CN108482623A - A kind of joint attitude regulating mechanism for underwater glider - Google Patents
A kind of joint attitude regulating mechanism for underwater glider Download PDFInfo
- Publication number
- CN108482623A CN108482623A CN201810106729.5A CN201810106729A CN108482623A CN 108482623 A CN108482623 A CN 108482623A CN 201810106729 A CN201810106729 A CN 201810106729A CN 108482623 A CN108482623 A CN 108482623A
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- roll
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- backpack cover
- main shaft
- motor group
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- 230000007246 mechanism Effects 0.000 title claims abstract description 58
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000005484 gravity Effects 0.000 abstract description 9
- 230000005611 electricity Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of joint attitude regulating mechanisms for underwater glider, including main shaft, forward spindle guide sleeve, rear main shaft guide sleeve, pitching motor group, linear displacement transducer, leading screw, feed screw nut, roll motor group, roll mechanism planetary gear, roll mechanism sun gear, battery pack, roll opening sliding block, roll guide rail, angular transducer etc..Battery pack is mounted on main shaft, and connect with feed screw nut as weight is adjusted；Pitching motor group drives leading screw, and battery pack movement is driven to realize that pitch attitude is adjusted to change aerodone axial direction center of gravity；Roll motor group is connect with roll mechanism planetary gear set, and battery pack rotation is driven to realize roll attitude regulation to change aerodone circumferential direction center of gravity.The joint attitude regulating mechanism can adjust pitch attitude and the roll posture of underwater glider simultaneously, and adjustable range is big, compact-sized, volume weight is small, small power consumption, reliability are high, and the load capacity of underwater glider is made to be enhanced.
Description
Technical field
The present invention relates to a kind of attitude regulating mechanism, especially a kind of joint attitude regulation for underwater glider fills
It sets.
Background technology
Underwater glider is a kind of novel unmanned undersea detection platform, simple in structure, small, light weight and cost
It is low, safeguard and easy to use there is that job area is wide, the activity duration is long, motor-driven controllable, repeatable utilization.It is underwater sliding
Xiang machine is buoyant state by changing itself and attitude angle (pitch angle and roll angle) to realize gliding, that is, is being kept
Under conditions of its own gravity is constant, change the displacement of volume of aerodone, to change the buoyant state of aerodone；Pass through change
The position of aerodone internal mechanism changes the position of center of gravity, to changing the attitude angle of aerodone.Therefore, attitude regulating mechanism
It is one of the key device for controlling underwater glider motion state.
Existing underwater glider attitude regulating mechanism distinguishes pitch attitude regulating device and roll attitude regulating mechanism
Independent design, volume weight is big, and integrated optimization degree is low, and occupancy is pressure-resistant, and space is more, so as to cause the load capacity of underwater glider
Difference.
Invention content
In view of the shortcomings of the prior art and defect, the technical problem to be solved in the present invention is to provide one kind for underwater
The joint attitude regulating mechanism of aerodone.It can adjust the pitch attitude of underwater glider and roll posture simultaneously, and adjust
Adjusting range is big, compact-sized, volume weight is small, small power consumption, reliability are high, and the load capacity of underwater glider is made to be enhanced.
The present invention is realized by following technical proposals.A kind of joint attitude regulating mechanism for underwater glider
Including：Main shaft, forward spindle guide sleeve, battery pack battery backpack cover, linear displacement transducer moved end before battery backpack cover, B before, A are solid
Fixed rack, A battery packs intermediate support, pitching motor group encoder, pitching motor group brake, B battery packet intermediate support, pitching
Motor group, pitching motor connecting bracket, shaft coupling, luffing mechanism electric machine support, linear displacement transducer, preceding leading screw fastened by screw
Nut, lead screw shaft bearings, roll drive rail pedestal, leading screw, feed screw nut and connecting seat, roll motor group encoder, roll
Motor group brake, roll motor group, rear leading screw fastened by screw nut, vertical holder, roll mechanism planetary gear, roll mechanism are too
Battery pack after battery backpack cover, C after battery backpack cover, B after positive wheel, main shaft bearing, rear main shaft guide sleeve, rear pitching roll clump weight, A
Battery backpack cover, preceding pitching roll clump weight, roll opening sliding block, roll guide rail, angular transducer, angle before lid, battery pack, C
Sensor row star-wheel, angular transducer holder.
