CN107458558A - A kind of universal drive mechanism for underwater robot - Google Patents
A kind of universal drive mechanism for underwater robot Download PDFInfo
- Publication number
- CN107458558A CN107458558A CN201710642701.9A CN201710642701A CN107458558A CN 107458558 A CN107458558 A CN 107458558A CN 201710642701 A CN201710642701 A CN 201710642701A CN 107458558 A CN107458558 A CN 107458558A
- Authority
- CN
- China
- Prior art keywords
- gear
- annular
- matrix
- plate portion
- ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000011159 matrix material Substances 0.000 claims abstract description 62
- 238000007789 sealing Methods 0.000 claims description 37
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000009738 saturating Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000222712 Kinetoplastida Species 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
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
- B63C11/52—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
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of universal drive mechanism for underwater robot, including annular matrix, the ring gear being rotatably arranged on annular matrix, the propeller drives, the gear driven mechanism for driving annular pinion rotation and the matrix drive mechanism for driving annular matrix to rotate that are fixedly installed on ring gear.Matrix motor in the present invention can drive annular matrix around robot housing into rotation, gear drive motor can drive ring gear on annular matrix around robot housing into rotation, because propeller drives are by ring gear synchronous drive, therefore propeller drives can turn to any angular position relative to housing, namely power drive at any angle can be provided.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of universal drive mechanism for underwater robot.
Background technology
Underwater robot has video camera or camera more, is generally used for hydrologic research, underwater monitoring, detects under water, water
The fields such as lower rescue, underwater salvage, the supervision of nuclear power station waters and the cleaning of underwater oil job platform.
Existing underwater robot, the power direction of its drive mechanism relative to the direction of body be usually it is fixed, according to
Change direct of travel by changing rudder direction, this traveling mode is difficult to meet the needs of complex action.
The important topic that the universal drive mechanism advanced is this area can be driven with any angle by how designing.
The content of the invention
It is an object of the invention to provide a kind of underwater robot that can be driven with any angle.
Realizing the technical scheme of the object of the invention is：A kind of universal drive mechanism for underwater robot, including annular
Matrix, the ring gear being rotatably arranged on annular matrix, the propeller drives being fixedly installed on ring gear, for driving
The gear driven mechanism of rotating ring shape pinion rotation and the matrix drive mechanism for driving annular matrix to rotate.
In such scheme, annular matrix includes annular flat plate portion, ring sealing plate portion and annular block machine portion；Ring gear includes
Ring body and the driving teeth portion for being arranged on ring body upper surface；Ring gear is set in annular block machine portion, ring gear
Bottom wall and the roof of annular flat plate portion be slidably matched.
In such scheme, ring sealing plate portion is that the inner periphery of annular flat plate portion is protruded to be formed vertically upward, annular block machine
Portion is from annular flat plate portion annular boss protruding upward.
In such scheme, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched.
In such scheme, ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.
Rotated in such scheme, in ring sealing plate portion and be provided with a drive gear and five position limited gears, drive gear
It is adapted to position limited gear with ring gear；Drive gear and position limited gear are crimped in the driving teeth portion of ring gear.
In such scheme, the internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion；Keyhole portion is fixedly installed on
On the inwall in ring sealing plate portion, keyhole portion is provided with keyhole；Matrix drive mechanism includes the matrix driving on the inside of annular matrix
Motor, the output shaft insertion of matrix motor are fixed in the keyhole in keyhole portion.
In such scheme, the open-work of face drive gear setting, the open-work and matrix driving are additionally provided with ring sealing plate portion
The output shaft of motor is arranged concentrically.
In such scheme, gear driven mechanism includes the gear drive motor on the inside of annular matrix, gear driving
The output shaft of motor is fixedly linked after passing through the open-work in ring sealing plate portion with drive gear.
In such scheme, the quantity of propeller drives is two, and two propeller drives are symmetricly set on annular
The both sides of gear；Each propeller drives include be fixedly installed on ring gear periphery wall drive chamber, be arranged on drive chamber
In blade motor and the propeller that is rotatably arranged on driving chamber outer wall, each blade motor drive a corresponding spiral shell
Oar is revolved to rotate.
