CN208360465U - Hybrid power underwater robot - Google Patents
Hybrid power underwater robot Download PDFInfo
- Publication number
- CN208360465U CN208360465U CN201820620356.9U CN201820620356U CN208360465U CN 208360465 U CN208360465 U CN 208360465U CN 201820620356 U CN201820620356 U CN 201820620356U CN 208360465 U CN208360465 U CN 208360465U
- Authority
- CN
- China
- Prior art keywords
- aerodone
- shell
- hybrid power
- underwater robot
- propeller
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
This application discloses a kind of hybrid power underwater robots, including aerodone bay section, undulate propulsion mechanism and propeller propulsive mechanism；The aerodone bay section includes aerodone shell and aerodone executing agency；The aerodone executing agency is arranged in aerodone shell, the aerodone executing agency includes pitching angle adjusting mechanism and net buoyancy adjustment mechanism, the net buoyancy adjustment mechanism floats or dive under water for making aerodone shell, the pitching angle adjusting mechanism realizes that gliding is advanced for making aerodone shell generate angle with fluid during floating dive；The rear end of aerodone shell is arranged in the undulate propulsion mechanism；The propeller propulsive mechanism includes a pair of of forward-reverse spiral paddle propeller, and the screw propeller is arranged on the aerodone shell.The utility model can make robot adapt to more complicated arduous environment, reduce the failure rate of robot.
Description
Technical field
This application involves a kind of robots, and in particular to a kind of hybrid power underwater robot.
Background technique
Traditional underwater robot is divided into cableless underwater robot and has two kinds of forms of cable underwater robot, there is cable underwater
People is also known as telecontrolled submergence rescue vehicle (Remote Operated Vehicle, abbreviation ROV), limit of the working range by cable length
System, cannot achieve round-the-clock utonomous working；Another kind of is that cableless underwater robot is also known as the latent device of autonomous underwater
(Autonomous Underwater Vehicle, abbreviation AUV).Autonomous type underwater robot is underwater robot of new generation, with
There is cable underwater robot to compare, have many advantages, such as that scope of activities is big, mobility is good, safety, intelligence, can shuttle into multiple
Miscellaneous waters and without water surface base station provide support, be the important tool for completing various subsea tasks.For example, in civil field, it can
For pipeline installation, submarine survey, data collection, drilling well support, subsea construction, underwater equipment maintenance and maintenance etc.；Military
Field then can be used for scouting, mine-laying, clearance and lifesaving etc..
Underwater glider is a kind of typical untethered type underwater robot, is adjusted using the net buoyancy and attitude angle of equipment
Obtain propulsive force, energy consumption is minimum, only adjusting net buoyancy and when attitude angle consumes a small amount of energy, and have it is high-efficient,
The big feature of endurance, endurance is up to thousands of kilometers.However, lack maneuverability due to using buoyancy-driven mode merely,
Underwater glider can only do zigzag and the navigation of spiral rotary track under water, and flight tracking control and positioning accuracy are low, Er Qiehang
It is fast slow, it will appear the case where drifting with the tide on the biggish sea of stormy waves.
Existing underwater glider carries out zigzagging by adjusting net buoyancy and robot pose angle, can greatly
The consumption of the energy is reduced, but this single work pattern causes aerodone maneuverability insufficient, can not cope with complicated water
Domain situation, and can not on the water surface or determine depth carry out separate operaton.
Utility model content
In view of drawbacks described above in the prior art or deficiency, being intended to provide one kind can adapt to a variety of different water body environments
Hybrid power underwater robot.
To achieve the goals above, the technical scheme adopted by the utility model is that:
A kind of hybrid power underwater robot, including aerodone bay section, undulate propulsion mechanism and propeller pusher
Structure；
The aerodone bay section includes aerodone shell and aerodone executing agency；
The aerodone executing agency is arranged in aerodone shell, and the aerodone executing agency includes pitch angle adjustment
Mechanism and net buoyancy adjustment mechanism, the net buoyancy adjustment mechanism are described for making aerodone shell float under water or dive
Pitching angle adjusting mechanism realizes that gliding is advanced for making aerodone shell generate angle with fluid during floating dive；
The rear end of aerodone shell is arranged in the undulate propulsion mechanism；
The propeller propulsive mechanism includes a pair of of forward-reverse spiral paddle propeller, and the screw propeller is arranged described
On aerodone shell.
