CN106477008B - A kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies - Google Patents
A kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies Download PDFInfo
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- CN106477008B CN106477008B CN201611055918.1A CN201611055918A CN106477008B CN 106477008 B CN106477008 B CN 106477008B CN 201611055918 A CN201611055918 A CN 201611055918A CN 106477008 B CN106477008 B CN 106477008B
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- manipulator
- joint
- paw
- fairing
- main shaft
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
- B63C11/49—Floating structures with underwater viewing devices, e.g. with windows ; Arrangements on floating structures of underwater viewing devices, e.g. on boats
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/04—Propulsive elements directly acting on water of rotary type with rotation axis substantially at right angles to propulsive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform, it is related to a kind of underwater robot platform, belong to underwater robot field, including frame, fairing, battery compartment, control storehouse, propulsion system, motion perception system, underweater vision sensory perceptual system and two manipulators, fairing is covered on frame, battery compartment is mounted on the bottom of fairing, control storehouse is arranged in frame, the underweater vision system and the motion perception system are installed in the front end of the fairing, the propulsion system is mounted on fairing, two manipulators are mounted on frame.The present invention is can to realize autonomous, stable and high-precision operation the platform to target by the coordinated movement of various economic factors of underwater robot and manipulator in unstructured moving grids.
Description
Technical field
The present invention relates to a kind of underwater robot platforms, more particularly to a kind of streamlined AUTONOMOUS TASK underwater robot of three bodies
Platform belongs to underwater robot field.
Background technology
A large amount of living resources and mineral resources are contained in seabed, however complicated, dangerous environments such as subsea opens human development
Hair ocean proposes huge challenge using ocean, and on this basis, underwater robot just comes into being.Compare and have cable
Underwater robot, untethered autonomous underwater robot have the lash ship branch that scope of activities is wide, control accuracy is high, need not be professional and expensive
It holds, can be the important directions of underwater robot research in complicated unstructured moving grids the advantages that operation.
Currently, diver still plays most important effect in engineering and operation under water, but not with depth of implements
Disconnected to increase, the efficiency of diver's work and time are lower and lower, and job costs and danger are continuously increased.Patent document
The water that " a kind of underwater operation robot C N103303449A " and " multi-functional underwater working device CN202379073U " are related to
Although lower Work robot also has certain work capacity, it is mainly wheeled robot system conventional, can be in nuclear power station etc.
Specific underwater environment carries out reliable operation, but is difficult to be commonly used to the navigation and operation of unstructured environments such as subsea.Patent text
Offer " underwater operation robot and its working method CN104960652A " and " underwater unmanned operation aquaculture robot
The underwater robot that CN104813975A " is related to is mainly Work robot under open-shelf remote-controlled water, is mainly characterized by grasping
Make personnel and operation is remotely controlled to underwater robot in surface mother ship, sensor information, control instruction and the energy pass through umbilical cables
Realize that the transmission between underwater carrier and surface mother ship, the operation of underwater robot need the lash ship of profession to support, operating cost
Height, job area is relatively limited, and homework precision depends entirely on the qualification of operating personnel, and operation for a long time is be easy to cause
The fatigue of operating personnel.
The present invention devises a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies, and robot passes through underweater vision system
The distance between system autonomous classification operative goals, and measure operative goals, it is realized to robot by motion perception sensor
It is fed back with the position and attitude of manipulator, the AUTONOMOUS TASK of underwater robot is realized by the movement of manipulator and robot.
Invention content
The purpose of the invention is to provide a kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform, being can be non-
Autonomous, the stable and high-precision operation to target are realized by the coordinated movement of various economic factors of underwater robot and manipulator in structured environment
Platform.
The object of the present invention is achieved like this：Including frame (1), fairing (3), battery compartment (10), control storehouse
(11), propulsion system, motion perception system, underweater vision sensory perceptual system and two manipulators (9), the fairing (3)
It is covered on frame (1), there are two battery compartments (10) and is symmetrically mounted on the bottom of fairing (3), and control storehouse (11) is set
It sets in the frame (1), before the underweater vision system and the motion perception system are installed in the fairing (3)
End, the propulsion system are mounted on fairing (3), and two manipulators (9) are mounted on frame (1).