The battery pack passes through A battery packs intermediate support and B battery packet intermediate support, both ends to be individually fixed in electricity before B
Battery backpack cover after pond backpack cover and C；Battery backpack cover is mechanically connected with battery backpack cover before battery backpack cover before A and C before B, battery backpack cover after C
It is mechanically connected with battery backpack cover after battery backpack cover after A and B, battery pack, which covers, before C is fixed with forward spindle guide sleeve and preceding pitching roll
Clump weight, battery pack, which covers, after A is fixed with rear main shaft guide sleeve and rear pitching roll clump weight；Forward spindle guide sleeve and rear main shaft guide sleeve
It for hollow structure and is respectively fitted on main shaft, can be moved forward and backward or circumferentially rotate along main shaft；Battery pack across both ends respectively with it is preceding
Main shaft guide sleeve and rear main shaft guide sleeve mechanical connection, feed screw nut and connecting seat bottom are with battery pack across mechanical connection；Straight line position
Displacement sensor moved end is mechanically connected by battery backpack cover before linear displacement transducer moved end fixing bracket and B, for measuring battery
The adjustable range of group.
The vertical pedestal lower end is mechanically connected with main shaft bearing, and main shaft bearing is installed on main shaft and axial position is solid
It is fixed；Luffing mechanism electric machine support and roll drive rail pedestal are installed, wherein on luffing mechanism electric machine support on vertical holder
Pitching motor connecting bracket and lead screw shaft bearings are installed, roll guide rail, straight-line displacement are installed on roll drive rail pedestal
Sensor fixing end and roll motor group；Roll motor group is connect with roll mechanism planetary wheel mechanical, roll mechanism planetary gear with
The sun gear engagement of roll mechanism；Battery pack covers after roll opening sliding block is installed on C, is co-axially mounted with roll guide rail and can be axial
It is mobile, for transmitting roll torque.
The pitching motor group is fixed in pitching motor connecting bracket, pitching motor group output end by shaft coupling with
Screw mechanism connects, and leading screw is supported by lead screw shaft bearings, and leading screw both ends are respectively provided with preceding leading screw fastened by screw nut and rear leading screw
Fastened by screw nut；Vertical holder and angular transducer holder one end are affixed, the angular transducer holder other end and angle sensor
Device and angular transducer planetary gear are coaxially connected, and angular transducer planetary gear is engaged with roll mechanism sun gear, for measuring electricity
The rotation angle of pond group；Adjusting weight of the battery pack other than providing electric energy for underwater glider or in attitude regulating mechanism
Object.
Beneficial effects of the present invention：A kind of joint attitude regulating mechanism for underwater glider provided by the present invention can
Pitch attitude and the roll posture of underwater glider are adjusted simultaneously, and the adjustable range of pitch angle and roll angle is big；Joint appearance
State regulating device is compact-sized, and volume weight is small, small power consumption, and reliability is high；Joint attitude regulating mechanism uses screw transmission
Center-of-gravity regulating axial position, planetary gear pair center-of-gravity regulating circumferential position, attitude regulation precision are high；Joint attitude regulating mechanism is adopted
With standard parts and components, most of parts are not necessarily to special processing, and interchangeability is good；Joint attitude regulating mechanism uses battery pack conduct
Attitude regulation weight alleviates the weight of regulating device itself, to enhance the load capacity of underwater glider.
