CN105075953B - Precious marine product breeding robot - Google Patents
Precious marine product breeding robot Download PDFInfo
- Publication number
- CN105075953B CN105075953B CN201510582574.9A CN201510582574A CN105075953B CN 105075953 B CN105075953 B CN 105075953B CN 201510582574 A CN201510582574 A CN 201510582574A CN 105075953 B CN105075953 B CN 105075953B
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- seedling
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- motor
- frame body
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
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- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
Abstract
The invention discloses a kind of precious marine product breeding robot, it is characterized in that it is provided with frame body, advance and retreat propeller, lift propeller, camera with searchlight, buoyancy compartment, throw seedling manipulator and control system, the buoyancy compartment is fixed on frame body center, the lifting propeller and advance and retreat propeller are separately fixed on the frame body of buoyancy compartment both sides, the frame body lower side is provided with the camera of searchlight, frame body top both sides, which are separately installed with, throws seedling manipulator, the advance and retreat propeller, lift propeller, camera with searchlight and throwing seedling manipulator are connected through water-proof cable with control system respectively, the present invention is due to using said structure, it is novel with structure, it is easy to operate, it is accurate to throw seedling, the advantages that operating steadily.
Description
Technical field
The present invention relates to robotic technology field, specifically a kind of precious marine product breeding robot.
Background technology
With the development of the development of marine aquaculture, particularly deep seafloor propagation, choice seafood aquiculture benefit is good, scale
Expand day by day, but precious marine product seed is sent out, and usually diver's operation or the direct water surface is spread, and the direct water surface is spread can not
It is accurate to launch seed, cause many seedling to drop in the environment for being not appropriate for growth, in addition it is washed away, and diver makees
Industry, cost is very high, and abnormally dangerous, especially extremely easily suffers from decompression sickness in 20 meters of deeper regions of depth, diver.Deep-sea
The development of cultivation industry, there is an urgent need to can dive to seabed carry out, observe seabed situation, precisely throw seedling automation equipment.
The content of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, there is provided a kind of structure is novel, easy to operate, throwing seedling essence
Precious marine product breeding robot that is accurate, operating steadily.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of precious marine product breeding robot, it is characterised in that visited provided with frame body, advance and retreat propeller, lifting propeller, band
The camera of illuminator, buoyancy compartment, throw seedling manipulator and control system, the buoyancy compartment are fixed on frame body center, the lifting
Propeller and advance and retreat propeller are separately fixed on the frame body of buoyancy compartment both sides, and the frame body lower side is provided with visiting
The camera of illuminator, frame body top both sides, which are separately installed with, throws seedling manipulator, and the advance and retreat propeller, lifting promote
Device, the camera with searchlight and throwing seedling manipulator are connected through water-proof cable with control system respectively, are driven by control system
Advance and retreat propeller and lifting propeller action on dynamic frame body, drive frame body to rise, decline, advancing, retreating, turning to, on
The actions such as floating avoidance, dive landing, and underwater image is uploaded to by control system by the camera with searchlight in real time, lead to
Control system is crossed, operating personnel is found the position that precious marine product seed adapts to existence.
Throwing seedling manipulator of the present invention is by storage seedling basket, left seedling-guiding plate, right seedling-guiding plate, spreads seedling runner and breeding motor,
The storage seedling basket upper end is connected with basket lid, and bottom exports provided with seed, and inside is provided with left seedling-guiding plate and right seedling-guiding plate, the left side
Seedling-guiding plate upper end is connected with storage seedling basket left side wall cross-fixing, and the right seedling-guiding plate upper end connects with the cross-fixing of storage seedling basket right side wall
Connect, the left seedling-guiding plate and right seedling-guiding plate lower end are mutually drawn close respectively, so that the left seedling-guiding plate and right seedling-guiding plate lower end are formed
Precious marine product breeding mouth, the seedling runner that spreads are located in seed outlet, and described seedling runner one end of spreading is through storage seedling basket side wall and fixation
Storage seedling basket on breeding motor be fixedly connected, the other end through bearing, bearing block with storage seedling basket be connected, the breeding motor and
Control system is connected, and the seedling runner that spreads is made up of the Sheng seedling leaf of wheel hub and hub periphery circumference array, the Sheng seedling
Blade, which is provided with, contains seedling groove, and the Sheng seedling groove on the Sheng seedling leaf is axially disposed, and the precious marine product breeding mouth is positioned at Sheng
Above the Sheng seedling groove of seedling leaf, so that cloth of the precious marine product seedling in the precious marine product breeding mouth of left seedling-guiding plate and right seedling-guiding plate lower end
Flowed under seedling effect in the Sheng seedling groove contained on seedling leaf, then by spreading the rotation of seedling runner, throw precious marine product seedling and adapting to
The position of growth, reach dispensing seed and accurately act on.