The undulate propulsion mechanism includes that tail fin promotes sealed compartment, steering engine, transmission shaft, mechanical sealing member and tail fin；
The tail fin promotes and is equipped with steering engine in sealed compartment, and the steering engine side connects bearing, and the other side connects transmission shaft, institute
Transmission shaft is stated equipped with mechanical sealing member, the transmission shaft on the mechanical sealing member top is equipped with bearing；
The tail fin is fixedly connected with connector, the bearing of connector one end connection steering engine side connection, the other side
Connect transmission shaft；
The tail fin propulsion sealed compartment is fixedly connected with the rear end of aerodone shell.
It includes the top cover labyrinth being fixedly connected and lower sealed compartment that the tail fin, which promotes sealed compartment,.
The front end of the aerodone shell is equipped with fish mouth, and the aerodone shell is equipped with consolidating for fixed screw propeller
Determine frame；
The fish mouth, aerodone shell, the fixed frame of screw propeller, undulate propulsion sealed compartment, connector and
Tail fin forms imitative fish shape sealing shell.
The pair of forward-reverse spiral paddle propeller is symmetrically distributed in aerodone shell two sides.
The aerodone bay section further includes the hang gliding that aerodone shell two sides are arranged in；The screw propeller is located at
Between the hang gliding and the undulate propulsion mechanism.
It is equipped with bracket in the aerodone shell, the bracket is for fixing hang gliding and circuit board, and the one of the bracket
Side is equipped with net buoyancy adjustment mechanism, and the other side is equipped with pitching angle adjusting mechanism；The circuit board is used to control net buoyancy adjustment machine
Structure, pitching angle adjusting mechanism, the movement of the undulate propulsion mechanism and screw propeller pitching angle adjusting mechanism include
Actuating motor, ball screw, feed screw nut, shaft coupling, bearing fixed seat, guide rail, sliding block and clump weight；
The actuating motor is fixedly connected by shaft coupling with ball screw, and the ball screw both ends are arranged in bearing
On, the bearing is fixed on corresponding bearing fixed seat, and the ball screw is equipped with feed screw nut, and the feed screw nut is solid
Surely clump weight is connected, is fixedly connected with sliding block below the clump weight, the sliding block is arranged on the guide rail.
The clump weight is made of lithium battery group, and the lithium battery group is used to provide power to actuating motor.
The net buoyancy adjustment mechanism includes built-in ram cylinder, the oil sac of outer deformable, oil pump, touching switch
With range sensor；
The oil pump is separately connected oil sac and ram cylinder, the oil pump for adjust oil or water oil cylinder and oil sac it
Between position, and then adjust the volume of oil sac, the oil cylinder is equipped with touching switch and range sensor, and the touching switch is used
Restriction effect is played in the range to oil cylinder inner piston, it is maximum row that piston is marked when piston encounters touching switch at this time
Journey；The range sensor is used for position of the real-time detection piston in oil cylinder, the input parameter as kinetic control system.
Compared with prior art, the utility model has the beneficial effects that
For the utility model compared to traditional simple aerodone using hang gliding and buoyancy system, the utility model is a variety of
Operating mode can effectively enhance its maneuverability, have the ability that no-radius turns to and high-speed motion is turned.This is practical new
For type compared to the simple aerodone pushed with propeller turbine, it is more complicated arduous that the utility model can be such that robot adapts to
Environment, reduce the failure rate of robot.For the utility model compared to the simple bionic machine fish for carrying out bionic coatings, this is practical
The course of work that novel underwater robot can efficiently use its floating dive is pushed ahead, than individual bionic machine fish system
Energy utilization rate of uniting is high, and cruise duration and work mileage are longer.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of hybrid power underwater robot provided by the embodiment of the utility model；
Fig. 2 is the structure sectional view of hybrid power underwater robot provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram of undulate propulsion mechanism provided by the embodiment of the utility model；
Fig. 4 is the partially exploded diagram of Fig. 3；
Fig. 5 is the main view of Fig. 1；
Fig. 6 is the structural schematic diagram of pitching angle adjusting mechanism provided by the embodiment of the utility model；
Fig. 7 is the structural schematic diagram of clump weight provided by the embodiment of the utility model；
Fig. 8 is the structural schematic diagram of net buoyancy adjustment mechanism provided by the embodiment of the utility model.
