CN102817389A - Underwater robot capable of diving in seabed to perform dredging - Google Patents
Underwater robot capable of diving in seabed to perform dredging Download PDFInfo
- Publication number
- CN102817389A CN102817389A CN2011101545505A CN201110154550A CN102817389A CN 102817389 A CN102817389 A CN 102817389A CN 2011101545505 A CN2011101545505 A CN 2011101545505A CN 201110154550 A CN201110154550 A CN 201110154550A CN 102817389 A CN102817389 A CN 102817389A
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- pump
- seabed
- ability
- underwater robot
- underwater
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- 230000009189 diving Effects 0.000 title claims 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims abstract description 9
- 229910052760 oxygen Inorganic materials 0.000 claims abstract description 9
- 239000001301 oxygen Substances 0.000 claims abstract description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 6
- 239000000446 fuel Substances 0.000 claims abstract description 6
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 2
- 244000144985 peep Species 0.000 claims description 2
- 239000013013 elastic material Substances 0.000 claims 1
- 239000002828 fuel tank Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 34
- 239000010720 hydraulic oil Substances 0.000 abstract description 4
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 8
- 241000282461 Canis lupus Species 0.000 description 2
- 235000013339 cereals Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000005987 sulfurization reaction Methods 0.000 description 2
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000013066 combination product Substances 0.000 description 1
- 229940127555 combination product Drugs 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Abstract
An underwater robot can dive in the seabed and can scurry to the water surface in a high speed for receiving and transmitting information. The underwater robot can move fast in water, can perform dredging in a shoal and can reach the deep-sea bottom to sample core samples and valuable organisms, perform undersea transportation and the like, turning of the underwater robot is very flexible, and the main body of the underwater robot is a powerful pump like an abdominal cavity which can eat from the front portion and can perform discharging from the rear portion; a digging wheel is arranged in front of the pump, and a scribbing blade is like an arm and can perform padding and turning; rear driving wheels are like double feet and can walk; a driving cab and a self-control system are arranged above the pump, and operation can be performed according to information provided by an underwater monitor and an information transmitting and receiving device; and a lithium battery (or a fuel battery), a hydraulic oil tank, an oxygen tank and a hydraulic power system are arranged on two sides and the rear surface of the pump and serve as the heart and vessels of the robot, and a support plate is arranged on the lower portion and serves as the back of a human body. When the water is not deep, the robot can operate according to the information of a ship monitor provided by an underwater display in dredging, the cab can be descended, and debris flow can be stricken to a mud boat or ejected on the shore without any piling or pile pulling. Therefore, the underwater robot can dive to the seabed and can perform dredging.
Description
Affiliated technical field
The present invention relates to the underwater robot of the latent ability desilting of a kind of ability to the seabed.
Background technology
Dredge boat is still leaned in current desilting, but the ubiquity complex structure is bulky, and cost is high, and work efficiency is low.And in the institute spoil disposal slurry mud content seldom, it is many to turn during mud flow, the resistance of ducting is big.And will piling, pile pulling, build a dam.Complex process such as often treat also will dredge again after the water elimination.Need a lot of unproductive times.And can not entrucking set out on a journey, can not in mountain reservoir, lake, river, go operation.More can not use more.
The suction pipe that current mud ship is used generally is no more than 6 meters (otherwise inhaling motionless mud) because vacuum is limit, can not operation to deep water.Too shallow and open motionless!
