CN207008410U - One kind is paddled robot gravity adjusting device and the robot that paddles - Google Patents
One kind is paddled robot gravity adjusting device and the robot that paddles Download PDFInfo
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- CN207008410U CN207008410U CN201720658565.8U CN201720658565U CN207008410U CN 207008410 U CN207008410 U CN 207008410U CN 201720658565 U CN201720658565 U CN 201720658565U CN 207008410 U CN207008410 U CN 207008410U
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Abstract
Paddled robot gravity adjusting device the utility model discloses one kind, including being arranged at least two chambers in the robot and governor motion with each chamber, the governor motion adjust the position of centre of gravity for the robot that paddles by adjusting the liquid volume of each chamber interior respectively of paddling.The utility model also provides a kind of robot that paddles using the gravity adjusting device simultaneously, its robot gravity adjusting device of paddling is simple in construction, conduct oneself with dignity small, control effect is good, solving needs to carry out center of gravity regulation by parts such as sliding block, motor, leading screw or slide rails in the prior art, and so as to cause gravity adjusting device complicated, volume is big, dead load is big, the problem of taking more more important central space.
Description
Technical field
The robot field that paddles is the utility model is related to, paddles and robot gravity adjusting device and relates to more particularly, to one kind
Water robot.
Background technology
Earth major part area is covered with water, and the utilization to water resource are to realize that one of human kind sustainable development has
Effect approach.But because the underwater environment uncertain factor such as ocean, fresh water is more, danger coefficient is high, so environment is provided under water
There is higher potential safety hazard during the work such as source exploration, environmental monitoring for people, and replace people's operation can with the robot that paddles
To solve this problem.
Gravity center adjuster is pith when paddling robot progress sub-aqua sport, and it can help the robot that paddles
Position of centre of gravity is adjusted when moving under water, so as to adjust robot pose of paddling, it is ensured that the robot that paddles accurately completes every fortune
It is dynamic.A kind of underwater monitoring is disclosed in existing patent to paddle robot, provided with center of gravity adjustment structure, including Level tune motor,
The eccentric slip that circumferential motor and the mode that can in the horizontal direction slide and can be rotated around horizontal direction are set, Level tune
Motor drives eccentric shoe to slide in the horizontal direction by leading screw and nut mechanism, and circumference regulation motor is driven by planetary gears
Dynamic eccentric shoe rotates around horizontal direction, so as to realize that center of gravity is adjusted；Another have patent to disclose a kind of underwater operation to paddle machine
People, moved forward and backward by hollow discus on the screw rod between front plate and rear plate and realize center adjustment.Therefore, prior art
In, gravity adjusting device is required to carry out center of gravity regulation by parts such as sliding block, motor, leading screw or slide rails mostly, so as to cause
Gravity adjusting device is complicated, and volume is big, and dead load is big, the problem of taking more more important central space.
In view of this, it is special to propose the utility model.
Utility model content
The technical problems to be solved in the utility model is overcome the deficiencies in the prior art, there is provided one kind is paddled robot weight
Heart adjusting means, the robot gravity adjusting device of paddling is simple in construction, and control effect is good, and deadweight is small, solves prior art
In need by the parts such as sliding block, motor, leading screw or slide rail carry out center of gravity regulation, so as to cause gravity adjusting device structure to answer
Miscellaneous, volume is big, and dead load is big, the problem of taking more more important central space.
In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：
One kind is paddled robot gravity adjusting device, including is arranged at least two chambers and the difference paddled in robot
With the governor motion of each chamber, the governor motion adjusts the robot that paddles by adjusting the liquid volume of each chamber interior
Position of centre of gravity.
Preferably, the governor motion is respectively communicated with the connectivity structure of different chamber including both ends and is arranged on connectivity structure
It is upper be used to controlling connectivity structure on/off and adjust liquid stream in connectivity structure to break-make controlling organization.
Preferably, described break-make controlling organization includes the stop valve being arranged on connectivity structure and two are divided into cut-off
The water pump of valve both sides, described stop valve are used for fluid partitioning, and two described water pumps are used to coordinate stop valve, opened in stop valve
When regulation conveying liquid direction；
Or, described break-make controlling organization includes the two way water pump with cut-off current function, described two way water pump two
Side is respectively arranged with liquid entrance, and two described liquid entrances are respectively communicated with a chamber, and the two way water pump passes through rotating
The direction of regulation conveying liquid.
