock have withThe heel worm gear of described heel worm engaging transmission, described square tube axle is by described heel drive unitDrive and drive the eccentric battery pack of square cooperation jointly to rotate, realize heel and regulate; DescribedPitch drive comprise pitching motor, pitching Equal-diameter gear wheels, pitching worm screw, pitching worm gear,Pitching travelling gear and tooth bar, this pitching motor is arranged in described eccentric battery pack, outputBe connected with pitching worm screw by described pitching Equal-diameter gear wheels, described pitching worm gear and this pitching snailOn bar engaged transmission and wheel shaft, be coaxially connected with pitching travelling gear, this pitching travelling gear withThe tooth bar being arranged on described square tube axle is meshed, and realizes partially by the driving of described pitching motorHeart battery pack and pitch drive move along the axial reciprocating of square tube axle, and then realize pitching and adjustJoint.
Wherein: described square tube axle is provided with cross spacing shifting part near one end of front support ring,The bilateral symmetry of the party's tubular axis is provided with spacing the opening of heel being arranged on respectively on described front support ringClose, described cross spacing shifting part rotates with square tube axle, by touching described heel limit switchThe rotary spacing of the other side's tubular axis and eccentric battery pack; On described front support ring, be rotatablely equipped with locationRotating shaft, this location rotating shaft is by location Equal-diameter gear wheels and described heel rotating shaft interlock, described surveyThe heel rotating potentiometer of detection side's tubular axis rotational angle is installed in the rotating shaft of position; Described heel electricityMachine is arranged on front support ring by heel holder, and described heel worm screw is rotatably installed in this horizontal strokeIncline on holder, on the output of described heel motor and heel worm screw, be connected with mutually and nibble respectivelyClose the heel mitre gears of transmission;
Described square tube axle is all provided with pitching limit switch near the position at two ends, described eccentric electricityPond group is on square tube axle described in two between pitching limit switch; On the wheel shaft of described pitching worm gearThe pitching rotating potentiometer that detects pitching travelling gear rotational angle is installed; Described square tube axle isInner hollow structure, described tooth bar is arranged in the party's tubular axis, and on described square tube axle with this toothThe position that bar is corresponding has bar hole, and described tooth bar is exposed, passed with described pitching by this bar holeMoving gear engaged transmission; Described pitching motor is arranged on eccentric battery pack by pitching holderOne end, described pitching worm screw is rotatably installed on this pitching holder, described pitching motor defeatedGo out the pitching mitre gears that is connected with respectively intermeshing transmission on end and pitching worm screw; Described bowingThe wheel shaft of facing upward worm gear is rotatably installed on pitching holder; The other end of described square tube axle passes through axleHold with rear support ring and be rotationally connected, and the locking nut connecting by other end end thread lockingLocation.
Advantage of the present utility model and good effect are:
1. the mass of the utility model using eccentric battery pack as centroid adjustment, does not need volumeOuter load, has alleviated the weight of whole carrier.
2. the utility model, by adopting square fit structure, has ensured that eccentric battery pack is passableSlide along square tube axle, the rotation of square tube axle simultaneously can drive the rotation of eccentric battery pack to realize systemSystem heel.
3. the utility model adopts Worm Wheel System and rack-and-pinion transmission, simple in structure,Reliable operation, has self-lock ability.
4. pitch regulation of the present utility model and heel regulate and become one, compact conformation,The adjustable range of the angle of pitch and heel is large.
5. the utility model cost is low, does not need special processing and special parts, weares and teares zeroPart is easy to change.