Description of the drawings
Fig. 1 is the internal structure chart of the joint attitude regulating mechanism of underwater glider of the present invention；
Fig. 2 is the A-A drawings in side sectional elevation of the joint attitude regulating mechanism of underwater glider of the present invention；
Fig. 3 is the B-B drawings in side sectional elevation of the joint attitude regulating mechanism of underwater glider of the present invention；
Fig. 4 is the C-C drawings in side sectional elevation of the joint attitude regulating mechanism of underwater glider of the present invention.
Specific implementation mode
The specific implementation of the present invention is further described below with reference to drawings and examples.
As shown in Figure 1, the present invention includes：Main shaft 1, forward spindle guide sleeve 2, battery pack are electric before battery backpack cover 4, B before 3, A
Pond backpack cover 5, linear displacement transducer moved end fixing bracket 6, A battery packs intermediate support 7, pitching motor group encoder 8, pitching electricity
Unit brake 9, B battery packet intermediate support 10, pitching motor group 11, pitching motor connecting bracket 12, shaft coupling 13, pitching machine
Structure electric machine support 14, linear displacement transducer 15, preceding leading screw fastened by screw nut 16, lead screw shaft bearings 17, roll drive rail
Pedestal 18, leading screw 19, feed screw nut and connecting seat 20, roll motor group encoder 21, roll motor group brake 22, roll electricity
Unit 23, rear leading screw fastened by screw nut 24, vertical holder 25, roll mechanism planetary gear 26, roll mechanism sun gear 27, main shaft
Battery pack after battery backpack cover 32, C after battery backpack cover 31, B after bearing 28, rear main shaft guide sleeve 29, rear pitching roll clump weight 30, A
Battery backpack cover 35, preceding pitching roll clump weight 36, roll opening sliding block 37, roll guide rail 38, angle before lid 33, battery pack 34, C
Sensor 39, angular transducer planetary gear 40, angular transducer holder 41.
In conjunction with shown in Fig. 2 ~ 4, battery pack 34 passes through A battery packs intermediate support 7 and B battery packet intermediate support 10, both ends point
Battery backpack cover 33 battery backpack cover 5 and C after is not fixed on before B；Battery backpack cover 35 before battery backpack cover 4 and C before battery backpack cover 5 and A before B
Mechanical connection, battery backpack cover 32 is mechanically connected after battery backpack cover 31 and B after battery backpack cover 33 and A after C, before C on battery backpack cover 35
Be fixed with forward spindle guide sleeve 2 and preceding pitching roll clump weight 36, be fixed on battery backpack cover 31 after A rear main shaft guide sleeve 29 and after bow
Face upward roll clump weight 30；Forward spindle guide sleeve 2 and rear main shaft guide sleeve 29 for hollow structure and are respectively fitted on main shaft 1, can be along main shaft 1
It is moved forward and backward or circumferentially rotates；Battery pack is mechanically connected with forward spindle guide sleeve 2 and rear main shaft guide sleeve 29 respectively across 3 both ends, silk
Thick stick nut and 20 bottom of connecting seat are mechanically connected with battery pack across 3；15 moved end of linear displacement transducer is passed by straight-line displacement
Battery backpack cover 5 is mechanically connected before sensor moved end fixing bracket 6 and B, the adjustable range for measuring battery pack 34.
25 lower end of vertical holder is mechanically connected with main shaft bearing 28, and main shaft bearing 28 is installed on main shaft 1 and axial position
It is fixed；Luffing mechanism electric machine support 14 and roll drive rail pedestal 18, wherein luffing mechanism electricity are installed on vertical holder 25
Pitching motor connecting bracket 12 and lead screw shaft bearings 17 are installed on machine support 14, cross is installed on roll drive rail pedestal 18
Roll guide rail 38,15 fixing end of linear displacement transducer and roll motor group 23；Roll motor group 23 and roll mechanism planetary gear 26
Mechanical connection, roll mechanism planetary gear 26 are engaged with roll mechanism sun gear 27；Roll opening sliding block 37 is installed on battery pack after C
On lid 33, it is co-axially mounted and is axially movable with roll guide rail 38, for transmitting roll torque.