Preferably, described each chamber surrounds the center of gravity setting for the robot that paddles.
Preferably, described gravity adjusting device is included at least two set on the fuselage in-plane for the robot that paddles
Individual chamber, and/or at least two chambers set in the short transverse for the robot that paddles.
Preferably, described gravity adjusting device includes N number of chamber and N number of governor motion, and described each chamber leads to successively
Mechanism connection is overregulated, complete fluid loop is formed, by controlling the action of the break-make controlling organization on each governor motion to adjust
The center of gravity for the robot that paddles is saved, wherein, N>2.
Preferably, described gravity adjusting device, which is alternatively, is：Including M chamber and M/2 governor motion, each two chamber
Being connected between room by governor motion, each chamber is only connected with a governor motion, wherein, M is even number.
Preferably, described gravity adjusting device is included in the length direction of the robot that paddles to be divided into its center of gravity relative
The two chambers of both sides, and/or the two chambers of the relative both sides of its center of gravity are divided into the width for the robot that paddles,
And/or it is divided into the two chambers of the relative both sides of its center of gravity in the short transverse for the robot that paddles.
Preferably, the described robot that paddles includes housing, and described each chamber is arranged in housing close to edge
Position, the connectivity structure and break-make controlling organization of the governor motion are arranged on medium position in housing.
Preferably, described break-make controlling organization and connectivity structure are close to shell bottom wall installation；
Described connectivity structure is flexible pipe, and described break-make controlling organization and flexible pipe avoid enclosure interior miscellaneous part and set
Put.
The present invention also provides a kind of robot that paddles using above-mentioned robot gravity adjusting device of paddling simultaneously, described
The robot that paddles includes inertia measuring module, propeller and controller, described inertia measuring module, propeller and regulation machine
Structure is electrically connected with controller respectively, and inertia measuring module obtains the current pose information for the robot that paddles and sent to control
Device, controller control to adjust the running of mechanism and propeller according to described attitude information, are paddled robot with control/coordination
Posture；
Preferably, luffing angle of the described attitude information including the robot that paddles, course deviation angle and rolling angle.
Robot gravity adjusting device of the present utility model of paddling is simple in construction, deadweight is small, and its connectivity structure is flexible pipe
Each part setting of robot interior of paddling is avoided so as to be advantageous to gravity adjusting device, and the gravity adjusting device is adjusted by water pump
Liquid flow direction is saved, control effect is good, and solving needs to carry out by parts such as sliding block, motor, leading screw or slide rails in the prior art
Center of gravity is adjusted, and so as to cause gravity adjusting device complicated, volume is big, and dead load is big, and it is empty to take more more important center
Between the problem of.
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Accompanying drawing is further understood from, this practicality as a part of the present utility model for providing to of the present utility model
New schematic description and description is used to explain the utility model, but does not form to improper restriction of the present utility model.
Obviously, drawings in the following description are only some embodiments, to those skilled in the art, are not paying creation
Property work on the premise of, can also according to these accompanying drawings obtain other accompanying drawings.In the accompanying drawings：
Fig. 1 is the structural representation of the gravity adjusting device in robot of being paddled in the utility model embodiment two；
Fig. 2 is the structural representation of the gravity adjusting device in robot of being paddled in the utility model embodiment three；
Fig. 3 is the structural representation for paddling the gravity adjusting device in robot in the utility model embodiment six.
In figure：1st, housing；2nd, first chamber；3rd, break-make controlling organization；4th, flexible pipe；5th, second chamber；6th, chamber.
It should be noted that these accompanying drawings and word description are not intended as limits design of the present utility model in any way
Scope, but be that those skilled in the art illustrate concept of the present utility model by reference to specific embodiment.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in embodiment is clearly and completely described, following examples are used to illustrate this
Utility model, but it is not limited to the scope of the utility model.
, it is necessary to explanation in description of the present utility model, term " on ", " under ", "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
It is easy to describe the utility model and simplified description, rather than indicates or imply that signified device or element must be with specifically square
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary.
For the ordinary skill in the art, it can understand that specific in the utility model of above-mentioned term containing with concrete condition
Justice.