Brief description of the drawings
Fig. 1 is structure principle chart of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is vertical view cutaway drawing of the present utility model;
Fig. 4 is left view of the present utility model;
Fig. 5 a is the utility model one of application schematic diagram in robot under water;
Fig. 5 b be the utility model under water the application schematic diagram in robot two;
Fig. 5 c be the utility model under water the application schematic diagram in robot three;
Fig. 5 d be the utility model under water the application schematic diagram in robot four;
Fig. 5 e be the utility model under water the application schematic diagram in robot five;
Fig. 5 f be the utility model under water the application schematic diagram in robot six;
Wherein: 1 is heel worm gear, 2 is heel worm screw, and 3 is heel Equal-diameter gear wheels, and 4 areHeel motor, 5 is front support ring, and 6 is angular contact ball bearing, and 7 is pitching Equal-diameter gear wheels,8 is heel motor, and 9 is pitching worm screw, and 10 is pitching worm screw, and 11 is eccentric battery pack, 12For square tube axle, 13 is self-aligning bearing, and 14 is rear support ring, and 15 is heel rotating potentiometer,16 is location Equal-diameter gear wheels, and 17 is tooth bar, and 18 is pitching rotating potentiometer, and 19 is pitchingTravelling gear, 20 is cross spacing shifting part, and 21 is pitch drive, and 22 is pitching limitBit switch, 23 is heel holder, and 24 is location rotating shaft, and 25 is heel limit switch, 26For heel rotating shaft, 27 is pressure-resistant cabin body, and 28 is pad, and 29 is needle roller thrust bearing, and 30 areLocking nut.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Fig. 1～4, the utility model comprise pressure-resistant cabin body 27, front support ring 5, afterSupport ring 14, eccentric battery pack 11, square tube axle 12, heel drive unit and pitching drive dressPut 21, wherein the two ends of pressure-resistant cabin body 27 are close with front support ring 5 and rear support ring 14 respectivelyEnvelope connects, and square tube axle 12, eccentric battery pack 11 and pitch drive 21 are all positioned at withstand voltageIn cabin body 27.
Heel drive unit is arranged on front support ring 5, comprises that heel motor 4, heel are isometricalGear train 3, heel worm gear 1, heel worm screw 2 and heel rotating shaft 26, heel motor 4 passes throughHeel holder 23 is fixed on front support ring 5, and heel worm screw 2 is rotatably installed in this heelOn holder 23, the output of heel motor 4 is by heel Equal-diameter gear wheels 3 and heel snailBar 2 is connected, drives heel worm screw 2 to rotate; , the output of heel motor 4 andOn heel worm screw 2, key is connected with the heel mitre gears of intermeshing transmission respectively. Heel rotating shaft26 are rotatably installed on front support ring 5 by angular contact ball bearing 6, one end and square tube axle 12One end connect, other end key is connected with the heel worm gear 1 with heel worm screw 2 engaged transmission.Heel worm screw 2 drives heel worm gear 1 to rotate. The other end of square tube axle 12 passes through self-aligning bearing13, needle roller thrust bearing 29 is rotationally connected with rear support ring 14, and by other end end spiral shellLocking nut 30 locking positionings that line connects; At needle roller thrust bearing 29 and self-aligning bearing 13Between be provided with the pad 28 that is enclosed within square tube axle 12 other ends.
On front support ring 5, be rotatablely equipped with location rotating shaft 24, this location rotating shaft 24 is positioned at heelThe axial centre line parallel of one side, longitudinal center line and the heel rotating shaft 26 of rotating shaft 26, passes through16 groups of location mitre gears and heel rotating shaft 26 interlocks; , in location rotating shaft 24 and heelIn rotating shaft 26, key is connected with the location mitre gears of intermeshing transmission respectively. Location rotating shaft 24On heel rotating potentiometer 15 is installed, by these heel rotating potentiometer 15 detection side's tubular axis12 angles that turn over, and then the position of calculating centroid motion. Square tube axle 12 is near front supportOne end of ring 5 is provided with cross spacing shifting part 20, in the left and right sides of square tube axle 12 symmetryBe provided with the heel limit switch 25 being separately fixed on front support ring 5, cross spacing shifting part20 rotate with square tube axle 12, by touching heel limit switch 25, heel motor 8 are stoppedWork, both rotary spacings of the other side's tubular axis 12, play again the effect of protection centroid adjustment device.
Eccentric battery pack 11 as mass is connected with square tube axle 12 is eccentric, i.e. eccentric batteryThe barycenter of group 11 is positioned at the below of square tube axle 12 longitudinal center lines; Eccentric battery pack 11 and sideBetween tubular axis 12, be square cooperation, so in the time that square tube axle 12 rotates, eccentric battery pack 11Rotate thereupon. Because the barycenter of eccentric battery pack 11 is deposited with respect to the axis of centroid adjustment deviceIn bias, so just make the barycenter of whole centroid adjustment device along with the rotation of heel motor 4And rotate along the axis of centroid adjustment device, realize laterally (perpendicular to centroid adjustment deviceAxis direction) tilt.