The invention also includes some such structure features：
1. the propulsion system includes that two main propelling screws (12), a side propelling screws (7) and four are vertical
Propelling screws (8), two main propelling screws (12) are symmetrically mounted on the rear end of fairing (3), side propelling screws
(7) lower surface of fairing (3) front end, the lower surface of fairing (3) front end and the lower surface of rear end point are mounted on
It is not arranged with two vertical thrust propellers (8) respectively；The upper surface of the fairing (3) is provided with suspension centre (2).
2. the underweater vision sensory perceptual system includes the front end binocular vision system (4) and monocular being mounted in frame (1)
Submerged color video camera (6), the underwater luminaire (13) mounted on the lower surface of fairing (3).
3. the motion perception system includes the magnetic compass being arranged in control storehouse and depth gauge, is arranged in frame front end
Acoustic Doppler instrument (5).
4. each manipulator include be sequentially connected manipulator shoulder (14), manipulator arm (15), manipulator ancon (16),
The paw (18) of manipulator forearm (17), the wrist (19) of manipulator, manipulator, manipulator shoulder (14) pass through underwater electrical connector
(20) it is connect with frame (1).
Compared with prior art, the beneficial effects of the invention are as follows：The present invention can be in unstructured moving grids by underwater
The coordinated movement of various economic factors of robot and manipulator realize to target it is autonomous, stablize and high-precision operation, the present invention have independence it is strong,
The advantages that operating cost is low, job area is wide, homework precision is high；The present invention passes through underweater vision system autonomous classification operation mesh
The distance between mark, and measure operative goals, the position appearance to robot and manipulator is realized by motion perception sensor
State is fed back, and the AUTONOMOUS TASK of underwater robot is realized by the movement of manipulator and robot.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the overall structure vertical view of the present invention；
Fig. 3 is the overall structure side view of the present invention；
Fig. 4 is the front view of overall structure of the present invention；
Fig. 5 is the overall structure rearview of the present invention；
Fig. 6 is the restoring moment computational methods schematic diagram of the present invention；
Fig. 7 is the AUTONOMOUS TASK process schematic diagram of the present invention；
Fig. 8 is the axonometric drawing of manipulator；
Fig. 9 is the partial sectional view of paw；
Figure 10 is the structural schematic diagram of manipulator joint part.
Specific implementation mode
Present invention is further described in detail with specific implementation mode below in conjunction with the accompanying drawings.
Embodiment one：In conjunction with Fig. 1 to Figure 10, the present invention include frame 1, fairing 3, battery compartment 10, control storehouse 11,
Propulsion system, motion perception system, underweater vision sensory perceptual system and two manipulators 9, fairing 3 are covered on frame 1,
Battery compartment 10 is mounted on the bottom of fairing 3, and control storehouse 11 is arranged in frame 1, the underweater vision system and described
Motion perception system is installed in the front end of the fairing 3, and the propulsion system is mounted on fairing 3, and two
A manipulator 9 is mounted on frame 1, and the cabin 41 for putting buoyant material is additionally provided in frame.
In order to ensure the neutral buoyancy state of underwater robot in the present embodiment, remaining space will be for adding buoyancy
Material.
Two battery compartments 10 are set in the bottom of fairing 3 in the present embodiment, only the navigation of platform does not provide work
The industry energy, and the first metancenter height of underwater robot is improved by reducing robot entirety center of gravity, and then improve underwater
The stability of people's operation.
Restoring moment calculation formula is(wherein " Δ " indicate displacement,The first metancenter height of expression,
" φ " indicates angle of inclination), restoring moment is bigger when just metancenter height is bigger known to formula, therefore, is carried by lowering the center of gravity
High just metancenter height can increase the stability of underwater robot.
Embodiment two：Based on above-described embodiment, the pushing system includes that two main propelling screws, 12, sides promote
Propeller 7 and four vertical thrust propellers 8, two main propelling screws 12 are mounted on the rear end of fairing 3, and side promotes
Propeller 7 is mounted on the lower surface of 3 front end of fairing, the lower surface of 3 front end of fairing and the lower surface of rear end point
It is not respectively provided with two vertical thrust propellers 8；The upper surface of the fairing 3 is provided with suspension centre 2.