Embodiment one
The present embodiment provides one kind and paddled robot gravity adjusting device, including multiple is set around robot center of gravity of paddling
Chamber and multiple governor motions, the both ends of each governor motion connect a chamber respectively, pass through the matter of the water in adjusting cavity room
The position of centre of gravity of the adjustable robot that paddles of amount.
Preferably, multiple chambers are set on the fuselage in-plane for the robot that paddles.
For example, three chambers can be set on the fuselage in-plane for the robot that paddles, by adjusting in three chambers
Liquid volume is the position of centre of gravity of the adjustable robot that paddles.It is certain or four chambers are set, five chambers etc.,
The chamber quantity of setting is more, then the precision of center of gravity regulation is higher.
Each chamber passes sequentially through governor motion connection, and connectivity structure and break-make control structure, institute are provided with governor motion
State connectivity structure to be used to connect two chambers, described break-make control structure is used to control connectivity structure on/off and regulation to connect
Liquid stream is to so as to change the relative liquid volume of each chamber in logical structure, so as to adjust the center of gravity for the robot that paddles.
Embodiment two
The present embodiment further discloses the mating connection of each chamber and governor motion on the basis of embodiment one：
Described robot gravity adjusting device of paddling includes N number of chamber and N number of governor motion, and described each chamber is successively
Connected by governor motion, form complete fluid loop, by the action for controlling the break-make controlling organization on each governor motion
The center of gravity for the robot that paddles is adjusted, wherein, N>2.
One kind shown in Figure 1 is paddled robot gravity adjusting device, and the figure is the top view of robot of paddling, described
Gravity adjusting device include four chambers altogether, described four chambers 6 are set around the center of gravity for the robot that paddles, described
Four chambers pass sequentially through described governor motion 7 and connected, and form an annular complete liquid flow circuits.The opposing party
Face, four chambers configurate on the fuselage in-plane for the robot that paddles, including along the width side of robot that paddles
The robot that paddles is arranged on to the two chambers for being arranged on robot center of gravity both sides of paddling and along robot length direction of paddling
The two chambers of center of gravity both sides, by setting four chambers, the tune for the robot posture on horizontal plane direction that can be achieved to paddle
It is whole, for example, when need control paddle robot travel upwards when, then open break-make controlling organization and cause positioned at paddling robot weight
Liquid quality increase in chamber after the heart, posture of the robot in water of now paddling are that front end is upward, rear end is downward, this
The paddle propellers of robot of Shi Peihe can realize the upward traveling of the robot that paddles, similar to downward driving, will not be repeated here.
It is each by controlling each governor motion to adjust according to the influence of current when the robot that paddles needs keep level to advance or retreat
Liquid volume (quality) in chamber may be such that robot pose keep level of paddling.
Embodiment three
The present embodiment and the difference of embodiment two are, in the present embodiment, the gravity adjusting device for the robot that paddles
Including M chamber and M/2 governor motion, connected between each two chamber by governor motion, each chamber is only adjusted with one
Mechanism connection is saved, wherein, M is even number.
Wherein, the M chamber is set around the center of gravity of the robot that paddles.
Preferably, described M is 4, then shown in Figure 2, for the top view for the robot that paddles, the described robot that paddles
Center of gravity dispensing device include being divided into the two chambers of its center of gravity both sides and along paddling machine along robot length direction of paddling
People's width is divided into the two chambers of its center of gravity both sides, wherein, along paddling, robot length direction is divided into its center of gravity two
Led between the two chambers of side by a regulation even mechanism, along paddling, robot width is divided into the two of its center of gravity both sides
Connected between individual chamber by a governor motion, be arranged such, reduce the quantity of governor motion.
Example IV
The utility model provides one kind and paddled robot gravity adjusting device, including is arranged on the center of gravity phase for the robot that paddles
To the first chambers of both sides, in second chamber and the regulation first chamber and second chamber liquid volume regulation machine
Structure, the governor motion adjust the position of centre of gravity for the robot that paddles by adjusting liquid volume in first chamber and second chamber.
Preferably, it is relative in the length direction for the robot that paddles to be divided into its center of gravity for described first chamber, second chamber
Both sides, or described first chamber, second chamber be divided into the relative both sides of its center of gravity in the width for the robot that paddles,
Or described first chamber, second chamber are divided into the relative both sides of its center of gravity in the short transverse for the robot that paddles.