Pitch drive 21 is fixed in eccentric battery pack 11, comprises pitching motor 8, bowsFace upward Equal-diameter gear wheels 7, pitching worm screw 9, pitching worm gear 10, pitching travelling gear 19 and toothBar 17, pitching motor 8 is fixed in one end of eccentric battery pack 11 by pitching holder, bowFace upward worm screw 9 and be rotatably installed on this pitching holder, described in the output of pitching motor 8 passes throughPitching Equal-diameter gear wheels 7 are connected, drive pitching worm screw 9 to rotate with pitching worm screw 9;, on the output of pitching motor 8 and pitching worm screw 9, be connected with respectively intermeshing transmissionPitching mitre gears. The wheel shaft of pitching worm gear 10 is rotatably installed on pitching holder, and bowsFace upward worm screw 9 engaged transmission. On the wheel shaft of pitching worm gear 10, be coaxially connected with pitching travelling gear19. Square tube axle 12 is inner hollow structure, and tooth bar 17 is arranged in the party's tubular axis 12, andPosition corresponding with this tooth bar 17 on square tube axle 12 has bar hole, and tooth bar 17 is by this bar shapedHole exposes, with pitching travelling gear 19 engaged transmission, like this by the rotation fortune of pitching motor 8Moving conversion for pitch drive 21 and eccentric battery pack 11 are along the axial water of square tube axle 12Flat reciprocating motion, thus drive eccentric battery pack 11 to do horizontal slip at square tube axle 12, and thenRealize pitch regulation. Pitching rotating potentiometer 18 is also installed on the wheel shaft of pitching worm gear 10,The angle that this pitching rotating potentiometer 18 turns over by detection pitching driven wheel 19 is calculated partiallyThe position of heart battery pack 11. If pitching drive motors 8 rotates backward, eccentric battery pack11 also by counter motion. Pitching worm gear 10, pitching worm screw 9 have auto-lock function, therefore work asWhen pitching drive motors 8 stops operating, eccentric battery pack 11 can not be slided, so justRealize whole centroid adjustment device barycenter moving along its axis direction. Lean at square tube axle 12The position at nearly two ends is all provided with pitching limit switch 22, and eccentric battery pack 11 is positioned at square tube axleOn 12 between two pitching limit switches 22.
Installation process of the present utility model is:
By heel motor 4, heel holder 23, heel worm screw 2, heel Equal-diameter gear wheels 3,Heel worm gear 1, angular contact ball bearing 6, heel rotating potentiometer 15, angle measurement rotating shaft 24, surveyPosition Equal-diameter gear wheels 16, heel limit switch 25, heel rotating shaft 26 are fixedly connected on front supportOn ring 5, as heel drive unit. Tooth bar 17 is fixed in square tube axle 12, by pitchingDrive unit 21 is fixed in eccentric battery pack 11, more eccentric battery pack 11 is penetrated to square tubeIn axle 12. Spacing heel shifting part 20, pitching limit switch 22 are fixed by screws inOn square tube axle 12, the left end of square tube axle 12 is coordinated to location with heel rotating shaft 26 by seamAfter be screwed, finally pressure-resistant cabin body 27 is coordinated by seam with front support ring 5Location, then the right-hand member of square tube axle 12 is passed to self-aligning bearing 13, the pad in rear support ring 14Sheet 28, the rear locking nut 30 of using of needle roller thrust bearing 29 are with tightly. When Angle of Heel goes to the limit, the spacing shifting part 20 of heel touches heel limit switch 25 when the position, and heel motor 4 stopsWork, plays the effect of protection system. When eccentric battery pack 11 moves to limit position along axisWhile putting, touch pitching limit switch 22, eccentric battery pack 11 stops moving along axis, plays guarantorThe effect of protecting system. Eccentric battery pack 11 is except for centroid adjustment device provides electric energy,In centroid adjustment device, also play the effect of weight, by it seesaw and around axisGyration change the barycenter of system. Alleviate whole as weight by eccentric battery pack 11The weight of individual system.
Operation principle of the present utility model is:
After underwater robot machines, its structure and volume just can not change (for analyzingProblem is convenient, does not consider the impact of buoyancy adjustment on underwater robot buoyancy and center of gravity at this),Under the centre of buoyancy of underwater robot (underwater robot is at the application point of buoyancy) just determined soCome. As shown in Fig. 5 a～5f: F represents the buoyancy that underwater robot is suffered, G represents under waterThe gravity of robot self, the application point of power represents with black small circle. Buoyancy F does not occurChange, by changing the position of application point (center of gravity) of underwater robot, just can make underwaterPeople has different attitudes under water.