The present invention has positive effect：Matrix motor can drive annular matrix around robot housing into rotation, tooth
Wheel drive motor can drive ring gear on annular matrix around robot housing into rotation, due to propeller drives quilt
Ring gear synchronous drive, therefore propeller drives can turn to any angular position relative to housing, namely can carry
For power drive at any angle.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is a kind of dimensional structure diagram of universal driver annular substrate shown in Fig. 1；
Fig. 3 is a kind of dimensional structure diagram when annular matrix is from another angle shown in Fig. 2；
Fig. 4 is a kind of dimensional structure diagram using the made robot of universal driver shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 4；
Fig. 6 is a kind of upward view of robot shown in Fig. 4.
Reference is：Housing 1, hemispherical observation window 11, cleaning agency 2, semi-circular support plate 21, cleaning brush 22, clearly
Sweep the output shaft 23 of motor, bearing pin 24, annular matrix 4, annular flat plate portion 41, ring sealing plate portion 42, annular block machine portion 43,
Drive gear 44, position limited gear 45, keyhole portion 46, keyhole 461, open-work 47, ring gear 5, ring body 51, drive teeth portion
52, gear driven mechanism 6, the output shaft 61 of gear drive motor, propeller drives 7, drive chamber 71, propeller 72.
Embodiment
（Embodiment 1）
The present embodiment is a kind of universal drive mechanism for underwater robot, as shown in Fig. 1 to Fig. 3, including annular matrix 4,
The ring gear 5 being rotatably arranged on annular matrix, the gear driven mechanism for driving annular pinion rotation（Do not drawn on figure
Go out）, two propeller drives 7 being arranged on ring gear and the matrix drive mechanism for driving annular matrix to rotate
（It is not drawn on figure）.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular
The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular boss protruding upward.
Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.
Ring gear includes ring body 51 and is arranged on the driving teeth portion 52 of ring body upper surface；Ring gear is arranged
In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and
The roof of annular flat plate portion 41 is slidably matched.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and five position limited gears 45, drive gear and limiting tooth
Wheel is adapted to ring gear；Drive gear and position limited gear are crimped in the driving teeth portion of ring gear, so as to by annular tooth
Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the present embodiment, drive gear and spacing
The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion 46；Keyhole portion is fixedly installed on ring sealing plate portion
Inwall on, keyhole portion is provided with keyhole 461；Matrix drive mechanism includes the matrix motor on the inside of annular matrix, base
The output shaft insertion of body motor is fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 of the setting of face drive gear 44 in ring sealing plate portion, the open-work and matrix motor it is defeated
Shaft is arranged concentrically.
Gear driven mechanism includes the gear drive motor on the inside of annular matrix, the output shaft of the gear drive motor
It is fixedly linked after through the open-work 47 in ring sealing plate portion with drive gear.
In the present embodiment, the output shaft of matrix motor and the output shaft of gear drive motor are to be arranged concentrically, gear
The rotary shaft that the output shaft of motor also rotates as matrix.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting
Drive chamber 71 on ring gear periphery wall, the blade motor being arranged in drive chamber and it is rotatably arranged on outside drive chamber
Propeller 72 on wall, each blade motor drive a corresponding propeller rotational；Preferable scheme is two propeller productions
Raw power direction is identical.
（Application examples 1）
The application example is to use a kind of underwater robot that can be driven with any angle made of above-described embodiment 1, sees Fig. 4 to figure
Shown in 6, including housing 1, the photographing module being built in housing and the universal drive mechanism moved for drive shell.
The global shape of housing is spherical, and the bottom of housing is provided with transparent hemispherical observation window 11；Photographing module includes
The cradle head mechanism with motor that is built in housing, the camera being arranged on cradle head mechanism and it is arranged on cradle head mechanism
On illuminating lamp（It is not drawn on figure）.Camera is fixedly installed on the bottom of cradle head mechanism, camera face hemispherical observation window
Transparent wall body.