The propulsion system of the present embodiment includes two main propelling screws 12, and a side propelling screws 7 and four are vertical
Propelling screws 8, mainly use two main propelling screws 12 of stern when long-distance navigation, AUTONOMOUS TASK underwater machine when operation
Device people's platform is switched to weak motor-driven coordinative operation Pose Control pattern；Pass through vertical thrust propeller 8, main propelling screws 12
The Pose Control of space six-freedom degree is realized with side propelling screws 7, realizes the coordinated movement of various economic factors of robot and manipulator.It is other
Composition and connection relation are same as the specific embodiment one.
Embodiment three：Based on above-described embodiment, the underweater vision sensory perceptual system is colored by binocular vision system 4, monocular
Underwater Camera 6, underwater luminaire 13 form, and binocular vision system 4, monocular submerged color video camera 6 are mounted in frame 1
Front end, underwater luminaire 13 are mounted on the lower surface of fairing 3.
Monocular colour TV camera 6 is mainly responsible for the identification of submarine target, and binocular vision system 4 is mainly used for ranging and determines
Position, underweater vision sensory perceptual system are mainly responsible for the identification, ranging and positioning of submarine target.And propulsion system is promoted mainly including two,
One side pushes away to hang down with four and push away, and when long-distance navigation is mainly promoted mainly using two of stern, AUTONOMOUS TASK underwater when operation
People's platform is switched to weak motor-driven coordinative operation Pose Control pattern, by hang down push away, promote mainly with side push away realize six, space freedom
The Pose Control of degree realizes the coordinated movement of various economic factors of robot and manipulator.
Monocular colour TV camera is mainly responsible for the identification of submarine target, after identifying successfully, AUTONOMOUS TASK underwater robot to
Target is advanced, and tracks the range of observation that target makes target enter binocular vision video camera, under water by binocular vision video camera
The characteristic point that submarine target is determined with the help of lamp, measures the distance of characteristic point relative mechanical hand end, to complete to underwater
The perception of target and AUTONOMOUS TASK.
Example IV：Based on above-described embodiment, the motion perception system is by acoustic Doppler instrument 5, magnetic compass and depth
Meter composition, acoustic Doppler instrument 5 are mounted on the front end in frame 1, and the magnetic compass and the depth gauge are mounted on control storehouse 11
It is interior.Motion perception system is mainly responsible for acquisition and calculates the current pose feedback of robot, and in navigation and when operation and propulsion
System constitutes control loop, realizes the autonomous control of underwater operation.
Embodiment five：Based on above-described embodiment, each manipulator 9 includes manipulator shoulder 14, manipulator arm 15, machinery
Elbow portion 16, manipulator forearm 17, the paw 18 of manipulator and manipulator wrist 19, manipulator shoulder 14, manipulator arm
15, manipulator ancon 16, manipulator forearm 17, the wrist 19 of manipulator, manipulator paw 18 be sequentially connected, manipulator shoulder
14 are connect by underwater electrical connector 20 with frame 1.
Manipulator shoulder 14 includes pitching joint and swinging joint, and manipulator ancon 16 includes pitching joint, manipulator
Wrist 19 includes swinging joint, and each joint is enclosed construction, and the enclosed construction is by joint end cap 21, sealing ring
22, encoder 23, motor reducer all-in-one machine 24, joint sealing shell 25, the general plug envelope 26 of rotation, joint main shaft 27, Spring Card
Circle 28, general plug big envelope 29, main shaft bearing 30 and spindle connector 31 form, and motor reducer all-in-one machine 24 is sealed mounted on joint
In shell 25, encoder 23 is located at the upper end of motor reducer all-in-one machine 24, joint main shaft 27 and motor reducer all-in-one machine 24
Rotation axis connection, main shaft bearing 30 is fixed between joint main shaft 27 and joint sealing shell 25, and general plug big envelope 29 is fastened on
In joint sealing shell 25, rotates general plug and seal 26 and be fixed between joint main shaft 27 and general plug big envelope 29 and form dynamic sealing, main shaft
Connector 31 is fixed on spring collar 28 on joint main shaft 27 by key connection, and sealing ring 22 is fixed on joint sealing shell 25
Static seal is formed between joint end cap 21.