Suppose when eccentric battery pack 11 in the utility model is adjusted to a certain position machine under waterDevice people is in level, as shown in Figure 5 a. When the eccentric battery pack 11 of centroid adjustment deviceWhile moving along carrier bow direction (opposite direction of x axle), the center of gravity of whole carrier also will be along sameOne direction moves; At this moment, the direction of gravity and buoyancy, not on same straight line, will produce oneIndividual deflection torque, promotes shape a in an angle between carrier and x axle, as shown in Figure 5 b.If when center of gravity of the present utility model is moved along carrier stern direction (positive direction of x axle),The effect producing as shown in Figure 5 c.
Equally, suppose when eccentric battery pack 11 in the utility model is adjusted to a certain position,Underwater robot is in level, as shown in Fig. 5 d. When centroid adjustment device generation heelWhen motion (heel worm gear, heel worm screw drive eccentric battery pack to rotate), the weight of whole carrierThe heart also will rotate in the same direction. In like manner, gravity and buoyancy is in order to reach poised state,The motion that will deflect of whole carrier. If the rotation direction of eccentric battery pack 11 is along x axleDo counterclockwise and rotate, will produce the effect shown in Fig. 5 e; If eccentric battery pack11 rotation direction, for doing clockwise and rotate along x axle, will produce shown in Fig. 5 fEffect.
Claims (9)
1. a underwater robot centroid adjustment device, is characterized in that: comprise pressure-resistant cabinBody (27), front support ring (5), rear support ring (14), eccentric battery pack (11), square tubeAxle (12), heel drive unit and pitch drive (21), wherein pressure-resistant cabin body (27)Two ends be tightly connected with front support ring (5) and rear support ring (14) respectively, described square tubeOne end of axle (12) is connected with the heel drive unit being arranged on front support ring (5), anotherOne end and described rear support ring (14) are rotationally connected; As the described eccentric battery pack of mass(11) be connected with the party's tubular axis (12) is eccentric, described pitch drive (21) is arranged onIn eccentric battery pack (11); Described heel drive unit comprises heel motor (4), heel etc.Footpath gear train (3), heel worm gear (1), heel worm screw (2) and heel rotating shaft (26), shouldIt is upper that heel motor (4) is arranged on described front support ring (5), and output is by described heel etc.Footpath gear train (3) is connected with heel worm screw (2), and described heel rotating shaft (26) is rotated and installedUpper at front support ring (5), one end is connected with one end of described square tube axle (12), the other endInterlock has the heel worm gear (1) with described heel worm screw (2) engaged transmission, described square tube axle(12) drive and drive the eccentric battery pack (11) of square cooperation by described heel drive unitCommon rotation, realizes heel and regulates; Described pitch drive (21) comprise pitching motor (8),Pitching Equal-diameter gear wheels (7), pitching worm screw (9), pitching worm gear (10), pitching driving cogWheel (19) and tooth bar (17), this pitching motor (8) is arranged on described eccentric battery pack (11)Upper, output is connected with pitching worm screw (9) by described pitching Equal-diameter gear wheels (7), instituteStating pitching worm gear (10) is coaxially connected with on this pitching worm screw (9) engaged transmission and wheel shaftHave pitching travelling gear (19), this pitching travelling gear (19) be arranged on described square tube axle(12) tooth bar (17) on is meshed, and realizes by the driving of described pitching motor (8)Eccentric battery pack (11) and pitch drive (21) are along the axial reciprocating of square tube axle (12)Mobile, and then realize pitch regulation.
2. by underwater robot claimed in claim 1 centroid adjustment device, its feature existsIn: described square tube axle (12) is provided with cross spacing near one end of front support ring (5) and dialsMoving part (20), the bilateral symmetry of the party's tubular axis (12) is provided with and is arranged on respectively described front supportHeel limit switch (25) on ring (5), described cross spacing shifting part (20) is with square tubeAxle (12) rotate, by touch described heel limit switch (25) the other side's tubular axis (12) andThe rotary spacing of eccentric battery pack (11).