Universal drive mechanism includes the annular matrix 4 being fixedly installed on housing, the ring being rotatably arranged on annular matrix
Shape gear 5, two spiral shells for driving ring gear and gear driven mechanism 6 around housing into rotation, being arranged on ring gear
Revolve pitch driver 7 and for driving annular matrix around the matrix drive mechanism of housing into rotation.
Annular matrix 4 includes annular flat plate portion 41, ring sealing plate portion 42 and annular block machine portion 43, and ring sealing plate portion is annular
The inner periphery of flat part is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion annular boss protruding upward.
Ring sealing plate portion is higher by annular block machine portion, and ring sealing plate portion is located at the inner side in annular block machine portion.Housing and annular matrix are set with one heart
Put.
Ring gear includes ring body 51 and is arranged on the driving teeth portion 52 of ring body upper surface；Ring gear is arranged
In annular block machine portion, the periphery wall in the internal perisporium of ring gear and annular block machine portion is slidably matched, the bottom wall of ring gear and
The roof of annular flat plate portion 41 is slidably matched.
Rotated in ring sealing plate portion and be provided with a drive gear 44 and five position limited gears 45, drive gear and limiting tooth
Wheel is adapted to ring gear；Drive gear and position limited gear are crimped in the driving teeth portion of ring gear, so as to by annular tooth
Wheel is crimped in the annular flat plate portion of annular matrix, prevents ring gear from teetertottering.In the application example, drive gear and spacing
The shape size of gear is identical.
The internal perisporium in ring sealing plate portion is provided with inwardly projecting keyhole portion 46；Keyhole portion is fixedly installed on ring sealing plate portion
Inwall on, keyhole portion is provided with keyhole 461；Matrix drive mechanism includes setting matrix motor in the housing, the matrix
The output shaft of motor, which stretches out housing and inserted, to be fixed in the keyhole in keyhole portion.
Be additionally provided with the open-work 47 of the setting of face drive gear 44 in ring sealing plate portion, the open-work and matrix motor it is defeated
Shaft is arranged concentrically；Preferably a kind of scheme is：The centre of sphere of housing and the centerline collineation of open-work.
Gear driven mechanism 6 includes setting gear drive motor in the housing, the output shaft 61 of the gear drive motor
Stretch out housing, through the open-work 47 in ring sealing plate portion after and drive gear be fixedly linked.
In the application example, the output shaft of matrix motor and the output shaft of gear drive motor are to be arranged concentrically, gear
Rotary shaft of the output shaft of motor also as matrix around the side of housing into rotation, keyhole portion is then as matrix around housing into rotation
Opposite side rotary shaft.
When matrix motor rotates, the center line with kinetoplast around open-work rotates；When gear drive motor rotates,
Ring gear is driven around housing into rotation.
Two propeller drives 7 are symmetricly set on the both sides of ring gear, and each propeller drives 7 include fixed setting
Drive chamber 71 on ring gear periphery wall, the blade motor being arranged in drive chamber and it is rotatably arranged on outside drive chamber
Propeller 72 on wall, each blade motor drive a corresponding propeller rotational；Preferable scheme is two propeller productions
Raw power direction is identical.
The application example also has the cleaning agency 2 for being used for cleaning hemispherical observation window outer wall, and cleaning agency includes semi-circular
Support plate 21, set in the housing be used for drive semi-circular support plate reciprocally swinging cleaning motor, be fixedly installed on
The up cleaning brush 22 of semi-circular support plate inwall；The stretching housing of output shaft 23 for cleaning motor is fixedly installed on semi-circular
One end of support plate, the other end of semi-circular support plate are rotatably arranged on housing by bearing pin 24；Cleaning brush preferably uses bullet
Property rubber blanket or hairbrush are made；Clean motor and semi-circular support plate reciprocally swinging is driven by output shaft, and then drive clear
Brush brushes the foul on hemispherical observation window outer wall.