The present invention can be provided with sampling manipulator in the frame body bottom, and the sampling mechanical hand channel motor drives,
The motor is connected with control system, in favor of being sampled by sampling manipulator to benthon, reaches salvaging
With the convenient effect of sampling.
Sampling manipulator of the present invention be by motor, motor fixing frame, left manipulator, right manipulator, body cradle,
Rotating threaded shaft, drive nut, bearing block composition, the left manipulator rear end are provided with left guide tang, and the right manipulator rear end is set
There is right guide tang, the left guide tang intersects with right guide tang, and the left guide tang and right guide tang center are respectively equipped with length
Strip through-hole, the body cradle center are provided with mobile through hole, and body cradle front end both sides are respectively through hinged ear and hinge and a left side
Manipulator and right manipulator rear end are hinged, and rear end is fixedly connected with motor fixing frame, and the body cradle side is provided with rotating wire
Thick stick, the rotating threaded shaft front end are fixedly connected with bearing, the bearing block being fixed on body cradle, and rear end is fixed through bearing and motor
Frame is fixedly connected, motor driving of the rotating threaded shaft through being fixed on fixed mount, is threadedly coupled on the rotating threaded shaft
There is drive nut, the motor is set in annular seal space, and the drive nut lower end is each passed through the movement at body cradle center
The long stripes through hole of through hole, the left guide tang to intersect and right guide tang center, and with moving through hole and two long stripes through holes
It is slidably connected, in favor of driving rotating threaded shaft to rotate by motor, drive nut is moved along a straight line along rotating threaded shaft,
And then the left manipulator of left guide tang front end and the right manipulator of right guide tang front end are driven towards or away from rotating, in fact
The effect of clamping object is showed.
Control system of the present invention is made up of control cabinet, industrial computer, display screen, mouse and keyboard, the control cabinet
Interior to be provided with industrial computer, display screen, mouse and keyboard, the industrial computer is provided with display screen, the industrial computer respectively with mouse and
Keyboard is connected, and the industrial computer is connected with water-proof cable, in favor of that can see sub-marine situations by display screen, passes through mouse
With Keyboard Control industrial computer and the advance and retreat propeller being connected through water-proof cable with industrial computer, lifting propeller, breeding motor and
Camera with light source, have the function that to automatically control.
Frame body of the present invention is using nacelle closed made of high polymer material, to reach corrosion-resistant, in light weight, make
With the effect of long lifespan.
The present invention, can be by being the hollow brick fishing manually launched in about 12 meters of the depth of water, substrate due to using said structure
Reef, 500 head sea cucumber seed per jin is sowed, can uniformly launch the position more than the attachment base, because position is accurate, attachment base is good,
Sea cucumber production is fine, and benefit is obvious, has the advantages that structure is novel, easy to operate, throwing seedling is accurate, operates steadily.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Fig. 1 left view.
Fig. 3 is Fig. 1 rearview.
Fig. 4 is the structural representation that seedling manipulator is thrown in the present invention.
Fig. 5 is the dimensional structure diagram that seedling basket is stored up in Fig. 4.
Fig. 6 is the structural representation of control system.