Summary of the invention
In order to overcome the ubiquitous problem of above-mentioned dredge boat, the invention provides the underwater robot of the latent ability desilting of a kind of ability to the seabed.And can scurry the water surface, sending and receiving information on the high speed.Both can in water, speed on, and also can arrive the shoal desilting, and can also arrive abyssal floor and gather sample ore and precious biology and seabed transportation etc., it is also very flexible to turn, and its main body is powerful pump such as abdominal cavity, preceding eating into, and discharge the back; Pump the place ahead is dug wheel, scribing such as arm flexible paddling and is turned to; The rear driving wheel just like both feet also like walking; Pump top is a driver's cabin, and indoor robot control system(RCS) can be operated according to the information that underwater monitor and information receiving-transmitting device provide; Pump both sides and back are lithium battery (or fuel cell), hydraulic oil container, oxygen tank, hydraulic power system, are its heart and blood vessel, and the below is that supporting plate is as back; So say " underwater robot ".Water is not too dark, can be with on the ship or the electricity of electrical network, without battery during desilting., directly mud-rock flow is got to the mud ship or be ejected on the bank with the piling pile pulling.So claim again " little extra large wolf formula Submersible dredger ".
The present invention realizes through the original creation design of following seven aspects: dive into the water (can reach the most deeply hundreds of rice), excavate become silted up soil, rubble and be transported to lowland or ship on; Gathering precious biology and sample ore and the canister of packing into floats fast; Both can stroll at the bottom also can be in water, the water surface speeds on; Both can operation at the bottom of deep water, also can desilting in the shoal; Scurry on can be at a high speed, it is also very flexible to turn, can sending and receiving information, and automatic control is also very reliable.
The special device of these seven aspects is:
One. powerful pump---it always schemes as shown in Figure 1: at cylinder bucket inner surface sulfuration one deck rubber.A hollow piston wherein is housed.Be evenly equipped with many axial arranged trundles on the outside piston.In the hollow piston rear end piston valve is arranged, there are preceding valve and back valve in cylinder bucket two ends.
The operating principle of powerful pump is as shown in Figure 2:
When going behind the hollow piston: (as shown in Figure 2) piston valve (4), under solifluction, close.Preceding valve (3) and back valve (5) are also all opened under pull of vacuum and solifluction, and mudflow is sucked into the cylinder bucket, and with row behind the piston, the mudflow at piston rear portion is pressed into mud pipe.When the hollow piston moved ahead: (as shown in Figure 1) preceding valve all cut out with the back valve.The hollow piston valve open.The mudflow of being inhaled, compress into the cylinder bucket gets into cylinder bucket rear portion through piston valve.Mudflow in the mud pipe is closed because of the back valve, can not refund the cylinder bucket.Along with hollow piston moves back and forth, constantly get mud pipe to the mudflow of inspiration.
When dig adopt deep water at the bottom of when precious biology or ore, can be without mud pipe, and with canister with a lot of apertures, with its pushing wherein (water can be drained), (like Fig. 2) floats in full back.
The sulfuration of the cylinder bucket inner surface of this pump has rubber, moves back and forth in the process at hollow piston, and between the grains of sand or assorted slag card cylinder bucket and the hollow piston, rubber is recessed immediately, treat that hollow piston is gone over after, rubber is upspring the grains of sand immediately and is pushed away away! So can not cause " scuffing of cylinder bore ".
The driving principle of hollow piston is as shown in Figure 1: a hydraulic motor drives a connecting rod makes a gear do circular motion (1/3 garden week); Its tooth makes another gear also make back rotation; The other end wire rope pulley of this gear shaft also comes back rotation (4/5 circumference) thereupon, and wire rope just spurs the hollow piston reciprocating motion on it.
Two. driving wheel rear axle differential---both sides, cylinder bucket rear portion have 2 driving wheels (the available littler wheel that digs, scribing change dull and stereotyped getting final product into) to have similar automotive rear axle differential gear to be driven by a hydraulic motor therebetween, so turn to very flexible.Drive simultaneously with preceding digging wheel, make dredger no matter the depth of water is shallow and can both work.
Three.Dig wheel and scribing---dig wheel the place ahead, use hydraulic-driven at powerful pump.The only wide scribing of hinged 4-6 on the wide cut wheel rim, this sheet front portion have the triangle cutter tooth that the function of cutting the earth and cutting off pasture and water is arranged.And can be mud, stone, be grilled in the cylinder bucket.Because of it is sunken in the soil, so mud content can increase a lot.Turn to oil cylinder digging the wheel both sides, this is taken turns turn to, unit is turned.