In figure:
1 aerodone bay section, 2 undulate propulsion mechanisms, 3 propeller propulsive mechanisms, 4 aerodone shells, the adjustment of 5 pitch angles
Mechanism, 6 net buoyancy adjustment mechanisms, 7 screw propellers, 8 sealed compartments, 9 steering engines, 10 transmission shafts, 11 mechanical sealing members, 12 tails
Fin, 13 bearings, 14 connectors, 15 top cover labyrinths, 16 lower sealed compartments, 17 fish mouths, 18 fixed frames, 19 hang glidings, 20 brackets, 21 electricity
Machine, 22 ball screws, 23 feed screw nuts, 24 shaft couplings, 25 bearing fixed seats, 26 guide rails, 27 sliding blocks, 28 clump weights, 29 pistons
Formula oil cylinder, 30 oil sacs, 31 oil pumps, 32 touching switch, 33 range sensors.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining relevant utility model, rather than the restriction to the utility model.It further needs exist for illustrating
, part relevant to utility model is illustrated only for ease of description, in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to Fig. 1 and Fig. 2, a kind of hybrid power underwater robot, including aerodone bay section 1, undulate propulsion mechanism 2
With propeller propulsive mechanism 3；
Aerodone bay section 1 includes aerodone shell 4 and aerodone executing agency；
Aerodone executing agency is arranged in aerodone shell 4, aerodone executing agency include pitching angle adjusting mechanism 5 with
Net buoyancy adjustment mechanism 6, for making, aerodone shell 4 floats net buoyancy adjustment mechanism 6 under water or dive, pitch angle adjust machine
Structure 5 realizes that gliding is advanced for making aerodone shell 4 generate angle with fluid during floating dive；
The rear end of aerodone shell 4 is arranged in undulate propulsion mechanism 2；
Propeller propulsive mechanism 3 includes a pair of of forward-reverse spiral paddle propeller 7, and the setting of screw propeller 7 is in gliding casing
On body 4.
The underwater robot of the utility model uses three kinds of hybrid power sources, has a underwater glider, propeller promote with
Three kinds of work patterns of undulate propulsion.It can adapt to a variety of different water body environments, on the one hand utilize underwater glider energy consumption
Low, long-endurance operating mode allows the robot to realize a wide range of, prolonged underwater work, on the other hand, spiral
Paddle promotes mode and undulate propulsion mode that robot can be made to adapt to more complicated water environment.
Referring to Fig. 1, Fig. 3 and Fig. 4, in the present embodiment, undulate propulsion mechanism 2 includes that tail fin promotes sealed compartment 8, steering engine
9, transmission shaft 10, mechanical sealing member 11 and tail fin 12；
Tail fin promotes and is equipped with steering engine 9 in sealed compartment 8, and 9 side of steering engine connects bearing 13, and the other side connects transmission shaft 10, passes
Moving axis 10 is equipped with mechanical sealing member 11, and the transmission shaft 10 on 11 top of mechanical sealing member is equipped with bearing 13；
Tail fin 12 is fixedly connected with connector 14, and 14 one end of connector connects the bearing 13 of 9 side of steering engine connection, the other side
Connect transmission shaft 10；
Tail fin propulsion sealed compartment 8 is fixedly connected with the rear end of aerodone shell 4.
Preferably, it includes the top cover labyrinth 15 and lower sealed compartment 16 being fixedly connected that tail fin, which promotes sealed compartment 8,.
Lower sealed compartment and mechanical sealing member realize the static seal and dynamic sealing of undulate propulsion mechanism, can be in water
Under work.The utility model is rotated using steering engine wobble drive tail fin by center axis of transmission shaft, to realize that tail fin is put
It is dynamic to promote.
Referring to Fig. 1 and Fig. 5, it is preferable that the front end of aerodone shell 4 is equipped with fish mouth 17, and aerodone shell 4, which is equipped with, to be fixed
The fixed frame 18 of screw propeller 7；
Fish mouth 17, aerodone shell 4, the fixed frame 18 of screw propeller 7, undulate propulsion sealed compartment 8, connector
14 and tail fin 12 form imitative fish shape sealing shell.