Reference：Frame body 1, advance and retreat propeller 2, lifting propeller 3, the camera 4 with searchlight, buoyancy compartment 5, throwing
Seedling manipulator 6, control system 7, storage seedling basket 8, left seedling-guiding plate 9, right seedling-guiding plate 10, spread seedling runner 11, breeding motor 12, seed and go out
Mouth 13, precious marine product breeding mouth 14, wheel hub 15, Sheng seedling leaf 16, Sheng seedling groove 17, sampling manipulator 18, industrial computer 19, display screen
20th, keyboard 21, mouse 22, motor 23, motor fixing frame 24, left manipulator 25, right manipulator 26, body cradle 27, rotation
Leading screw 28, drive nut 29, bearing block 30, left guide tang 31, right guide tang 32.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in drawings, a kind of precious marine product breeding robot, it is characterised in that provided with frame body 1, advance and retreat propeller 2, rise
Drop propeller 3, the camera 4 with searchlight, buoyancy compartment 5, throwing seedling manipulator 6 and control system 7, the buoyancy compartment 5 are fixed on
The center of frame body 1, the lifting propeller 2 and advance and retreat propeller 3 are separately fixed on the frame body 1 of the both sides of buoyancy compartment 5, described
The lower side of frame body 1 is provided with the camera 4 of searchlight, and the top both sides of frame body 1, which are separately installed with, throws seedling machinery
Hand 6, the advance and retreat propeller 2, lifting propeller 3, the camera 4 with searchlight and throwing seedling manipulator 6 are respectively through water-proof cable
It is connected with control system 7, is acted by the advance and retreat propeller 2 on the driver framework body 1 of control system 7 and lifting propeller 3, band
The actions such as dynamic frame body 1 rises, declined, advancing, retreating, turning to, floating avoidance, dive landing, and pass through taking the photograph with searchlight
Underwater image is uploaded to control system 7 in real time as first 4, by control system 7, operating personnel is found precious marine product seed
Adapt to the position of existence.
Throwing seedling manipulator 6 of the present invention is by storage seedling basket 8, left seedling-guiding plate 9, right seedling-guiding plate 10, spreads seedling runner 11 and cloth
Seedling motor 12, the upper end of storage seedling basket 8 are connected with basket lid, and bottom is provided with seed outlet 13, and inside is provided with left seedling-guiding plate 9 and the right side
Seedling-guiding plate 10, the left upper end of seedling-guiding plate 9 are connected with the storage left side wall cross-fixing of seedling basket 8, the right upper end of seedling-guiding plate 9 and storage seedling
Basket 8 right side wall cross-fixings connection, the left seedling-guiding plate 9 and the lower end of right seedling-guiding plate 10 are mutually drawn close respectively, so that the left side is led
Seedling plate 9 and the lower end of right seedling-guiding plate 10 form precious marine product breeding mouth 14, and the seedling runner 11 that spreads is located in seed outlet 13, described to spread
The one end of seedling runner 11 is fixedly connected through the side wall of storage seedling basket 8 with the breeding motor 12 being fixed on storage seedling basket 8, other end warp beam
Hold, bearing block with storage seedling basket 8 be connected, the breeding motor 12 is connected with control system 7, and the seedling runner 11 that spreads is by taking turns
The Sheng seedling leaf 16 of hub 15 and the periphery circumference array of wheel hub 15 is formed, and the Sheng seedling leaf 16, which is provided with, contains seedling groove 17, described
The Sheng seedling groove 17 contained on seedling leaf 16 is axially disposed, and the precious marine product breeding mouth 14, which is located at, spreads a Sheng seedling leaf on seedling runner
16 top of Sheng seedling groove 17, so that precious marine product breeding mouth 14 of the precious marine product seedling in left seedling-guiding plate 9 and the lower end of right seedling-guiding plate 10
Breeding effect under flow in the Sheng seedling groove 17 contained on seedling leaf 16, then by spreading the rotation of seedling runner 11, make precious marine product kind
Seedling is thrown in the position of Adaptable growth, is reached dispensing seed and is accurately acted on.
The present invention can be provided with sampling manipulator 18 in the bottom of frame body 1, and the sampling manipulator 18 is through motor
23 drivings, the motor 23 is connected with control system, in favor of being sampled by sampling manipulator to benthon,
Reach salvaging and the convenient effect of sampling.