In such scheme, described first chamber and second chamber include one respectively, and mutually corresponding be arranged on relates to
The both sides of water robot center of gravity, so as to have three kinds of coordinated schemes：The first scheme is, first chamber and second chamber are in paddling
The length direction of robot is divided into the relative both sides of its center of gravity, so as to paddle robot center of gravity in the robot that paddles with regulation
Fuselage length direction on change location effect, the robot that is advantageous to paddle carries out elevating movement；Second scheme is first
Chamber, second chamber are divided into the relative both sides of its center of gravity in the width for the robot that paddles, so as to be paddled machine with regulation
The effect of device people center of gravity change location on the width for the robot that paddles, the robot that is advantageous to paddle swings and side
OK；The third scheme is that first chamber, second chamber are divided into relative two of its center of gravity in the short transverse for the robot that paddles
Side, be advantageous to adjust the stabilization during the robot that paddles advances, such as, the chamber increase below the center of gravity positioned at the robot that paddles
Liquid volume, then be advantageous to paddle robot in water from steady.
Preferably, described first chamber and second chamber comprise at least one respectively, first chamber and second chamber
Quantity is equal, and corresponds, mutually corresponding to first chamber and second chamber are relative respectively is arranged on the robot that paddles
Center of gravity both sides：
Including the first chamber set gradually positioned at the fuselage plane for the robot that paddles along the length direction for paddling robot
Room and second chamber, and/or first set gradually positioned at robot fuselage plane of paddling along robot width of paddling
Chamber and second chamber, and/or the first chamber and second chamber set gradually on robot direction of paddling.
In such scheme, disclose when first chamber and second chamber include two and two or more respectively, can shape
Into there is a variety of coordinated schemes：
When first chamber and second chamber include two respectively, then specific coordinated scheme is as follows：
1st, the first chamber set gradually positioned at the fuselage plane for the robot that paddles along the length direction for paddling robot
The first chamber that is set gradually with second chamber and positioned at the robot fuselage plane of paddling along robot width of paddling and
Second chamber.
2nd, the first chamber set gradually positioned at the fuselage plane for the robot that paddles along the length direction for paddling robot
The first chamber and second chamber set gradually with second chamber and on robot direction of paddling.
3rd, the first chamber that is set gradually positioned at the robot fuselage plane of paddling along robot width of paddling and the
Two chambers and the first chamber and second chamber set gradually on robot direction of paddling.
When first chamber and second chamber include three respectively, then specific coordinated scheme is：
4th, the first chamber set gradually positioned at the fuselage plane for the robot that paddles along the length direction for paddling robot
And second chamber, and the first chamber that is set gradually positioned at the robot fuselage plane of paddling along robot width of paddling and
Second chamber, and the first chamber and second chamber set gradually on robot direction of paddling.
In such scheme, 4 kinds of fit systems are shared, can be according to any fit system of actual conditions reasonable selection.
Embodiment five
In the present embodiment, the governor motion for robot gravity adjusting device of paddling is illustrated, described governor motion
It is used to control connectivity structure on/off and each chamber of regulation including connecting the connectivity structure of two chambers and being arranged on connectivity structure
The break-make controlling organization of indoor liquid volume.
Preferably, described connectivity structure is connecting tube, and described break-make controlling organization includes being arranged in the connecting tube
Stop valve and two water pumps for being divided into stop valve both sides, described stop valve is used for the liquid isolated in two chambers, institute
Two water pumps stated are used to coordinate stop valve, and the direction of liquid in conveying two chambers is adjusted when stop valve is opened；
Or, described clearance controlling organization includes a two way water pump with cut-off current function, described two way water pump
Both sides are respectively arranged with liquid entrance, and two described liquid entrances connect a chamber, the two-way water by connecting tube respectively
Pump adjusts the direction of conveying liquid by rotating.
In such scheme, born simultaneously in order to reduce the robot that paddles to save the space for the robot that paddles, this pair
Micropump is used to water pump.
Preferably, the described robot that paddles includes housing, and described each chamber is arranged in housing close to edge
Position, the connectivity structure and break-make controlling organization of the governor motion are arranged on medium position in housing.
Preferably, described break-make controlling organization and connecting tube are close to shell bottom wall installation；
Preferably, described connecting tube is flexible pipe, and described break-make controlling organization and flexible pipe avoid other portions of enclosure interior
Part is set.