Pitching motor group 11 is fixed in pitching motor connecting bracket 12, and 11 output end of pitching motor group passes through shaft coupling 13
It is mechanically connected with leading screw 19, leading screw 19 is supported by lead screw shaft bearings 17, leading screw fastened by screw spiral shell before 19 both ends of leading screw are respectively provided with
Cap 16 and rear leading screw fastened by screw nut 24；Vertical holder 25 and 41 one end of angular transducer holder are affixed, angular transducer branch
41 other end of frame and angular transducer 39 and angular transducer planetary gear 40 are coaxially connected, angular transducer planetary gear 40 and roll
Mechanism sun gear 27 engages, the rotation angle for measuring battery pack 34；Battery pack 34 for underwater glider in addition to providing electric energy
Except or attitude regulating mechanism in adjusting weight.
When the pitch attitude of underwater glider to be changed, pitching motor group brake 9 stops braking, pitching motor group 11
It starts to work, drives leading screw 19 to rotate by shaft coupling 13, the feed screw nut and connecting seat 20 in screw transmission transport rotation
Turn turns to axial movement, and it is mobile to drive battery pack 34, rear pitching roll clump weight 30 and preceding pitching roll clump weight 36 etc.,
To change the axial position of center of gravity of underwater glider；When battery pack 34 reaches axial precalculated position, pitching motor group 11 is stopped
It only works, 9 brake lock of pitching motor group brake ensures that position of centre of gravity is constant.Linear displacement transducer 15 measures battery pack
Signal is simultaneously fed back to controller by 34 displacement distance, and pitching motor group encoder 8 measures the rotating speed of pitching motor group 11 and will
Signal feeds back to controller, and controller controls pitching motor group 11 according to the signal of feedback, to realize to sliding under water
The pitch attitude of Xiang machine is adjusted.
When the roll posture of underwater glider to be changed, roll motor group brake 22 stops braking, roll motor group
23 start to work, by drive roll mechanism planetary gear 26 roll mechanism sun gear 27 engaged transmission by realize itself around main shaft
Rotation, at the same drive battery pack 34, rear pitching roll clump weight 30, preceding pitching roll clump weight 36 and angular transducer 39 etc. around
Main axis, to change the circumferential position of center of gravity of underwater glider；When battery pack 34 reaches circumferential precalculated position, roll electricity
Unit 23 is stopped, 22 brake lock of roll motor group brake, ensures that position of centre of gravity is constant.Angular transducer 39 measures electricity
Signal is simultaneously fed back to controller by the rotation angle of pond group 34, and roll motor group encoder 21 measures the rotating speed of roll motor group 23
And signal is fed back into controller, controller controls roll motor group 23 according to the signal of feedback, to realize to water
The roll attitude regulation of lower aerodone.
The present invention controls to adjust the pitch angle and roll angle of carrier by changing the position of underwater glider carrier center of gravity,
To change the athletic posture of underwater glider.