Sampling manipulator 18 of the present invention is by motor 23, motor fixing frame 24, left manipulator 25, right manipulator
26th, body cradle 27, rotating threaded shaft 28, drive nut 29, bearing block 30 form, and the left rear end of manipulator 25 is provided with left guide tang
31, the right rear end of manipulator 26 is provided with right guide tang 32, and the left guide tang 31 is intersected with right guide tang 32, and the left side is led
Long stripes through hole is respectively equipped with to handle 31 and the center of right guide tang 32, the center of body cradle 27 is provided with mobile through hole, the hinge
Connect the front end both sides of frame 27 to be hinged with left manipulator 25 and the rear end of right manipulator 26 through hinged ear and hinge respectively, rear end and motor
Fixed mount 24 is fixedly connected, and the side of body cradle 27 is provided with rotating threaded shaft 28, and the front end of rotating threaded shaft 28 is with being fixed on hinge
Connect the bearing on frame 27, bearing block 30 is fixedly connected, rear end is fixedly connected through bearing with motor fixing frame 24, the rotating threaded shaft
28 motors 23 through being fixed on fixed mount 24 are driven, and drive nut 29, institute are threaded with the rotating threaded shaft 28
State motor to set in annular seal space, the lower end of drive nut 29 is each passed through the mobile through hole at the center of body cradle 27, intersected
The left guide tang 31 of fork and the long stripes through hole at the center of right guide tang 32, and slide and connect with mobile through hole and two long stripes through holes
Connect, in favor of driving rotating threaded shaft 28 to rotate by motor 23, drive nut 29 is done straight line fortune along rotating threaded shaft 28
It is dynamic, and then the left manipulator 25 of the left front end of guide tang 31 and the right manipulator 26 of the front end of right guide tang 32 are driven towards or away from doing
Rotary motion, realize the effect of clamping object.
Control system 7 of the present invention is made up of control cabinet 33, industrial computer 19, display screen 20, mouse 22 and keyboard 21,
Industrial computer 19, display screen 20, mouse 22 and keyboard 21 are provided with the control cabinet, the industrial computer 19 is provided with display screen 20,
The industrial computer 19 is connected with mouse 22 and keyboard 21 respectively, and the industrial computer 19 is connected with water-proof cable, in favor of logical
Sub-marine situations can be seen by crossing display screen 20, and industrial computer 19 is controlled and through water-proof cable and industrial computer by mouse 22 and keyboard 21
19 connected advance and retreat propellers 2, lifting propeller 3, breeding motor 12 and the camera 4 with light source, reach the work automatically controlled
With.
Frame body 1 of the present invention using nacelle closed made of high polymer material, with reach it is corrosion-resistant, in light weight,
The effect of service life length.
The present invention specifically throws seedling process：It is the hollow brick fishing bank manually launched to select about 12 meters of the depth of water, substrate first,
500 head sea cucumber seed per jin is sowed, is then put into Tou Miao robots marine, now, robot has positive buoyancy, and
At least being swum in 10 kilograms of buoyancy on the water surface, seed is added into storage seedling basket, addition finishes, and covers basket lid, now,
If seed is sea cucumber, robot can be floated still, if abalone, robot starts because Action of Gravity Field sinks；If
Sink, then control lifting propeller 9 to invert by control cabinet 14, the present invention can bubble through the water column；After seed is installed, by weight
Power is sunk naturally, or if floating state, opens lifting propeller, the present invention can dive and can be up to seabed, behaviour
Work person can see the realtime graphic that the camera 2 and 7 with searchlight is passed back by the display screen 17 on industrial computer, and the present invention can
The camera with illuminating lamp is respectively equipped with the front end of frame body, left end and right-hand member, is advanced under water with controller chassis support body, turned
To the action such as, floating avoidance, dive, landing, think the good position of environment when finding operator, open breeding motor 10, band
It is dynamic to spread seedling runner 11 and rotate, spread one on seedling runner Sheng seedling leaf and rotate and sow seedling on object, make seedling uniform
The position more than the attachment base is launched, because position is accurate, attachment base is good, and sea cucumber production is fine, and benefit is obvious；Meanwhile when spreading seedling
Runner one contains supination under seedling leaf, and another Sheng seedling leaf adds to below precious marine product breeding mouth immediately, and receives storage seedling basket and flow down
Precious marine product seedling, be then turned on advance and retreat propeller 6, go to other places breeding, broadcast sowing and finish when seed, open lifting propeller 9, frame
Support body is emerged, and continues to add seed into storage seedling basket, then seedling is thrown in dive, so repeatedly；It is described to spread seedling runner every turn 120
Degree, that is, cast a seedling, the present invention can by adjust breeding motor speed control throw seedling number.