The underwater robot of the utility model uses Biomimetic Fish shape fluid design, by three kinds of propulsion modes and Biomimetic Fish shape shell
Body combines, and the shape of fish is rendered as streamline structure, and not only the water flow movement from fish head to fish tail is steady, and hydrodynamic force
Resistance very little is learned, there is good hydrodynamic(al) performance.Thus, the utility model is designed as robot using Biomimetic Fish shape structure
Shell.Fish mouth is connected to the fixed frame of screw propeller with water, and aerodone cavity has close with undulate propulsion sealed compartment
Envelope and resistance to compression function.
In the present embodiment, a pair of of forward-reverse spiral paddle propeller 7 is symmetrically distributed in 4 two sides of aerodone shell.
Screw propeller is a kind of propulsion system, can be quickly obtained advance side using a pair of positive and negative paddle propeller
It will not turn on one's side to fltting speed and because of the torque that propeller generates.Bionical fluid enclosure passes through streamlined from aerodone bay section
Shell transition, and then be connected with undulate propulsion mechanism.
Referring to Fig. 1, in the present embodiment, aerodone bay section 1 further includes the hang gliding 19 that 4 two sides of aerodone shell are arranged in；
Screw propeller 7 is between hang gliding 19 and undulate propulsion mechanism 2.
Referring to fig. 2, in the present embodiment, bracket 20 is equipped in aerodone shell 4, bracket 20 is for fixing hang gliding and circuit
Plate, the side of bracket 20 are equipped with net buoyancy adjustment mechanism 6, and the other side is equipped with pitching angle adjusting mechanism 5, and circuit board is used to control net
Buoyance adjustment mechanism 6, pitching angle adjusting mechanism 5, the movement of undulate propulsion mechanism 2 and screw propeller 7
In the utility model, circuit board is the control panel of robot, for controlling each motion structure of robot.Circuit board
It is connected with bracket.Circuit board is fixed on above bracket, and net buoyancy adjustment mechanism and pitching angle adjusting mechanism are in bracket two sides.The two
With three groups of mechanisms of bracket on a horizontal plane, circuit board is fixed on the top plane of this line.Two planes are parallel.
Referring to Fig. 6, in the present embodiment, pitching angle adjusting mechanism 5 includes actuating motor 21, ball screw 22, feed screw nut
23, shaft coupling 24, bearing fixed seat 25, guide rail 26, sliding block 27 and clump weight 28；
Actuating motor 21 is fixedly connected by shaft coupling 24 with ball screw 22, and 22 both ends of ball screw are arranged in bearing
On, the bearing is fixed on corresponding bearing fixed seat 25, and ball screw 22 is equipped with feed screw nut 23, and feed screw nut 23 is solid
Surely clump weight 28 is connected, sliding block 27 is fixedly connected with below clump weight 28, sliding block 27 is arranged on guide rail 26.
Clump weight 28 is made of lithium battery group, and the structure of lithium battery group is as shown in fig. 7, the lithium battery group is used for being held
Row motor provides power.
The sliding block of pitching angle adjusting mechanism is able to carry out linear motion on the slide rail.Bearing fixed seat is connected by revolute pair
The both ends of ball screw.Bearing fixed seat, motor fixing seat and guide rail are fixed in aerodone bay section.The rotation of actuating motor
It is transmitted on lithium battery group clump weight by the cooperation of ball screw and feed screw nut, so that mobile lithium battery clump weight is in cavity
Interior position is realized and changes aerodone center of gravity, adjusts the function of pitch angle.
Referring to Fig. 8, in the present embodiment, net buoyancy adjustment mechanism 6 includes built-in ram cylinder 29, outer deformable
Oil sac 30, oil pump 31, touching switch 32 and range sensor 33；
Oil pump 31 is separately connected oil sac 30 and ram cylinder 29, and oil pump 31 is for adjusting oil or water in oil cylinder 29 and oil sac
Position between 30, and then the volume of oil sac 30 is adjusted, oil cylinder 29 is equipped with touching switch 32 and range sensor 33, and touching is opened
32 are closed for playing restriction effect to the range of oil cylinder inner piston, label piston is at this time when piston encounters touching switch
Range；Range sensor 33 is used for position of the real-time detection piston in oil cylinder, and the input as kinetic control system is joined
Number.