,, can so as to be advantageous to the position of sound production of whole governor motion because connecting tube is hose construction in such scheme
Set with avoiding each part according to each component locations of enclosure interior.
Preferably, the position of described governor motion is less than the position of two chambers.
Described flexible pipe and break-make controlling organization is close to shell bottom wall installation, and the position of described break-make controlling organization is low
Directly contacted in flexible pipe so as to be advantageous to break-make controlling organization with liquid.
Embodiment six
The present embodiment provides a kind of robot that paddles of robot gravity adjusting device of paddling using in embodiment.
The described robot that paddles includes housing, each internals for being arranged on enclosure interior, propeller, machine of paddling
People's gravity adjusting device, inertia measuring module and controller；
Described robot gravity adjusting device of paddling includes connectivity structure, break-make controlling organization.
Break-make controlling organization, propeller and the inertia measuring module of described robot gravity adjusting device of paddling respectively with
Controller is electrically connected with.
Described inertia measuring module obtains the current pose information for the robot that paddles and sent to controller, controller root
The running of mechanism and propeller, the posture for the robot that paddled with control/coordination are controlled to adjust according to described attitude information；
Preferably, luffing angle of the described attitude information including the robot that paddles, course deviation angle and rolling angle.
Preferably, described connectivity structure is flexible pipe.
The robot that paddles presented below controls the process of posture by gravity adjusting device：
Shown in Figure 3, for the side view for the robot that paddles, described gravity adjusting device is arranged on the robot that paddles
The inside of housing 1, including first chamber 2, the break-make controlling organization 3 of second chamber 5 and flexible pipe 4, wherein, described first chamber
2 positioned at the front end for the robot that paddles, i.e., the technique head side in housing 1, second chamber 5 is located at the rear end for the robot that paddles,
That is the technique rear end of housing 1, then when the robot that paddles needs traveling upwards, the described break-make controlling organization 3 of controller control is opened
Open, and the attitude information of the robot that paddles detected according to identification loop, liquid volume/quality is more than the
Liquid volume/quality in one chamber 2, now paddle robot center of gravity backward, paddle robot in water posture be front end upwards,
The downward posture in rear end, propeller can promote robot to travel upwards；It will not be repeated here to principle during downward driving is similar；Work as machine
When device people needs keep level to advance or retreat, according to controller according to water currents and the robot that paddles of identification loop detection
Attitude information, the liquid volume in first chamber 2 and second chamber 5 and flexible pipe is controlled to make the machine of paddling by break-make controlling organization 3
Device people's posture keep level, propeller promote robot to advance or retreat.
The structure of robot gravity adjusting device of the present utility model of paddling is simple, deadweight is small, and its connectivity structure is soft
Pipe avoids each part of robot interior of paddling so as to being advantageous to gravity adjusting device and set, and the gravity adjusting device pass through it is two-way
Testing pump liquid flows to, and control effect is good, and solve needs by portions such as sliding block, motor, leading screw or slide rails in the prior art
Part carries out center of gravity regulation, and so as to cause gravity adjusting device complicated, volume is big, and dead load is big, takes more more important
The problem of central space.
Described above is only preferred embodiment of the present utility model, not the utility model is made any formal
Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, any to be familiar with
The technical staff of this patent is not being departed from the range of technical solutions of the utility model, when the technology contents work using above-mentioned prompting
Go out a little change or be modified to the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solutions of the utility model,
Any simple modification, equivalent change and modification made according to the technical essence of the utility model to above example, still belongs to
In the range of the utility model.
Claims (10)
- The robot gravity adjusting device 1. one kind is paddled, it is characterised in that including be arranged on paddle in robot at least two Chamber and the respectively governor motion with each chamber, the governor motion are adjusted by adjusting the liquid volume of each chamber interior Paddle the position of centre of gravity of robot.
- The robot gravity adjusting device 2. one kind according to claim 1 is paddled, it is characterised in that the governor motion bag Include both ends and be respectively communicated with the connectivity structure of different chamber and be arranged on connectivity structure and be used to control connectivity structure on/off and tune Save connectivity structure in liquid stream to break-make controlling organization.