Dig wheel scribing low speed (30---60 rev/min) during desilting, must quicken (100---150 rev/min) in the time of must floating, promptly per minute is drawn 600---900 time, unit is come back float! This moment back electromagnetism has been closed mud pipe, opens spout simultaneously, sprays from spout from the water under high pressure of powerful pump, makes the unit floating upward quickly.
Four. power set---water is chin-deep not, and generator is put aboard ship or on the bank, through cable power supply.When very dark the and pasture and water of water are a lot, supply power with lithium battery (or fuel cell).With drive motors, hydraulic system and robot control system(RCS).
Five. the mud pipe spout device---big or small capitiform mud pipe, major part are connected in powerful pump rear end, and little head end has a threeway and mud pipe and spout to link, and an electromagnetic valve is arranged in the threeway, usually all close spout during desilting.When come-up maybe must be quickened.This valve promptly cuts out mud pipe, opens spout, lets the water under high pressure of powerful pump spray from spout.One section high pressure resistant flexible pipe is arranged between spout and the mud pipe, spout is turned to, make unit quicken to turn.
Six. supporting plate---supporting plate is below powerful pump, and the both sides tip is curved down, and last plane is pressed with a lot of grooves, makes ground pressure below 0.022kg/cm2.Unit can not sink very dark.
Seven.Driver's cabin robot control system(RCS) and underwater monitor and information receiving-transmitting device---driver's cabin volume not quite can only be received a people, peep hole is arranged all around and adopt the steel tubular structure (asking for an interview Fig. 5) that gathers in two clamping plate.To bear the high pressure that slips into hundreds of meters in sea.It is indoor that outdoor oxygen tank has tracheae to lead to; Indoor have a robot control system(RCS), can look record from the picture recording of the place ahead underwater monitor and from or the information of sending on the ship (during sending and receiving information unit must come-up let the information receiving-transmitting device surface) on the bank
The invention has the beneficial effects as follows:
One. compare with dredge boat:
1. the hull and piling pile pulling system of huge costliness have been saved.
2. improved and discharged the mud content in the mud.Work efficiency is doubled.
3. it is motionless to have solved depth of water suction, the shallow disadvantage that can't walk any longer of water.No matter the depth of water is shallow can both work in the present invention.
The volume I transport to dredge boat can not to ground such as reservoir, river, lake go operation.
5. its price has only 1/20 of dredge boat.
Two. former with me " the submerged type dredger " compare:
1. two guide pillars, remote control, uprooting weed sword, winch etc. have under water been saved in two buoyant tanks, gas-tight silo, cylinder.But many driver's cabins and robot control system(RCS).
2. the dive beneath the water degree of depth, ascent rate, turning sensitivity all significantly improves! It is how little that volume is wanted! Purposes is how wide!
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further specified
Fig. 1 is a general arrangement of the present invention:
Top is driver's cabin (containing robot control system(RCS)) and underwater monitor and headlight.It on the driver's cabin information receiving-transmitting device.
The middle part is powerful pump assembly: gear-box, cylinder bucket, preceding valve, hollow piston, piston valve, wire rope, big or small capitiform mud pipe, wire rope pulley, back valve.Powerful pump both sides are lithium battery (or fuel cell), motor, high-pressure oil pump, hydraulic oil container, oxygen tank etc. with the back.
The bottom is driving wheel, rear axle differential and supporting plate.
The front portion is to dig wheel assembly and scribing.Dig the wheel both sides hydraulic cylinder is arranged.
The rear portion is motor and high-pressure oil pump, mud pipe, hydraulic cylinder, spout, electromagnetic valve.
Fig. 2 is a first embodiment of the invention---sinking to precious mineral products of ocean-mine and floating upward quickly---, and the back hangs a canister, and rising is drawn in preceding scribing soon, rear jet ejection water jets under high pressure.When the driver's cabin top telecommunication receiving-transmitting device water surface of emerging, can receive instruction.(also can advance a driver in case of necessity operates)
Fig. 3 digs wheel assembly figure to have explained and dig wheel running cam and do not change, and scribing is to front opening, to after the structure of packing up.