Net buoyancy adjustment mechanism passes through the size of oil pump control oil sac volume, thus change the buoyancy of robot entirety, into
And realize floating and dive.
The utility model is by underwater glider and traditional underwater propeller propeller and undulate propulsion and imitative fish
Shape fluid enclosure combines, and provides a kind of underwater robot for having hybrid power, has and adapts to a variety of of different operating conditions
Operating mode, when robot cruise up and down in water, propeller and undulate propulsion are in standby mode, can be maximum
The energy consumption of the reduction robot of limit, increases cruise duration.When an emergency situation is encountered or task for robot, need to quickly propel
When, its maneuverability can be enhanced in screw propeller and undulate propulsion.And undulate propulsion is in more water plants or fishing net
Environment in, the probability that robot is wound can be substantially reduced.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that utility model range involved in the application, however it is not limited to made of the specific combination of above-mentioned technical characteristic
Technical solution, at the same should also cover do not depart from the utility model design in the case where, by above-mentioned technical characteristic or its be equal
Feature carries out any combination and other technical solutions for being formed.Such as features described above and (but being not limited to) disclosed herein have
The technical solution for thering is the technical characteristic of similar functions to be replaced mutually and being formed.
Claims (10)
1. a kind of hybrid power underwater robot, which is characterized in that including aerodone bay section, undulate propulsion mechanism and spiral
Paddle propulsive mechanism；
The aerodone bay section includes aerodone shell and aerodone executing agency；
The aerodone executing agency is arranged in aerodone shell, and the aerodone executing agency includes pitching angle adjusting mechanism
With net buoyancy adjustment mechanism, the net buoyancy adjustment mechanism is for making aerodone shell float under water or dive, the pitching
Angle adjusting mechanism realizes that gliding is advanced for making aerodone shell generate angle with fluid during floating dive；
The rear end of aerodone shell is arranged in the undulate propulsion mechanism；
The propeller propulsive mechanism includes a pair of of forward-reverse spiral paddle propeller, and the screw propeller is arranged in the gliding
On casing body.
2. hybrid power underwater robot according to claim 1, which is characterized in that undulate propulsion mechanism packet
It includes tail fin and promotes sealed compartment, steering engine, transmission shaft, mechanical sealing member and tail fin；
The tail fin promotes and is equipped with steering engine in sealed compartment, and the steering engine side connects bearing, and the other side connects transmission shaft, the biography
Moving axis is equipped with mechanical sealing member, and the transmission shaft on the mechanical sealing member top is equipped with bearing；
The tail fin is fixedly connected with connector, the bearing of connector one end connection steering engine side connection, other side connection
Transmission shaft；
The tail fin propulsion sealed compartment is fixedly connected with the rear end of aerodone shell.
3. hybrid power underwater robot according to claim 2, which is characterized in that the tail fin promotes the sealed compartment to include
The top cover labyrinth and lower sealed compartment being fixedly connected.
4. hybrid power underwater robot according to claim 2 or 3, which is characterized in that before the aerodone shell
End is equipped with fish mouth, and the aerodone shell is equipped with the fixed frame of fixed screw propeller；
The fish mouth, aerodone shell, the fixed frame of screw propeller, undulate propulsion sealed compartment, connector and tail fin
Form imitative fish shape sealing shell.
5. hybrid power underwater robot according to claim 4, which is characterized in that the pair of forward-reverse spiral paddle promotes
Device is symmetrically distributed in aerodone shell two sides.
6. hybrid power underwater robot according to claim 5, which is characterized in that the aerodone bay section further includes setting
Set the hang gliding in aerodone shell two sides；The screw propeller is located at the hang gliding and the undulate propulsion machine
Between structure.
7. hybrid power underwater robot according to claim 6, which is characterized in that be equipped with branch in the aerodone shell
Frame, the bracket are equipped with net buoyancy adjustment mechanism for fixing hang gliding and circuit board, the side of the bracket, and the other side is equipped with
Pitching angle adjusting mechanism, the circuit board are used to control net buoyancy adjustment mechanism, pitching angle adjusting mechanism, undulate propulsion machine
The movement of structure and screw propeller.