Claims (5)
1. a kind of joint attitude regulating mechanism for underwater glider, it is characterised in that：Including main shaft（1）, forward spindle guide sleeve
（2）, battery pack across（3）, battery backpack cover before A（4）, battery backpack cover before B（5）, linear displacement transducer moved end fixing bracket
（6）, A battery pack intermediate supports（7）, pitching motor group encoder（8）, pitching motor group brake（9）, branch among B battery packet
Frame（10）, pitching motor group（11）, pitching motor connecting bracket（12）, shaft coupling（13）, luffing mechanism electric machine support（14）, it is straight
Linear movement pick-up（15）, preceding leading screw fastened by screw nut（16）, lead screw shaft bearings（17）, roll drive rail pedestal（18）、
Leading screw（19）, feed screw nut and connecting seat（20）, roll motor group encoder（21）, roll motor group brake（22）, roll
Motor group（23）, rear leading screw fastened by screw nut（24）, vertical holder（25）, roll mechanism planetary gear（26）, roll mechanism too
Sun wheel（27）, main shaft bearing（28）, rear main shaft guide sleeve（29）, rear pitching roll clump weight（30）, battery backpack cover after A（31）, after B
Battery backpack cover（32）, battery backpack cover after C（33）, battery pack（34）, battery backpack cover before C（35）, preceding pitching roll clump weight（36）、
Roll opening sliding block（37）, roll guide rail（38）, angular transducer（39）, angular transducer planetary gear（40）, angular transducer
Holder（41）；
The battery pack（34）Across A battery pack intermediate supports（7）With B battery packet intermediate support（10）, both ends are individually fixed in B
Preceding battery backpack cover（5）With battery backpack cover after C（33）；
Battery backpack cover before the B（5）With battery backpack cover before A（4）With battery backpack cover before C（35）It is mechanically connected, battery backpack cover after C
（33）With battery backpack cover after A（31）With battery backpack cover after B（32）It is mechanically connected, battery backpack cover before C（35）On be fixed with forward spindle
Guide sleeve（2）With preceding pitching roll clump weight（36）, battery backpack cover after A（31）On be fixed with rear main shaft guide sleeve（29）With rear pitching cross
Roll clump weight（30）；
The forward spindle guide sleeve（2）With rear main shaft guide sleeve（29）For hollow structure and it is respectively fitted over main shaft（1）On, it can be along main shaft
（1）It is moved forward and backward or circumferentially rotates；Battery pack across（3）Both ends respectively with forward spindle guide sleeve（2）With rear main shaft guide sleeve（29）Machine
Tool connects, feed screw nut and connecting seat（20）Bottom and battery pack across（3）Mechanical connection；
The linear displacement transducer（15）Moved end passes through linear displacement transducer moved end fixing bracket（6）With battery backpack cover before B
（5）Mechanical connection.
2. a kind of joint attitude regulating mechanism for underwater glider described in accordance with the claim 1, it is characterised in that：It is described
Vertical holder（25）Lower end and main shaft bearing（28）Mechanical connection, main shaft bearing（28）It is installed on main shaft（1）Upper and axial position
It is fixed；Vertical holder（25）On luffing mechanism electric machine support is installed（14）With roll drive rail pedestal（18）, wherein pitching
Mechanism motor holder（14）On pitching motor connecting bracket is installed（12）And lead screw shaft bearings（17）, roll drive rail pedestal
（18）On roll guide rail is installed（38）, linear displacement transducer（15）Fixing end and roll motor group（23）.
3. a kind of joint attitude regulating mechanism for underwater glider described in accordance with the claim 1, it is characterised in that：It is described
Roll motor group（23）With roll mechanism planetary gear（26）Mechanical connection, roll mechanism planetary gear（26）With roll mechanism sun gear
（27）Engagement；Roll opening sliding block（37）It is installed on battery backpack cover after C（33）On, with roll guide rail（38）It is co-axially mounted and can axis
To movement.
4. a kind of joint attitude regulating mechanism for underwater glider described in accordance with the claim 1, it is characterised in that：It is described
Pitching motor group（11）It is fixed on pitching motor connecting bracket（12）On, pitching motor group（11）Output end passes through shaft coupling（13）
With leading screw（19）Mechanical connection, leading screw（19）By lead screw shaft bearings（17）Support, leading screw（19）Leading screw spiral shell before both ends are respectively provided with
Silk fastening nut（16）With rear leading screw fastened by screw nut（24）.