The present invention, can be by being the hollow brick fishing manually launched in about 12 meters of the depth of water, substrate due to using said structure
Reef, 500 head sea cucumber seed per jin is sowed, can uniformly launch the position more than the attachment base, because position is accurate, attachment base is good,
Sea cucumber production is fine, and benefit is obvious, with structure is novel, easy to operate, throwing seedling is accurate, operates steadily.
Claims (1)
1. a kind of precious marine product breeding robot, it is characterised in that provided with frame body, advance and retreat propeller, lifting propeller, band searchlighting
The camera of lamp, buoyancy compartment, throw seedling manipulator and control system, the buoyancy compartment are fixed on frame body center, the lifting pushes away
Enter device and advance and retreat propeller is separately fixed on the frame body of buoyancy compartment both sides, the frame body lower side is provided with searchlighting
The camera of lamp, frame body top both sides be separately installed with throw seedling manipulator, the advance and retreat propeller, lifting propeller,
Camera with searchlight and throw seedling manipulator be connected respectively through water-proof cable with control system, it is described throw seedling manipulator be by
Storage seedling basket, left seedling-guiding plate, right seedling-guiding plate, seedling runner and breeding motor composition are spread, the storage seedling basket upper end is connected with basket lid, bottom
End is provided with seed and exported, and inside is provided with left seedling-guiding plate and right seedling-guiding plate, and the left seedling-guiding plate upper end intersects with storage seedling basket left side wall
It is fixedly connected, the right seedling-guiding plate upper end is connected with storage seedling basket right side wall cross-fixing, under the left seedling-guiding plate and right seedling-guiding plate
End is mutually drawn close respectively, so that the left seedling-guiding plate and right seedling-guiding plate lower end form precious marine product breeding mouth, it is described to spread seedling runner position
In seed exports, described seedling runner one end of spreading is fixed and connected through storage seedling basket side wall and the breeding motor being fixed on storage seedling basket
Connect, the other end is connected through bearing, bearing block with storage seedling basket, and the breeding motor is connected with control system, and the seedling that spreads turns
Wheel is made up of the Sheng seedling leaf of wheel hub and hub periphery circumference array, and the Sheng seedling leaf, which is provided with, contains seedling groove, the Sheng
Sheng seedling groove on seedling leaf is axially disposed, and the precious marine product breeding mouth is positioned at the Sheng for spreading a Sheng seedling leaf on seedling runner
Above seedling groove, the frame body bottom is provided with sampling manipulator, the sampling mechanical hand channel motor driving, the driving
Motor is connected with control system, the sampling manipulator be by motor, motor fixing frame, left manipulator, right manipulator,
Body cradle, rotating threaded shaft, drive nut, bearing block composition, the left manipulator rear end is provided with left guide tang, the right manipulator
Rear end is provided with right guide tang, and the left guide tang intersects with right guide tang, the left guide tang and right guide tang center difference
Provided with long stripes through hole, the body cradle center is provided with mobile through hole, and body cradle front end both sides are respectively through hinged ear and hinge
Axle is hinged with left manipulator and right manipulator rear end, and rear end is fixedly connected with motor fixing frame, and the body cradle side is provided with
Rotating threaded shaft, the rotating threaded shaft front end are fixedly connected with bearing, the bearing block being fixed on body cradle, and rear end is through bearing and electricity
Machine fixed mount is fixedly connected, motor driving of the rotating threaded shaft through being fixed on fixed mount, spiral shell on the rotating threaded shaft
Line is connected with drive nut, and the motor is set in annular seal space, and the drive nut lower end is each passed through body cradle center
Mobile through hole, the left guide tang that intersects and the long stripes through hole at right guide tang center, and with mobile through hole and two strips