Fig. 4 is a second embodiment of the invention---when shallow water operations, driver's cabin can fall down, the information operating that can provide according to underwater monitor through display on the ship or on the bank.Cable power supply above also available is given unit under water.
Fig. 5 is the shell mechanism that the sectional view of driver's cabin shell has been explained the steel pipe that gathers in two clamping plate.
Fig. 6 is two-shipper combination product figure.The powerful pump of 3 covers, 2 covers dig the wheel scribing, 3 spouts, 3 imports, 1 cover driver's cabin (containing robot control system(RCS)), battery, oxygen, hydraulic oil, motor, high-pressure oil pump etc. all are configured in the storehouse, both sides.
Among Fig. 1: 1.High-pressure oil pump 2.Motor 3.Lithium battery (or fuel cell) 4.Rope sheave 5.Gear-box 6.Back valve 7. driver's cabin robot control system(RCS)s.8。Information receiving-transmitting device 9.Display 10.Hydraulic motor driving wheel 11.Underwater monitor and headlight 12.Scribing 13.Dig wheel assembly 14.Hydraulic cylinder 15.Turn over hand 16.Cam 17.Dig wheel hydraulic motor 18.Preceding valve 19.Wire rope 20.Hollow piston 21.Supporting plate 22.Rear drive sprocket and back axle 23.Spout 24.Electromagnetic valve 25.The concentric reducer Taper Pipe
Among Fig. 2: 1.Information receiving-transmitting device 2.Scribing 3.Preceding valve 4.Piston valve 5.Back valve 6.The water jets under high pressure 7 of ejection.Canister 8.Hydraulic jack
Among Fig. 3: 1.Wave 2.Cam 3.Scribing 4.Hydraulic motor
Among Fig. 4: 1.Mud pipe 2.Mud ship 3.Overflow pipe 4.Workboat 5.Underwater monitor and headlight 6.Little extra large wolf formula dredger 7.Keg float 8.Cable
Among Fig. 5: 1.Driver's cabin inner panel 2.Steel pipe 3.The driver's cabin outside plate
Among Fig. 6: 1.Spout 2.High-pressure hose 3.Storehouse 1 (including battery, motor, high-pressure oil pump) 4.Storehouse 2 (including hydraulic pressure oil tank, oxygen tank, spare part case) 5.Driver's cabin (including robot control system(RCS), seat) 6.Information receiving-transmitting device 7.Scribing 8.Powerful pump assembly 9.Back oil cylinder 10.Dig wheel assembly 11.The big lamp assembly of underwater monitor
The specific embodiment
Dive in seabed operation at Fig. 2, at first must strictness pick up the reliability of looking into each component assembly: the hydraulic pressure test of driver's cabin; Liquid oxygen in the oxygen cylinder is picked up and is looked into; Whether unit normal fully in stand test running half an hour? And measure its temperature, pressure, rotating speed, gap etc.; Battery power situation, underwater monitor and headlight situation, driver's physical condition more should be paid close attention to.(preferably by Fig. 6 two-shipper combining and configuring the driver is arranged and operation simultaneously more than two, available light connects each other).
In Fig. 4 shallow water operations, the people can not go down, and falls under the driver's cabin, operates according to the information that underwater monitor provides through display on the ship or on the bank.Give unit under water with top cable power supply.Guarantee leakproof, water-surface working boat and mud ship and unit matching coordinative under water.Can not act with undue haste! Fault-free soon just therein.
Claims (7)
1. the underwater robot that the seabed of diving can desilting; It is characterized in that: be connected with in a powerful pump the place ahead and dig wheel and scribing; This pump rear is driving wheel rear axle differential and mud pipe, is motor, high-pressure oil pump, spout more backward, and the pump top is driver's cabin and underwater monitor and information receiving-transmitting device; The pump both sides are lithium battery (or fuel cell), oxygen tank and fuel tank, and the below is a supporting plate.