In the application example work, gear drive motor drives drive gear to rotate, and then drives ring gear to turn around housing
Dynamic, two propeller drives are also synchronous as ring gear moves, so as to adjust the driving direction of propeller drives.It is this
Structure can realize complex traveling action due to that can adjust position of the propeller drives relative to housing.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (10)
- A kind of 1. universal drive mechanism for underwater robot, it is characterised in that：Including annular matrix, it is rotatably arranged on annular Ring gear on matrix, the propeller drives being fixedly installed on ring gear, the tooth for driving annular pinion rotation Actuation and the matrix drive mechanism for driving annular matrix to rotate.
- 2. the universal drive mechanism according to claim 1 for underwater robot, it is characterised in that：Annular matrix includes Annular flat plate portion, ring sealing plate portion and annular block machine portion；Ring gear includes ring body and is arranged on ring body upper surface Driving teeth portion；Ring gear is set in annular block machine portion, and the bottom wall of ring gear and the roof of annular flat plate portion are slided and matched somebody with somebody Close.
- 3. the universal drive mechanism according to claim 2 for underwater robot, it is characterised in that：Ring sealing plate portion is The inner periphery of annular flat plate portion is protruded to be formed vertically upward, and annular block machine portion is from annular flat plate portion convex annular protruding upward Platform.
- 4. the universal drive mechanism according to claim 3 for underwater robot, it is characterised in that：Ring gear it is interior Perisporium and the periphery wall in annular block machine portion are slidably matched.
- 5. the universal drive mechanism according to claim 4 for underwater robot, it is characterised in that：Ring sealing plate portion is high Go out annular block machine portion, ring sealing plate portion is located at the inner side in annular block machine portion.
- 6. the universal drive mechanism according to claim 5 for underwater robot, it is characterised in that：In ring sealing plate portion Rotation is provided with a drive gear and five position limited gears, and drive gear and position limited gear are adapted to ring gear；Driving Gear and position limited gear are crimped in the driving teeth portion of ring gear.
- 7. the universal drive mechanism according to claim 6 for underwater robot, it is characterised in that：Ring sealing plate portion Internal perisporium is provided with inwardly projecting keyhole portion；Keyhole portion is fixedly installed on the inwall in ring sealing plate portion, and keyhole portion is provided with key Hole；Matrix drive mechanism includes the matrix motor on the inside of annular matrix, and the output shaft insertion of matrix motor is solid It is scheduled in the keyhole in keyhole portion.
- 8. the universal drive mechanism according to claim 7 for underwater robot, it is characterised in that：In ring sealing plate portion The open-work of face drive gear setting is additionally provided with, the output shaft of the open-work and matrix motor is arranged concentrically.
- 9. the universal drive mechanism according to claim 8 for underwater robot, it is characterised in that：Gear driven mechanism Including the gear drive motor on the inside of annular matrix, the output shaft of the gear drive motor is through saturating in ring sealing plate portion It is fixedly linked behind hole with drive gear.