It is realized and is moved by motor reducer all-in-one machine 24, encoder 23 realizes the pose feedback in joint, rotates general plug envelope
26 and general plug big envelope 29 with stationary ring is combined into, rotate general plug envelope 26 and joint main shaft 27 match and is combined into rotating ring and realizes the dynamic close of joint
Envelope.The paw 18 of manipulator includes flange 32, palm 33, paw bearing 34, paw main shaft 35, paw pedestal 36, large bevel gear
37, cone pinion 38, locking nut 39 and paw lock pedestal 40, and cone pinion 38 passes through motor shaft and motor reducer one
The rotation axis connection of machine 24, cone pinion 28 are engaged with large bevel gear 27, and one end of paw main shaft 35 is fixed on paw pedestal 36
On, the other end of paw main shaft 35 is fixed on paw locking pedestal 40, and palm 33 is fixed on large bevel gear 27,33 He of palm
Large bevel gear 27 is mounted on by paw bearing 34 on paw main shaft 35, and locking nut 39 is for adjusting paw main shaft 35 and paw
Lock the gap between pedestal 40.
The structure in each joint is similar, and each joint is driven by motor reducer all-in-one machine 24, and encoder 23 realizes the position in joint
Appearance is fed back, and is rotated general plug envelope 26 and is fixed on the main shaft of joint, joint is realized by general plug big envelope 29 and joint sealing shell 25
With stationary ring is combined into, the general plug envelope 26 of rotation and joint main shaft 27, which are matched, to be combined into for dynamic sealing, the general plug envelope 26 of rotation and general plug big envelope 29
Rotating ring realizes the dynamic sealing in joint.Underwater electrical connector 20 is responsible for transmitting 23 feedback information of control instruction and encoder in joint.Hand
The movement of pawl is mainly driven the folding of the realization paw of bevel gear 37,38 by motor reducer all-in-one machine 24 by electric machine main shaft 27.
Composition and connection relation are identical as specific implementation mode five.
To sum up, operation principle of the invention is：In 6 visual field of monocular colour TV camera that target enters front end, robot
By identification determine operative goals, forward track target while by long-distance navigation pattern switching be AUTONOMOUS TASK pattern,
Target enters Robot Binocular Vision System 4 within sweep of the eye.Binocular vision system 4 measures operative goals apart from manipulator 9
Distance, it is robot autonomous planning AUTONOMOUS TASK underwater robot platform main body and manipulator 9 coordinated movement of various economic factors track, transporting
By the fortune of Doppler anemometer 5, magnetic compass and propulsion system closed-loop control robot underwater robot platform main body in dynamic control
It is dynamic, the main body and manipulator 9 of AUTONOMOUS TASK underwater robot platform are realized to the pose measurement of manipulator 9 in conjunction with encoder 23
The coordinated movement of various economic factors.
Claims (1)
1. a kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies, it is characterised in that：Including frame (1), fairing
(3), battery compartment (10), control storehouse (11), propulsion system, motion perception system, underweater vision sensory perceptual system and two manipulators
(9), the fairing (3) is covered on frame (1), and there are two battery compartments (10) and is symmetrically mounted on fairing
(3) bottom, in frame (1), the underweater vision system and the motion perception system are respectively mounted for control storehouse (11) setting
Front end in the fairing (3), the propulsion system are mounted on fairing (3), two manipulator (9) installations
On frame (1)；The propulsion system includes that two main propelling screws (12), a side propelling screws (7) and four are vertical
Straight propelling screws (8), two main propelling screws (12) are symmetrically mounted on the rear end of fairing (3), long-distance navigation
When mainly use two main propelling screws of stern, AUTONOMOUS TASK underwater robot platform is switched to weak motor-driven association when operation
Adjust operation Pose Control pattern；Side propelling screws (7) are mounted on the lower surface of fairing (3) front end, fairing
(3) lower surface of the lower surface of front end and rear end is respectively arranged with two vertical thrust propellers (8) respectively；It is described streamlined outer
The upper surface of shell (3) is provided with suspension centre (2), passes through vertical thrust propeller 8, main propelling screws 12 and side propelling screws 7
It realizes the Pose Control of space six-freedom degree, realizes the coordinated movement of various economic factors of robot and manipulator；Underweater vision perception system