Shape through hole is slidably connected, and the control system is made up of control cabinet, industrial computer, display screen, mouse and keyboard, the control cabinet
Interior to be provided with industrial computer, display screen, mouse and keyboard, the industrial computer is provided with display screen, the industrial computer respectively with mouse and
Keyboard is connected, and the industrial computer is connected with water-proof cable, and the frame body is using cabin closed made of high polymer material
Body, throwing seedling process is：It is the hollow brick fishing bank manually launched to select about 12 meters of the depth of water, substrate first, sows seed, then will
Tou Miao robots are put into marine, and now, robot has a positive buoyancy, and at least swims in water with 10 kilograms of buoyancy
On face, seed is added into storage seedling basket, addition finishes, and covers basket lid, and now, if seed is sea cucumber, robot can still float
Floating, if abalone, robot starts because Action of Gravity Field sinks；If sinking, then lifting is controlled to promote by control cabinet
Device inverts, you can bubbles through the water column；After seed is installed, sink naturally by gravity, or if floating state, open lifting
Propeller, dive simultaneously see that the camera with searchlight is passed back up to seabed, operator by the display screen on industrial computer
Realtime graphic, think the good position of environment when finding operator, open breeding motor, drive spreads the rotation of seedling runner, spreads seedling
A Sheng seedling leaf on runner rotates and sows seedling on object, seedling is uniformly launched the position more than the attachment base,
Meanwhile supination under seedling leaf is contained when spreading seedling runner one, another Sheng seedling leaf adds to below precious marine product breeding mouth immediately, and receives
The dirty precious marine product seedling of seedling basket is stored up, advance and retreat propeller is then turned on, goes to other places breeding, broadcast sowing and finish when seed, opens lifting
Propeller, frame body are emerged, and continue to add seed into storage seedling basket, then seedling is thrown in dive, so repeatedly；It is described to spread seedling runner
120 degree every turn, that is, cast a seedling, by adjust breeding motor speed control throw seedling number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510582574.9A CN105075953B (en) | 2015-09-15 | 2015-09-15 | Precious marine product breeding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510582574.9A CN105075953B (en) | 2015-09-15 | 2015-09-15 | Precious marine product breeding robot |
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| Publication Number | Publication Date |
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| CN105075953A CN105075953A (en) | 2015-11-25 |
| CN105075953B true CN105075953B (en) | 2018-04-10 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108835055A (en) * | 2018-07-05 | 2018-11-20 | 上海查派机器人科技有限公司 | Catch robot |
| CN109050842A (en) * | 2018-07-05 | 2018-12-21 | 上海查湃智能科技有限公司 | Modularity underwater robot |
| CN113207782B (en) * | 2021-06-04 | 2022-06-10 | 大连海洋大学 | Automatic bait feeding device for sea cucumber seedling raising pond |
| CN114248281A (en) * | 2022-01-26 | 2022-03-29 | 深圳华卓机器人有限公司 | Underwater repair robot, repair method and ocean operation equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2200288Y (en) * | 1994-06-10 | 1995-06-14 | 徐建忠 | Automatic throw-in machine of bait |
| CN201357413Y (en) * | 2009-03-02 | 2009-12-09 | 杭州电子科技大学 | Clamping manipulator |
| CN201504423U (en) * | 2009-10-14 | 2010-06-16 | 中国农业大学 | Mechanical gripper for picking pineapples |
| KR101358547B1 (en) * | 2012-05-22 | 2014-02-07 | 영남대학교 산학협력단 | Underwater navigation platform |
| CN202763840U (en) * | 2012-08-18 | 2013-03-06 | 郑州大学 | Autonomous control underwater robot based on image processing |
| CN203652095U (en) * | 2013-12-25 | 2014-06-18 | 浙江海洋学院 | Novel multifunctional underwater robot |
| CN203876966U (en) * | 2014-04-25 | 2014-10-15 | 史晓华 | Underwater explorer |
| CN204499116U (en) * | 2015-01-27 | 2015-07-29 | 青岛金博士自动化技术有限公司 | Fish culture bait-laying device for fish |
| CN104813975B (en) * | 2015-05-14 | 2017-06-06 | 大连赫海科技有限公司 | Unmanned operation aquaculture robot under water |
| CN204930000U (en) * | 2015-09-15 | 2016-01-06 | 于锡汉 | Precious marine product Bu Miao robot |
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2015
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