3. by underwater robot claimed in claim 1 centroid adjustment device, its feature existsIn: on described front support ring (5), be rotatablely equipped with location rotating shaft (24), this location rotating shaft (24)By location Equal-diameter gear wheels (16) and described heel rotating shaft (26) interlock, described location turnsThe heel rotating potentiometer (15) of detection side's tubular axis (12) rotational angle is installed on axle (24).
4. by the underwater robot centroid adjustment device described in claim 1,2 or 3, itsBe characterised in that: described heel motor (4) is arranged on front support by heel holder (23)Ring (5) is upper, and it is upper that described heel worm screw (2) is rotatably installed in this heel holder (23),On the output of described heel motor (4) and heel worm screw (2), be connected with respectively intermeshingThe heel mitre gears of transmission.
5. by underwater robot claimed in claim 1 centroid adjustment device, its feature existsIn: described square tube axle (12) is all provided with pitching limit switch (22) near the position at two ends,Described eccentric battery pack (11) is positioned at pitching limit switch (22) described in square tube axle (12) upper twoBetween.
6. by underwater robot claimed in claim 1 centroid adjustment device, its feature existsIn: detection pitching travelling gear (19) is installed on the wheel shaft of described pitching worm gear (10) and turnsThe pitching rotating potentiometer (18) of moving angle.
7. by underwater robot claimed in claim 1 centroid adjustment device, its feature existsIn: described square tube axle (12) is inner hollow structure, and described tooth bar (17) is arranged on the partyIn tubular axis (12), and open at the upper position corresponding with this tooth bar (17) of described square tube axle (12)Have bar hole, described tooth bar (17) by this bar hole expose, with described pitching travelling gear (19)Engaged transmission.
8. by the underwater robot centroid adjustment device described in claim 1,5,6 or 7,It is characterized in that: described pitching motor (8) is arranged on eccentric battery pack by pitching holder(11) one end, described pitching worm screw (9) is rotatably installed on this pitching holder, instituteState on the output of pitching motor (8) and pitching worm screw (9) and be connected with respectively intermeshing biographyMoving pitching mitre gears; The wheel shaft of described pitching worm gear (10) is rotatably installed in pitching and fixesOn seat.
9. by underwater robot claimed in claim 1 centroid adjustment device, its feature existsIn: the other end of described square tube axle (12) is rotationally connected by bearing and rear support ring (14),And locking nut (30) locking positioning connecting by other end end thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521128340.9U CN205239873U (en) | 2015-12-30 | 2015-12-30 | Barycenter adjusting device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521128340.9U CN205239873U (en) | 2015-12-30 | 2015-12-30 | Barycenter adjusting device for underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205239873U true CN205239873U (en) | 2016-05-18 |
Family
ID=55938941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521128340.9U Withdrawn - After Issue CN205239873U (en) | 2015-12-30 | 2015-12-30 | Barycenter adjusting device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205239873U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106005328A (en) * | 2016-07-15 | 2016-10-12 | 中国科学院自动化研究所 | Three-dimensional barycenter adjusting device for robot jellyfish |
| CN106828843A (en) * | 2016-10-31 | 2017-06-13 | 中国航天空气动力技术研究院 | A kind of underwater robot attitude regulation mechanism |
| CN106926997A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot centroid adjustment device |
| 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 |
| CN111017170A (en) * | 2019-12-30 | 2020-04-17 | 西安智荣机电科技有限公司 | High-efficient built-in antenna glider under water |
-
2015
- 2015-12-30 CN CN201521128340.9U patent/CN205239873U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926997A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of underwater robot centroid adjustment device |
| CN106926997B (en) * | 2015-12-30 | 2019-02-15 | 中国科学院沈阳自动化研究所 | A kind of underwater robot centroid adjustment device |
| CN106005328A (en) * | 2016-07-15 | 2016-10-12 | 中国科学院自动化研究所 | Three-dimensional barycenter adjusting device for robot jellyfish |
| CN106828843A (en) * | 2016-10-31 | 2017-06-13 | 中国航天空气动力技术研究院 | A kind of underwater robot attitude regulation mechanism |
| 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 |
| CN111017170A (en) * | 2019-12-30 | 2020-04-17 | 西安智荣机电科技有限公司 | High-efficient built-in antenna glider under water |
| CN111017170B (en) * | 2019-12-30 | 2022-02-11 | 西安智荣机电科技有限公司 | High-efficient built-in antenna glider under water |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160518 Effective date of abandoning: 20190215 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20160518 Effective date of abandoning: 20190215 |