System includes the front end binocular vision system (4) being mounted in frame (1) and monocular submerged color video camera (6), is mounted on streamline
The underwater luminaire (13) of the lower surface of type shell (3), binocular vision system (4) realize operative goals during AUTONOMOUS TASK
Stereoscopy passive ranging, monocular submerged color video camera (6) be used for autonomous navigation when identify operative goals；The motion perception system
System includes the magnetic compass being arranged in control storehouse and depth gauge, the acoustic Doppler instrument (5) for being arranged in frame front end；
Each manipulator includes being sequentially connected manipulator shoulder (14), manipulator arm (15), manipulator ancon (16), manipulator
The paw (18) of forearm (17), the wrist (19) of manipulator, manipulator, manipulator shoulder (14) by underwater electrical connector (20) with
Frame (1) connects；Manipulator shoulder (14) includes pitching joint and swinging joint, and manipulator ancon (16) includes pitching joint,
The wrist (19) of manipulator includes swinging joint, and each joint is enclosed construction, and the enclosed construction is by joint end
Cover (21), sealing ring (22), encoder (23), motor reducer all-in-one machine (24), joint sealing shell (25), the general plug envelope of rotation
(26), joint main shaft (27), spring collar (28), general plug big envelope (29), main shaft bearing (30) and spindle connector (31) composition,
Motor reducer all-in-one machine (24) is mounted in joint sealing shell (25), and encoder (23) is located at motor reducer all-in-one machine
(24) upper end, the rotation axis connection of joint main shaft (27) and motor reducer all-in-one machine (24), main shaft bearing (30) are fixed on
Between joint main shaft (27) and joint sealing shell (25), general plug big envelope (29) is fastened in joint sealing shell (25), rotation
General plug envelope (26), which is fixed between joint main shaft (27) and general plug big envelope (29), forms dynamic sealing, and spindle connector (31) passes through key
Connection is fixed on spring collar (28) on joint main shaft (27), and sealing ring (22) is fixed on joint sealing shell (25) and joint
End cap forms static seal between (21)；
The paw (18) of manipulator includes flange (32), palm (33), paw bearing (34), paw main shaft (35), paw pedestal
(36), large bevel gear (37), cone pinion (38), locking nut (39) and paw locking pedestal (40), cone pinion (38) are logical
The rotation axis connection of motor shaft and motor reducer all-in-one machine (24) is crossed, cone pinion (28) is engaged with large bevel gear (27), hand
One end of pawl main shaft (35) is fixed on paw pedestal (36), and the other end of paw main shaft (35) is fixed on paw locking pedestal
(40) on, palm (33) is fixed on large bevel gear (27), and palm (33) and large bevel gear (27) are pacified by paw bearing (34)
On paw main shaft (35), between locking nut (39) is for adjusting between paw main shaft (35) and paw locking pedestal (40)
Gap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611055918.1A CN106477008B (en) | 2016-11-25 | 2016-11-25 | A kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611055918.1A CN106477008B (en) | 2016-11-25 | 2016-11-25 | A kind of streamlined AUTONOMOUS TASK underwater robot platform of three bodies |
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| CN106477008A CN106477008A (en) | 2017-03-08 |
| CN106477008B true CN106477008B (en) | 2018-07-31 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108045532B (en) * | 2017-12-04 | 2020-05-12 | 国网山东省电力公司电力科学研究院 | Underwater electric mechanical arm operation nacelle and use method thereof |
| CN108860527B (en) * | 2018-07-09 | 2020-07-14 | 哈尔滨工程大学 | Underwater robot-underwater mechanical arm system |
| CN108860532A (en) * | 2018-07-11 | 2018-11-23 | 哈尔滨工程大学 | A kind of omnidirectional's revolution submarine navigation device |
| CN109533239A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of deep water underwater intelligent operation robot and its control system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203646A (en) * | 1992-02-06 | 1993-04-20 | Cornell Research Foundation, Inc. | Cable crawling underwater inspection and cleaning robot |
| CN2778493Y (en) * | 2004-11-10 | 2006-05-10 | 甘肃长城水下高技术有限公司 | Combined framework structure of underwater robot |
| CN2892668Y (en) * | 2006-05-18 | 2007-04-25 | 哈尔滨工程大学 | Rudder wing type micro-underwater robot |
| CN201325591Y (en) * | 2008-08-28 | 2009-10-14 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN202703877U (en) * | 2012-08-18 | 2013-01-30 | 郑州大学 | Image processing-based self-control underwater robot |
| CN106043631B (en) * | 2016-06-15 | 2017-11-14 | 青岛赶海机器人有限公司 | A kind of manipulator backpack underwater robot |
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