2. the underwater robot according to the latent ability desilting to the seabed of claims 1 said a kind of ability is characterized in that: powerful pump is at cylinder bucket inner surface a layer wear resistant elastic material to be arranged; One hollow piston wherein is housed; Be furnished with many axial arranged trundles around the cylindrical of piston two ends; At an end of piston and the two ends of cylinder bucket valve is arranged all, steel cable passes hollow piston upper end breach and centre bore behind three sheaves, be wire-wrapped on the wire rope pulley again; This is taken turns by a hydraulic motor and drives a connecting rod, and it is swung back and forth.
3. it is characterized in that according to claims 1 said a kind of ability underwater robot that the seabed can desilting of diving: hydraulically poweredly dig the only wide scribing of hinged 4-6 on the wheel wide cut wheel rim, there is the triangle cutter tooth this sheet front portion, takes turns both sides and turns to oil cylinder digging.
4. it is characterized in that according to the dive underwater robot of seabed ability desilting of claims 1 said a kind of ability: the driving wheel back axle comprises 2 driving wheels, 1 hydraulic motor and 1 differential mechanism.
5. the underwater robot according to the latent ability desilting to the seabed of claims 1 said a kind of ability is characterized in that: mud pipe is big or small capitiform, and major part is connected in powerful pump rear end, and little head end has a threeway and spout to link, and an electromagnetic valve is arranged in the threeway.
6. the underwater robot according to the latent ability desilting to the seabed of claims 1 said a kind of ability is characterized in that: supporting plate is below powerful pump, and the both sides tip is curved down, and last plane is pressed with a lot of grooves.
7. the robot according to the latent ability desilting to the seabed of claims 1 said a kind of ability is characterized in that: driver's cabin adopts the steel tubular structure that gathers in two clamping plate; Peep hole is arranged all around; It is indoor that outdoor oxygen tank has tracheae to lead to; Indoor have a robot control system(RCS), and underwater monitor is in its place ahead, and the information receiving-transmitting device above it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110154550.5A CN102817389B (en) | 2011-06-09 | A kind of energy dives seabed can the underwater robot of desilting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110154550.5A CN102817389B (en) | 2011-06-09 | A kind of energy dives seabed can the underwater robot of desilting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102817389A true CN102817389A (en) | 2012-12-12 |
| CN102817389B CN102817389B (en) | 2016-12-14 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501414A (en) * | 2015-01-16 | 2016-04-20 | 刘广 | Underwater engineering vehicle |
| CN105905287A (en) * | 2016-06-02 | 2016-08-31 | 舟山正恒环保科技有限公司 | Omnidirectional offshore environment-friendly cleaning equipment |
| CN108077975A (en) * | 2018-01-17 | 2018-05-29 | 苏州亮磊知识产权运营有限公司 | It is a kind of to adapt to feed production equipment and its method of work that different times are fed |
| CN108442443A (en) * | 2018-02-05 | 2018-08-24 | 浙江大学 | A kind of underwater hole dredging method and system based on underwater robot |
| CN109964913A (en) * | 2019-05-05 | 2019-07-05 | 上海电机学院 | A kind of underwater weeder |
| CN109973096A (en) * | 2019-04-19 | 2019-07-05 | 中国海洋大学 | A kind of deep sea polymetallic nodule ore mining mine operating system |