- 10. the universal drive mechanism according to claim 9 for underwater robot, it is characterised in that：Propeller drives The quantity of device is two, and two propeller drives are symmetricly set on the both sides of ring gear；Each propeller drives include The drive chamber that is fixedly installed on ring gear periphery wall, the blade motor being arranged in drive chamber and it is rotatably arranged on drive Propeller on dynamic chamber outer wall, each blade motor drive a corresponding propeller rotational.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421346.7A CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
| CN201810422001.3A CN108609139A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism with propeller drives for underwater robot |
| CN201810421333.XA CN108609138A (en) | 2017-07-31 | 2017-07-31 | universal driving mechanism for underwater robot |
| CN201710642701.9A CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642701.9A CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421346.7A Division CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
| CN201810421333.XA Division CN108609138A (en) | 2017-07-31 | 2017-07-31 | universal driving mechanism for underwater robot |
| CN201810422001.3A Division CN108609139A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism with propeller drives for underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107458558A true CN107458558A (en) | 2017-12-12 |
| CN107458558B CN107458558B (en) | 2018-06-19 |
Family
ID=60548124
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810422001.3A Withdrawn CN108609139A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism with propeller drives for underwater robot |
| CN201710642701.9A Active CN107458558B (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
| CN201810421333.XA Withdrawn CN108609138A (en) | 2017-07-31 | 2017-07-31 | universal driving mechanism for underwater robot |
| CN201810421346.7A Withdrawn CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810422001.3A Withdrawn CN108609139A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism with propeller drives for underwater robot |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421333.XA Withdrawn CN108609138A (en) | 2017-07-31 | 2017-07-31 | universal driving mechanism for underwater robot |
| CN201810421346.7A Withdrawn CN108408008A (en) | 2017-07-31 | 2017-07-31 | A kind of universal driving mechanism for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108609139A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN110963012B (en) * | 2019-12-20 | 2022-03-01 | 鹏城实验室 | Underwater submerging device and control method of underwater submerging equipment |
| CN111332410B (en) * | 2020-03-25 | 2021-11-26 | 嵊州市鉴亭新材料科技有限公司 | Modular buoy equipment for ocean observation provided with automatic propelling mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2094997A (en) * | 1934-09-17 | 1937-10-05 | Lucich Giovanni | Propelling mechanism for torpedoes |
| US3101066A (en) * | 1961-07-14 | 1963-08-20 | Frederick R Haselton | Submarine hydrodynamic control system |
| CN102050217A (en) * | 2005-10-19 | 2011-05-11 | 移动科学有限公司 | Submersible vehicle |
| CN105799887A (en) * | 2016-06-08 | 2016-07-27 | 广东海洋大学 | Concentric double-ball lifeboat |
| CN105947125A (en) * | 2016-06-23 | 2016-09-21 | 何程 | Water surface environment monitoring and navigation robot |
| CN106314731A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater detecting and salvage robot and working method and control system thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201849653U (en) * | 2010-11-12 | 2011-06-01 | 高川 | Bionic underwater robot |
| CN202429337U (en) * | 2011-12-08 | 2012-09-12 | 上海交通大学 | Propeller required for assisting deep-sea pipeline to move |
| CN103358839B (en) * | 2013-08-05 | 2015-09-02 | 战强 | A kind of Amphibious spherical scout robot |
| CN203921182U (en) * | 2014-05-13 | 2014-11-05 | 上海海洋大学 | A kind of minisub turns to propulsion system |
| CN104554675B (en) * | 2014-12-26 | 2017-01-11 | 中国船舶重工集团公司第七一〇研究所 | Underwater dish vehicle |
| CN204578631U (en) * | 2015-03-19 | 2015-08-19 | 安徽四创电子股份有限公司 | A kind of can the ball-shaped camera cover of automated cleaning |
-
2017
- 2017-07-31 CN CN201810422001.3A patent/CN108609139A/en not_active Withdrawn
- 2017-07-31 CN CN201710642701.9A patent/CN107458558B/en active Active
- 2017-07-31 CN CN201810421333.XA patent/CN108609138A/en not_active Withdrawn
- 2017-07-31 CN CN201810421346.7A patent/CN108408008A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2094997A (en) * | 1934-09-17 | 1937-10-05 | Lucich Giovanni | Propelling mechanism for torpedoes |
| US3101066A (en) * | 1961-07-14 | 1963-08-20 | Frederick R Haselton | Submarine hydrodynamic control system |
| CN102050217A (en) * | 2005-10-19 | 2011-05-11 | 移动科学有限公司 | Submersible vehicle |
| CN105799887A (en) * | 2016-06-08 | 2016-07-27 | 广东海洋大学 | Concentric double-ball lifeboat |
| CN105947125A (en) * | 2016-06-23 | 2016-09-21 | 何程 | Water surface environment monitoring and navigation robot |
| CN106314731A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater detecting and salvage robot and working method and control system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107458558B (en) | 2018-06-19 |
| CN108609139A (en) | 2018-10-02 |
| CN108609138A (en) | 2018-10-02 |
| CN108408008A (en) | 2018-08-17 |
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