5. a kind of joint attitude regulating mechanism for underwater glider described in accordance with the claim 1, it is characterised in that：It is described
Vertical holder（25）With angular transducer holder（41）One end is affixed, angular transducer holder（41）The other end and angular transducer
（39）With angular transducer planetary gear（40）It is coaxially connected, angular transducer planetary gear（40）With roll mechanism sun gear（27）It nibbles
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810106729.5A CN108482623A (en) | 2018-02-02 | 2018-02-02 | A kind of joint attitude regulating mechanism for underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810106729.5A CN108482623A (en) | 2018-02-02 | 2018-02-02 | A kind of joint attitude regulating mechanism for underwater glider |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108482623A true CN108482623A (en) | 2018-09-04 |
Family
ID=63344504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810106729.5A Pending CN108482623A (en) | 2018-02-02 | 2018-02-02 | A kind of joint attitude regulating mechanism for underwater glider |
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| Country | Link |
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| CN (1) | CN108482623A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050848A (en) * | 2018-10-17 | 2018-12-21 | 中电科海洋信息技术研究院有限公司 | Underwater glider gravity adjusting device |
| CN109178266A (en) * | 2018-10-12 | 2019-01-11 | 上海彩虹鱼深海装备科技有限公司 | Attitude adjusting method and system |
| CN109229317A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible |
| CN110723267A (en) * | 2019-09-17 | 2020-01-24 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
| CN110749414A (en) * | 2019-09-24 | 2020-02-04 | 中国舰船研究设计中心 | A controllable upset track of slide type for put in under water |
| CN110871877A (en) * | 2019-11-27 | 2020-03-10 | 中国舰船研究设计中心 | Disc type underwater glider |
| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
| CN112093016A (en) * | 2020-08-11 | 2020-12-18 | 河北汉光重工有限责任公司 | Underwater carrying device capable of adjusting posture and position feedback |
| CN113581427A (en) * | 2021-08-25 | 2021-11-02 | 天津大学 | Underwater glider attitude adjusting mechanism with full-angle pitch angle adjusting function |
| CN114872870A (en) * | 2022-03-22 | 2022-08-09 | 重庆大学 | Self-locking type gravity center adjusting mechanism for AUV (autonomous Underwater vehicle) |
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| CN206885307U (en) * | 2017-06-19 | 2018-01-16 | 浙江大学 | Underwater glider posture comprehensive regulating device in length and breadth |
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| CN102066191A (en) * | 2008-06-20 | 2011-05-18 | 财团法人北九州产业学术推进机构 | Underwater posture stabilization device and diving device equipped with the same |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178266A (en) * | 2018-10-12 | 2019-01-11 | 上海彩虹鱼深海装备科技有限公司 | Attitude adjusting method and system |
| CN109229317A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible |
| CN109050848A (en) * | 2018-10-17 | 2018-12-21 | 中电科海洋信息技术研究院有限公司 | Underwater glider gravity adjusting device |
| CN110723267A (en) * | 2019-09-17 | 2020-01-24 | 浙江大学 | Gravity center adjusting system applied to underwater robot |
| CN110749414A (en) * | 2019-09-24 | 2020-02-04 | 中国舰船研究设计中心 | A controllable upset track of slide type for put in under water |
| CN110871877A (en) * | 2019-11-27 | 2020-03-10 | 中国舰船研究设计中心 | Disc type underwater glider |
| CN111907670A (en) * | 2020-07-23 | 2020-11-10 | 天津大学 | Small-size continuous section deep-Yuan exploration type underwater glider |
| CN112093016A (en) * | 2020-08-11 | 2020-12-18 | 河北汉光重工有限责任公司 | Underwater carrying device capable of adjusting posture and position feedback |
| CN113581427A (en) * | 2021-08-25 | 2021-11-02 | 天津大学 | Underwater glider attitude adjusting mechanism with full-angle pitch angle adjusting function |
| CN113581427B (en) * | 2021-08-25 | 2022-06-24 | 天津大学 | Underwater glider attitude adjusting mechanism with full-angle pitch angle adjusting function |
| CN114872870A (en) * | 2022-03-22 | 2022-08-09 | 重庆大学 | Self-locking type gravity center adjusting mechanism for AUV (autonomous Underwater vehicle) |
| CN114872870B (en) * | 2022-03-22 | 2024-04-26 | 重庆大学 | Self-locking gravity center adjusting mechanism for AUV |
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Application publication date: 20180904 |
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| RJ01 | Rejection of invention patent application after publication |