8. hybrid power underwater robot according to claim 7, which is characterized in that the pitching angle adjusting mechanism includes
Actuating motor, ball screw, feed screw nut, shaft coupling, bearing fixed seat, guide rail, sliding block and clump weight；
The actuating motor is fixedly connected by shaft coupling with ball screw, and the ball screw both ends are arranged on bearing, institute
It states bearing to be fixed on corresponding bearing fixed seat, the ball screw is equipped with feed screw nut, and the feed screw nut is fixed to be connected
Clump weight is connect, is fixedly connected with sliding block below the clump weight, the sliding block is arranged on the guide rail.
9. hybrid power underwater robot according to claim 8, which is characterized in that the clump weight is by lithium battery group
Composition, the lithium battery group are used to provide power to actuating motor.
10. hybrid power underwater robot according to claim 9, which is characterized in that the net buoyancy adjustment mechanism packet
Include oil sac, oil pump, touching switch and the range sensor of built-in ram cylinder, outer deformable；
The oil pump is separately connected oil sac and ram cylinder, and the oil pump is for adjusting oil or water between oil cylinder and oil sac
Position, so adjust oil sac volume, the oil cylinder be equipped with touching switch and range sensor, the touching switch for pair
The range of oil cylinder inner piston plays restriction effect, and it is range that piston is marked when piston encounters touching switch at this time；
The range sensor is used for position of the real-time detection piston in oil cylinder, the input parameter as kinetic control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820620356.9U CN208360465U (en) | 2018-04-27 | 2018-04-27 | Hybrid power underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820620356.9U CN208360465U (en) | 2018-04-27 | 2018-04-27 | Hybrid power underwater robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208360465U true CN208360465U (en) | 2019-01-11 |
Family
ID=64932913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820620356.9U Active CN208360465U (en) | 2018-04-27 | 2018-04-27 | Hybrid power underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208360465U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408007A (en) * | 2018-04-27 | 2018-08-17 | 中电科海洋信息技术研究院有限公司 | Hybrid power underwater robot |
| CN115107973A (en) * | 2022-07-28 | 2022-09-27 | 仲恺农业工程学院 | Hybrid-driven underwater robot |
-
2018
- 2018-04-27 CN CN201820620356.9U patent/CN208360465U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408007A (en) * | 2018-04-27 | 2018-08-17 | 中电科海洋信息技术研究院有限公司 | Hybrid power underwater robot |
| CN115107973A (en) * | 2022-07-28 | 2022-09-27 | 仲恺农业工程学院 | Hybrid-driven underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108408007A (en) | Hybrid power underwater robot | |
| CN204021234U (en) | A kind of under-water robot and propelling unit thereof | |
| CN105676874B (en) | Low energy consumption Miniature underwater detection robot and control method based on sonar remote control | |
| CN113120198A (en) | Underwater detection robot | |
| CN106043634A (en) | High-maneuverability underwater glider | |
| CN101134500A (en) | Bionic underwater chelonian robot | |
| CN109353478A (en) | A kind of combination drive underwater glider | |
| CN208915401U (en) | A kind of underwater helicopter promoted based on vector | |
| CN101767642A (en) | Underwater biomimetic robotic fish | |
| CN1709766A (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN104386228A (en) | Fishtail type flapping hybrid power underwater glider structure | |
| CN208360465U (en) | Hybrid power underwater robot | |
| CN109292061A (en) | A kind of binary submarine navigation device of bionical swing and propeller hybrid propulsion | |
| CN110282100A (en) | The submarine navigation device of torpedo main body multiple degrees of freedom manipulation | |
| CN105059512A (en) | Jellyfish-type bio-robot | |
| CN207000790U (en) | A kind of bionic coatings underwater glider | |
| CN112498634A (en) | 1500-meter-level hybrid driving type underwater glider | |
| CN110203359A (en) | Imitative leopard triangular bream Fu fish underwater robot | |
| CN208855818U (en) | A kind of long continuation of the journey seawater sampling wave energy solar energy binary unmanned boat of self-righting | |
| CN105059505A (en) | Disc-shaped underwater glider | |
| CN109050838A (en) | The underwater helicopter promoted based on vector | |
| CN114655405A (en) | Underwater multi-degree-of-freedom motion mechanism for bionic cuttlefish | |
| CN108454808B (en) | Multi-parameter adjustable unpowered underwater vehicle model | |
| CN203864969U (en) | Underwater glider direction adjusting device | |
| CN106904258B (en) | Bi-motor is multidirectional to promote underwater autonomous robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |