CN104149949A - Robot for fetching underwater object - Google Patents
Robot for fetching underwater object Download PDFInfo
- Publication number
- CN104149949A CN104149949A CN201410398417.8A CN201410398417A CN104149949A CN 104149949 A CN104149949 A CN 104149949A CN 201410398417 A CN201410398417 A CN 201410398417A CN 104149949 A CN104149949 A CN 104149949A
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- tracheae
- body construction
- robot
- under water
- connecting portion
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000010276 construction Methods 0.000 claims description 52
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 41
- 239000007787 solid Substances 0.000 claims description 9
- 230000008719 thickening Effects 0.000 claims description 3
- 238000005273 aeration Methods 0.000 description 6
- 210000000621 bronchi Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 241000486406 Trachea Species 0.000 description 3
- 210000003437 trachea Anatomy 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000000459 calcaneus Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention provides a robot for fetching underwater objects. The robot includes a body structure, standing mechanisms, an air bag, a propulsion gas pipe, a steering gas pipe, a manipulator structure and an air pump on the shore. The two standing mechanisms are respectively arranged on the two ends of the body structure along the axial direction of the body structure; the air bag is arranged in the body structure; the gas inlets of the propulsion and steering gas pipes are connected with the air pump, and the gas outlets are connected to the outside of the body structure; the orientation of the gas outlet opening of the propulsion pipe parallels to the axial direction of the body structure; the orientation of the gas outlet opening of the steering pipe is arranged horizontally and perpendicular to the axial direction of the body structure; the manipulator structure is mounted on the body structure; and the air bag is connected with the air pump through the air bag pipe.
Description
Technical field
The present invention relates to underwater exploration field, relate in particular to one and get thing robot under water.
Background technology
Existing under-water robot is generally used for professional domain, lake, deep-sea is prospected, therefore require high to safe reliability, therefore complex structure, expensive, simultaneously because body weight is excessive, mobile inconvenient under water, because purposes is mainly to survey, be not therefore suitable for to find under water and salvage object simultaneously.Price is too expensive, cannot enter daily field.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of be applicable to find under water salvage object get thing robot under water.
In order to solve this technical matters, the invention provides one and get thing robot under water, comprise body construction, standing mechanism, air bag, advance tracheae, turn to tracheae, robot manipulator structure, and be located at air pump on the bank, two described standing mechanisms are located at respectively the two ends of described body construction along the axis direction of described body construction, described air bag is located in described body construction, described propelling tracheae is all connected with described air pump with the inlet end that turns to tracheae, outlet side is all connected to the outside of described body construction, the outlet side opening of described propelling tracheae towards be parallel to described body construction axially, the described outlet side opening that turns to tracheae towards along level to setting, and perpendicular to described body construction axially, described robot manipulator structure is installed on described body construction, described air bag is connected with described air pump by air bag tracheae.
Described body construction comprises main casing and the columniform connecting portion that is fixed at described main casing two ends, the axis of two described connecting portions and the dead in line of described body construction, described standing mechanism is sheathed on described connecting portion outside, and around the axial-rotation of described connecting portion.
Described connecting portion outside is provided with circular groove, on described standing mechanism, is fixed with axial fixing structure, and described axial fixing structure is arranged in described circular groove.
Described connecting portion is provided with the through hole that air supply pipe passes, this through hole is along the axial setting of described connecting portion, the bottom of described main casing is also provided with the through hole that air supply pipe passes, described propelling tracheae and turn to tracheae to enter in described main casing by the through hole on described connecting portion, the outside that is connected to again described main casing through the through hole of described main casing bottom, the through hole of described air bag tracheae on described connecting portion is connected in described main casing.
Described standing mechanism has comprised the runner shaft and the blade that is vertical at described runner shaft outside of a hollow, and described runner shaft is sheathed on the two ends of described body construction, and the axis of described runner shaft and the dead in line of described body construction.
The quantity of described blade is four, and four described blades are uniformly distributed in described runner shaft outside.
Wherein two adjacent described blades are solid, another two adjacent described blades be the thickness of hollow, solid described blade along the direction of end to end that connects runner shaft by thin thickening.
Described robot manipulator structure has comprised air cylinder, piston rod, two magnets, two supports and two curved bars, described piston rod moves linearly along described air cylinder, described air cylinder is connected with described air pump by air cylinder tracheae, two described supports are fixedly connected with described body construction, the shaft of two described curved bars is hinged with two described supports respectively, two described curved bars are oppositely arranged, and the pivot center of two described curved bars is parallel, two described magnets are located at respectively one end of two described curved bars, when closure state, two described magnets are inhaled closure mutually, when open mode, promote the other end of two described curved bars by the rectilinear movement of described piston rod, and then two described curved bars are rotated, finally make two described magnets separately.
On described body construction, be also provided with camera.
On described body construction, be also provided with indicator lamp.
Under-water robot is put into water, and air bag is not inflated, and due to Action of Gravity Field, robot falls into the bottom, and at this moment the wrecker on bank observes water-bed situation by the camera being arranged on robot.First give airbag aeration with air pump on the bank, make airbag aeration, but be not full of, robot is suspended in water, to advancing tracheae inflation, form reaction thrust in water afterwards, band mobile robot advances, and to control turn to turn to tracheae ventilating control working direction, make robot move to corresponding region.Arrive behind the position of having observed, the gas in air bag is extracted out, make robot again drop on the bottom, and then realize the thing of getting under water by robot manipulator structure.And then the present invention is simple in structure, low cost of manufacture, can be generally for life, facilitate the police to handle a case, replace manpower with robot, protected staff's safety.
Brief description of the drawings
Fig. 1 is the structural representation of getting thing robot under water that one embodiment of the invention provides;
Fig. 2 is a structural representation of body construction in one embodiment of the invention;
Fig. 3 is another structural representation of body construction in one embodiment of the invention;
Fig. 4 is the structural representation of robot manipulator structure in one embodiment of the invention;
In figure, 1-body construction; 11-main casing; 12-connecting portion; 13-circular groove; 14,15-through hole; 16-hollow region; 17-air bag region; 18-forward block; 19-steering block; 2-standing mechanism; 21-runner shaft; 22,23-blade; 24-nail; 3-robot manipulator structure; 31-air cylinder; 32-piston rod; 33-magnet; 34-curved bar; 35-support; 4-indicator lamp; 5-camera.
Detailed description of the invention
Below with reference to Fig. 1 to Fig. 4, the thing robot of getting under water provided by the invention is described in detail, it is the present invention's one optional embodiment, can think, those skilled in the art can modify and polish it in the scope that does not change the present invention's spirit and content.
Please refer to Fig. 1, the present embodiment provides one to get thing robot under water, comprise body construction 1, standing mechanism 2, air bag (not shown), advance tracheae (not shown), turn to tracheae (not shown), robot manipulator structure 3, and be located at air pump (not shown) on the bank, two described standing mechanisms 2 are located at respectively the two ends of described body construction 1 along the axis direction of described body construction 1, described air bag is located in described body construction 1, described propelling tracheae is all connected with described air pump with the inlet end that turns to tracheae, outlet side is all connected to the outside of described body construction 1, the outlet side opening of described propelling tracheae towards be parallel to described body construction 1 axially, the described outlet side opening that turns to tracheae towards along level to setting, and perpendicular to described body construction 1 axially, described robot manipulator structure 3 is installed on described body construction 1, described air bag is connected with described air pump by air bag tracheae.
Body construction 1 outside also can be provided with washes away tracheae (not shown), for the silt at the bottom of flush water, described in wash away tracheae and be connected with described air pump.Wash away tracheae, advance tracheae, turn to tracheae, be also provided with switch valve on air pump tracheae and further control.
Under-water robot is put into water, and air bag is not inflated, and due to Action of Gravity Field, robot falls into the bottom, and at this moment the wrecker on bank observes water-bed situation by the camera being arranged on robot.First give airbag aeration with air pump on the bank, make airbag aeration, but be not full of, robot is suspended in water, to advancing tracheae inflation, form reaction thrust in water afterwards, band mobile robot advances, and to control turn to turn to tracheae ventilating control working direction, make robot move to corresponding region.Arrive behind the position of having observed, the gas in air bag is extracted out, make robot again drop on the bottom, and then realize the thing of getting under water by robot manipulator structure.And then the present invention is simple in structure, low cost of manufacture, can be generally for life, facilitate the police to handle a case, replace manpower with robot, protected staff's safety.
Please refer to Fig. 2 and Fig. 3, air bag is located in air bag region 17, and it is symmetrical in main casing 11.Advance tracheae to realize outlet side opening direction by forward block 18, turn to tracheae to realize outlet side opening direction by steering block 19.
Described body construction 1 comprises main casing 11 and the columniform connecting portion 12 that is fixed at described main casing 11 two ends, the dead in line of the axis of two described connecting portions 12 and described body construction 1, described standing mechanism 2 is sheathed on described connecting portion 12 outsides, and around the axial-rotation of described connecting portion 12.
Described connecting portion 12 outsides are provided with circular groove 13, on described standing mechanism 2, are fixed with axial fixing structure, and described axial fixing structure is arranged in described circular groove 13.In the present embodiment, axial fixing structure is nail 24, and nail 24 is inserted in circular groove 13 through runner shaft 21, to limit between connecting portion 12 and runner shaft 21 along its axial motion, and then limit the axial motion between body construction 1 and standing mechanism 2, ensure to relatively rotate between the two simultaneously.
Described connecting portion 12 is provided with the through hole 14 that air supply pipe passes, this through hole 14 is along the axial setting of described connecting portion 12, the bottom of described main casing 11 is also provided with the through hole 15 that air supply pipe passes, described propelling tracheae and turn to tracheae to enter in described main casing 11 by the through hole 14 on described connecting portion 12, the outside that is connected to again described main casing 11 through the through hole 15 of described main casing 11 bottoms, the through hole 14 of described air bag tracheae on described connecting portion 12 is connected in described main casing 11.Air bag tracheae, advance tracheae, turn to tracheae, wash away tracheae etc. and concentrate and lead to respectively again other regions in hollow region 16.
Please refer to Fig. 2 and Fig. 3, described standing mechanism 2 has comprised the runner shaft 21 of a hollow and has been vertical at the blade in described runner shaft 21 outsides, described runner shaft 21 is sheathed on the two ends of described body construction 1, and the dead in line of the axis of described runner shaft 21 and described body construction 1.
The quantity of described blade is four, and four described blades are uniformly distributed in described runner shaft 21 outsides.
Wherein two adjacent described blades 23 are solid, and another two adjacent described blades 22 are hollow, the thickness of solid described blade 23 along the direction of end to end that connects runner shaft 21 by thin thickening.
Please refer to Fig. 4, described robot manipulator structure 3 has comprised air cylinder 31, piston rod 32, two magnets 33, two supports 35 and two curved bars 34, described piston rod 32 moves linearly along described air cylinder 31, described air cylinder 31 is connected with described air pump by air cylinder tracheae, certainly, air cylinder tracheae also enters into main casing 11 by through hole 14, and then enter into air cylinder 31, on air cylinder tracheae, be also provided with switch valve, two described supports 35 are fixedly connected with described body construction 1, the shaft of two described curved bars 34 is hinged with two described supports 35 respectively, two described curved bars 34 are oppositely arranged, and the pivot center of two described curved bars 34 is parallel, two described magnets 33 are located at respectively one end of two described curved bars 34, when closure state, two described magnets 33 are inhaled closed mutually, when open mode, promote the other end of two described curved bars 34 by the rectilinear movement of described piston rod 32, and then two described curved bars 34 are rotated, finally make two described magnets 33 separately.
In the present embodiment, on described body construction 1, be also provided with camera 5, on described body construction 1, be also provided with indicator lamp 4.
The present embodiment get thing robot under water completely by gas control system, material is engineering plastics and aluminium.Structure mainly comprises the robot body structure 1 of the spheroid-like of a hollow, and wherein hollow part is used for installing air bag and point gas-distribution pipe, and on body, perforate prevents that silting in vivo, two are placed in the standing mechanism 2 of standing under water for robot robot body both sides, it is arranged symmetrically with, two runner shafts 21 have four blades, wherein two blade 22 heads are constant to base widths, and be hollow, two other solid vane 23 is broadened by narrow to head gradually for base portion, therefore in water two solid vane 23 1 sides always below, two solid vane 23 weight are heavier simultaneously, ensure that like this center of gravity of two runner shafts 21 is under geometric centre, ensure that runner shaft 21 is in water-bed stability, runner shaft 21 is opened hole along axis, enter in machine human body for tracheae, two air bags that relative position is fixed that are placed in body construction 1 inside, it is arranged symmetrically with, and robot ensures balance when ensureing to float, two pairs are used as the mechanical hand structure 3 of salvaging, wherein, are clip closure because the effect of magnet causes the normality of manipulator, and in the time of the inflation of air cylinder F end, piston rod J travels forward, and manipulator mechanism 3 is opened.In the time that the thing that will salvage is ironwork, the magnet of head can adsorb ironwork, in the time that the article that will salvage are non-ironwork, captures article with the clamping of two curved bars 34; Be arranged on robot camera 5 with it for image is under water sent on the bank, be arranged on the display lamp 9 on robot health, it is convenient to people's observer robot position on the bank, convenient salvaging, be placed on the bank for generation of the air pump of power, the assembly relation of body construction territory standing mechanism is that runner shaft 21 is enclosed within on the connecting portion 12 at main casing 11 two ends, in the hole of now nail 24 being passed on runner shaft 21, snap in circular groove 13 simultaneously, thus the motion of restriction runner shaft 21 relative axis directions.Being arranged as from air pump of gas control connects three main tracheaes, on the coast main tracheae is divided into 5 bronchuses, is respectively air bag tracheae, advances tracheae, turns to tracheae, washes away tracheae and air cylinder tracheae, and on every calcaneus branches tracheae, switch valve is installed, and controls inflation.Air bag tracheae is divided into two secondary bronchuses, links respectively on air bag, and for inflate to two air bags simultaneously, two secondary tracheaes are inflated simultaneously, ensure the balance that robot floats; Advance tracheae to be divided into 4 secondary bronchuses from main casing 11 inside to main casing 11 bottoms, be placed in respectively four positions of bottom part body symmetry by four forward blocks 18, during in the presence of four tracheae inflations, produce thrust forward, band mobile robot advances, because four tracheaes are inflated simultaneously, and position is on four angles of bottom, thereby ensured the stability that robot advances; Turn to tracheae to be directly fixed on the position of bottom part body E by steering block 19, direction is to be parallel to bottom part body to cut vertical with the direction of main body axis, when to this pipe ventilation, thereby the head that the thrust band mobile robot that air-flow produces advances is realized the working direction that changes robot that turns to of a direction; Air cylinder tracheae is divided into two secondary bronchuses and is connected in respectively in the air cylinder 31 on robot manipulator structure 3, controls opening and closing of mechanical hand, and the action of two mechanical hands is synchronous, and therefore these two secondary bronchuses are inflated simultaneously; Washing away tracheae, to be connected to the outer rear flank of main casing 11 by through hole 15 fixing, and the length of pipe can arrive the bottom substantially, and in the time washing away tracheae ventilation to this, pipe swings at the bottom, thereby blows water-bed mud open, helps to find salvaged article.
In sum, the present invention possesses following technique effect:
I, under-water robot is put into water, air bag is not inflated, and due to Action of Gravity Field, robot falls into the bottom, and at this moment the wrecker on bank observes water-bed situation by the camera being arranged on robot.
The situation that II, basis are fed back from camera, first give the tracheae ventilation of controlling airbag aeration with air pump on the bank, make airbag aeration, but be not full of, robot is suspended in water, afterwards to advancing tracheae inflation, in water, form reaction thrust, band mobile robot advances, and to control turn to turn to tracheae ventilating control working direction, make robot move to corresponding region.
Behind the position that III, arrival have been observed, the gas in air bag is extracted out, made robot again drop on the bottom, the tracheae that washes away of the row's of giving mud is inflated afterwards, mud is under water blown open, determine whether the article into needs salvaging, give afterwards the air valve inflation of controlling mechanical hand, the motion of drive mechanical hand, salvage, ironwork if, is adsorbed by the magnet on manipulator, if non-ironwork, is entangled by the string bag on manipulator.
IV, ventilate to air bag by air pump after having salvaged, the buoyancy being produced by air bag is robot band backwater surface, and staff can determine that robot position salvages by robot indicator lamp with it.
Claims (10)
1. get thing robot under water for one kind, it is characterized in that: comprise body construction, standing mechanism, air bag, advance tracheae, turn to tracheae, robot manipulator structure, and be located at air pump on the bank, two described standing mechanisms are located at respectively the two ends of described body construction along the axis direction of described body construction, described air bag is located in described body construction, described propelling tracheae is all connected with described air pump with the inlet end that turns to tracheae, outlet side is all connected to the outside of described body construction, the outlet side opening of described propelling tracheae towards be parallel to described body construction axially, the described outlet side opening that turns to tracheae towards along level to setting, and perpendicular to described body construction axially, described robot manipulator structure is installed on described body construction, described air bag is connected with described air pump by air bag tracheae.
2. the thing robot of getting under water as claimed in claim 1, it is characterized in that: described body construction comprises main casing and the columniform connecting portion that is fixed at described main casing two ends, the axis of two described connecting portions and the dead in line of described body construction, described standing mechanism is sheathed on described connecting portion outside, and around the axial-rotation of described connecting portion.
3. the thing robot of getting under water as claimed in claim 2, is characterized in that: described connecting portion outside is provided with circular groove, on described standing mechanism, is fixed with axial fixing structure, and described axial fixing structure is arranged in described circular groove.
4. the thing robot of getting under water as claimed in claim 2, it is characterized in that: described connecting portion is provided with the through hole that air supply pipe passes, this through hole is along the axial setting of described connecting portion, the bottom of described main casing is also provided with the through hole that air supply pipe passes, described propelling tracheae and turn to tracheae to enter in described main casing by the through hole on described connecting portion, the outside that is connected to again described main casing through the through hole of described main casing bottom, the through hole of described air bag tracheae on described connecting portion is connected in described main casing.
5. the thing robot of getting under water as claimed in claim 1, it is characterized in that: described standing mechanism has comprised the runner shaft of a hollow and has been vertical at the blade in described runner shaft outside, described runner shaft is sheathed on the two ends of described body construction, and the axis of described runner shaft and the dead in line of described body construction.
6. the thing robot of getting under water as claimed in claim 5, is characterized in that: the quantity of described blade is four, and four described blades are uniformly distributed in described runner shaft outside.
7. the thing robot of getting under water as claimed in claim 6, it is characterized in that: wherein two adjacent described blades are solid, another two adjacent described blades be the thickness of hollow, solid described blade along the direction of end to end that connects runner shaft by thin thickening.
8. the thing robot of getting under water as claimed in claim 1, it is characterized in that: described robot manipulator structure has comprised air cylinder, piston rod, two magnets, two supports and two curved bars, described piston rod moves linearly along described air cylinder, described air cylinder is connected with described air pump by air cylinder tracheae, two described supports are fixedly connected with described body construction, the shaft of two described curved bars is hinged with two described supports respectively, two described curved bars are oppositely arranged, and the pivot center of two described curved bars is parallel, two described magnets are located at respectively one end of two described curved bars, when closure state, two described magnets are inhaled closure mutually, when open mode, promote the other end of two described curved bars by the rectilinear movement of described piston rod, and then two described curved bars are rotated, finally make two described magnets separately.
9. the thing robot of getting under water as claimed in claim 1, is characterized in that: on described body construction, be also provided with camera.
10. the thing robot of getting under water as claimed in claim 1, is characterized in that: on described body construction, be also provided with indicator lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410398417.8A CN104149949B (en) | 2014-08-13 | 2014-08-13 | Robot for fetching underwater object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410398417.8A CN104149949B (en) | 2014-08-13 | 2014-08-13 | Robot for fetching underwater object |
Publications (2)
| Publication Number | Publication Date |
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| CN104149949A true CN104149949A (en) | 2014-11-19 |
| CN104149949B CN104149949B (en) | 2017-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410398417.8A Expired - Fee Related CN104149949B (en) | 2014-08-13 | 2014-08-13 | Robot for fetching underwater object |
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| Country | Link |
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| CN (1) | CN104149949B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105501413A (en) * | 2015-12-31 | 2016-04-20 | 重庆楠婧琳科技开发有限公司 | Underwater detecting device |
| CN105766822A (en) * | 2014-12-26 | 2016-07-20 | 青岛赶海机器人有限公司 | Gantry-frame travelling crane type underwater operation robot |
| CN105888671A (en) * | 2016-04-29 | 2016-08-24 | 浙江海洋大学 | Marine mineral gripping device and collecting method thereof |
| CN107458559A (en) * | 2017-07-31 | 2017-12-12 | 苏州大贝岩电子科技有限公司 | The underwater robot in power drive direction can be changed |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| WO2023165095A1 (en) * | 2022-03-01 | 2023-09-07 | 广东海洋大学 | Underwater manipulator |
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| SU1489983A2 (en) * | 1987-07-29 | 1989-06-30 | Белорусский Политехнический Институт | Gripping device |
| JPH09272494A (en) * | 1996-04-05 | 1997-10-21 | Japan Marine Sci & Technol Center | Position confirming device for underwater robot and gas supply device using the device |
| JP2000047294A (en) * | 1998-07-27 | 2000-02-18 | Fusoo Denshi:Kk | Underwater mobile photographing device |
| JP2005324074A (en) * | 2004-05-12 | 2005-11-24 | Yokogawa Electric Corp | Device for dissolving gas |
| CN103818533A (en) * | 2012-11-18 | 2014-05-28 | 上海市浦东新区知识产权保护协会 | Multi-functional underwater operation robot |
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| GB1199729A (en) * | 1966-10-24 | 1970-07-22 | Rowland Lewis Robert Morgan | Tractor Vehicle for Underwater Use |
| SU1489983A2 (en) * | 1987-07-29 | 1989-06-30 | Белорусский Политехнический Институт | Gripping device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105766822A (en) * | 2014-12-26 | 2016-07-20 | 青岛赶海机器人有限公司 | Gantry-frame travelling crane type underwater operation robot |
| CN105766822B (en) * | 2014-12-26 | 2018-06-26 | 青岛赶海机器人有限公司 | A kind of gantry frame running vehicle type underwater operation robot |
| CN105501413A (en) * | 2015-12-31 | 2016-04-20 | 重庆楠婧琳科技开发有限公司 | Underwater detecting device |
| CN105888671A (en) * | 2016-04-29 | 2016-08-24 | 浙江海洋大学 | Marine mineral gripping device and collecting method thereof |
| CN107458559A (en) * | 2017-07-31 | 2017-12-12 | 苏州大贝岩电子科技有限公司 | The underwater robot in power drive direction can be changed |
| CN107458559B (en) * | 2017-07-31 | 2018-06-26 | 乐清市风杰电子科技有限公司 | The underwater robot in power drive direction can be changed |
| CN111559476A (en) * | 2020-01-20 | 2020-08-21 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| CN111559476B (en) * | 2020-01-20 | 2021-02-12 | 上海交通大学 | Floating type fishing device suitable for underwater long columnar object |
| WO2023165095A1 (en) * | 2022-03-01 | 2023-09-07 | 广东海洋大学 | Underwater manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104149949B (en) | 2017-01-25 |
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