| CN110206963A (en) * | 2019-07-08 | 2019-09-06 | 大成科创基础建设股份有限公司 | Novel pipeline detects robot |
| CN110700343A (en) * | 2019-09-05 | 2020-01-17 | 商丘师范学院 | Culvert cleaning device for irrigation canal |
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| DE19715284A1 (en) * | 1997-04-11 | 1998-10-22 | Wirth Co Kg Masch Bohr | Underwater mineral recovery unit operated in conjunction with ship |
| CN2343209Y (en) * | 1998-06-19 | 1999-10-13 | 侯家瑞 | Remote-controlled submersible dredging vehicle |
| CN2353799Y (en) * | 1998-12-16 | 1999-12-15 | 泰兴市水泵厂 | Milling-cutting mud-suction mechanism of underwater mud-suction dredging machine |
| CN1554833A (en) * | 2003-12-25 | 2004-12-15 | 章永泰 | Crawler-type under water ecological precision thin layer slurry dredger |
| WO2005019540A2 (en) * | 2003-08-11 | 2005-03-03 | Turner Thomas M | Optimized kinetic energy machine for excavating underwater rock |
| CN2820963Y (en) * | 2004-04-24 | 2006-09-27 | 吴勇 | Submersible dredging machine |
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19715284A1 (en) * | 1997-04-11 | 1998-10-22 | Wirth Co Kg Masch Bohr | Underwater mineral recovery unit operated in conjunction with ship |
| CN2343209Y (en) * | 1998-06-19 | 1999-10-13 | 侯家瑞 | Remote-controlled submersible dredging vehicle |
| CN2353799Y (en) * | 1998-12-16 | 1999-12-15 | 泰兴市水泵厂 | Milling-cutting mud-suction mechanism of underwater mud-suction dredging machine |
| WO2005019540A2 (en) * | 2003-08-11 | 2005-03-03 | Turner Thomas M | Optimized kinetic energy machine for excavating underwater rock |
| CN1554833A (en) * | 2003-12-25 | 2004-12-15 | 章永泰 | Crawler-type under water ecological precision thin layer slurry dredger |
| CN2820963Y (en) * | 2004-04-24 | 2006-09-27 | 吴勇 | Submersible dredging machine |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501414B (en) * | 2015-01-16 | 2018-01-12 | 刘广 | Underwater Engineering car |
| CN105501414A (en) * | 2015-01-16 | 2016-04-20 | 刘广 | Underwater engineering vehicle |
| CN105905287A (en) * | 2016-06-02 | 2016-08-31 | 舟山正恒环保科技有限公司 | Omnidirectional offshore environment-friendly cleaning equipment |
| CN105905287B (en) * | 2016-06-02 | 2021-07-13 | 舟山巨洋技术开发有限公司 | Omnidirectional marine environmental protection cleaning equipment |
| CN108077975A (en) * | 2018-01-17 | 2018-05-29 | 苏州亮磊知识产权运营有限公司 | It is a kind of to adapt to feed production equipment and its method of work that different times are fed |
| CN108442443B (en) * | 2018-02-05 | 2019-11-19 | 浙江大学 | A kind of underwater hole dredging method and system based on underwater robot |
| CN108442443A (en) * | 2018-02-05 | 2018-08-24 | 浙江大学 | A kind of underwater hole dredging method and system based on underwater robot |
| CN109973096A (en) * | 2019-04-19 | 2019-07-05 | 中国海洋大学 | A kind of deep sea polymetallic nodule ore mining mine operating system |
| CN109973096B (en) * | 2019-04-19 | 2023-12-22 | 中国海洋大学 | Deep sea multi-metal nodule mining operation system |
| CN109964913B (en) * | 2019-05-05 | 2021-07-09 | 上海电机学院 | Underwater weeding device |
| CN109964913A (en) * | 2019-05-05 | 2019-07-05 | 上海电机学院 | A kind of underwater weeder |
| CN110206963A (en) * | 2019-07-08 | 2019-09-06 | 大成科创基础建设股份有限公司 | Novel pipeline detects robot |
| CN110206963B (en) * | 2019-07-08 | 2020-08-18 | 大成科创基础建设股份有限公司 | Novel pipeline detection robot |
| CN110700343A (en) * | 2019-09-05 | 2020-01-17 | 商丘师范学院 | Culvert cleaning device for irrigation canal |
| CN110700343B (en) * | 2019-09-05 | 2022-02-01 | 商丘师范学院 | Culvert cleaning device for irrigation canal |
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