- The robot gravity adjusting device 3. one kind according to claim 2 is paddled, it is characterised in that described break-make control Mechanism includes the stop valve being arranged on connectivity structure and two water pumps for being divided into stop valve both sides, described stop valve are used for Fluid partitioning, two described water pumps are used to coordinate stop valve, the direction of regulation conveying liquid when stop valve is opened；Or, described break-make controlling organization includes the two way water pump with cut-off current function, described two way water pump both sides point Liquid entrance is not provided with, and two described liquid entrances are respectively communicated with a chamber, and the two way water pump is adjusted by rotating Convey the direction of liquid.
- 4. paddled robot gravity adjusting device according to any described one kind of claim 1-3, it is characterised in that described is each The center of gravity that chamber surrounds the robot that paddles is set.
- The robot gravity adjusting device 5. one kind according to claim 4 is paddled, it is characterised in that be included in machine of paddling At least two chambers set on the fuselage in-plane of people, and/or set at least in the short transverse for the robot that paddles Two chambers.
- The robot gravity adjusting device 6. one kind according to claim 1 is paddled, it is characterised in that including N number of chamber and N Individual governor motion, described each chamber pass sequentially through governor motion connection, complete fluid loop are formed, by controlling each regulation The action of break-make controlling organization in mechanism adjusts the center of gravity for the robot that paddles, wherein, N>2.
- The robot gravity adjusting device 7. one kind according to claim 1 is paddled, it is characterised in that including M chamber and M/2 governor motion, being connected by governor motion between each two chamber, each chamber is only connected with a governor motion, its In, M is even number.
- The robot gravity adjusting device 8. one kind according to claim 2 is paddled, it is characterised in that described machine of paddling People includes housing, and described each chamber is arranged in housing close to the position at edge, the connectivity structure of the governor motion and Break-make controlling organization is arranged on medium position in housing.
- The robot gravity adjusting device 9. one kind according to claim 8 is paddled, it is characterised in that described break-make control Mechanism and connectivity structure are close to shell bottom wall installation；Described connectivity structure is flexible pipe, and described break-make controlling organization and flexible pipe avoid enclosure interior miscellaneous part and set.
- 10. a kind of robot that paddles using any robot gravity adjusting devices of paddling of claim 1-3, described relates to Water robot includes inertia measuring module, propeller and controller, described inertia measuring module, propeller and governor motion It is electrically connected with respectively with controller, inertia measuring module obtains the current pose information for the robot that paddles and sent to controller, Controller controls to adjust the running of mechanism and propeller, the appearance for the robot that paddled with control/coordination according to described attitude information State；Luffing angle of the described attitude information including the robot that paddles, course deviation angle and rolling angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720658565.8U CN207008410U (en) | 2017-06-07 | 2017-06-07 | One kind is paddled robot gravity adjusting device and the robot that paddles |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720658565.8U CN207008410U (en) | 2017-06-07 | 2017-06-07 | One kind is paddled robot gravity adjusting device and the robot that paddles |
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| CN207008410U true CN207008410U (en) | 2018-02-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333583A (en) * | 2018-11-26 | 2019-02-15 | 浙江大学 | A kind of soft robot gravity adjusting device |
| CN110733669A (en) * | 2019-10-24 | 2020-01-31 | 北京空间技术研制试验中心 | Spacecraft re-entry capsule mass center dynamic adjusting device |
| CN114683304A (en) * | 2022-04-25 | 2022-07-01 | 南昌理工学院 | AI intelligent education robot based on wisdom education |
-
2017
- 2017-06-07 CN CN201720658565.8U patent/CN207008410U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109333583A (en) * | 2018-11-26 | 2019-02-15 | 浙江大学 | A kind of soft robot gravity adjusting device |
| CN109333583B (en) * | 2018-11-26 | 2020-12-01 | 浙江大学 | Gravity center adjusting device of soft robot |
| CN110733669A (en) * | 2019-10-24 | 2020-01-31 | 北京空间技术研制试验中心 | Spacecraft re-entry capsule mass center dynamic adjusting device |
| CN110733669B (en) * | 2019-10-24 | 2021-06-18 | 北京空间技术研制试验中心 | Spacecraft re-entry capsule mass center dynamic adjusting device |
| CN114683304A (en) * | 2022-04-25 | 2022-07-01 | 南昌理工学院 | AI intelligent education robot based on wisdom education |
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