CN108341039A - Universal underwater crawling suspension workbench - Google Patents
Universal underwater crawling suspension workbench Download PDFInfo
- Publication number
- CN108341039A CN108341039A CN201810227134.5A CN201810227134A CN108341039A CN 108341039 A CN108341039 A CN 108341039A CN 201810227134 A CN201810227134 A CN 201810227134A CN 108341039 A CN108341039 A CN 108341039A
- Authority
- CN
- China
- Prior art keywords
- propeller
- solenoid valve
- gravity force
- float bowl
- main frame
- 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.)
- Withdrawn
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 20
- 230000009193 crawling Effects 0.000 title claims abstract description 18
- 230000005484 gravity Effects 0.000 claims abstract description 50
- 238000007789 sealing Methods 0.000 claims abstract description 28
- 210000003954 umbilical cord Anatomy 0.000 claims abstract description 16
- 238000005192 partition Methods 0.000 claims abstract description 8
- 238000007667 floating Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 230000006835 compression Effects 0.000 abstract 1
- 238000007906 compression Methods 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 24
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 2
- 241000270322 Lepidosauria Species 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004886 process control Methods 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
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a kind of universal underwater crawling suspension workbenches, with middle horizontal beam, middle vertical beam and below equipped with two groups of universal wheels main frame in be fixed with left and right gravity force float bowl, left and right gravity force float bowl is divided into front chamber and rear chamber by sealing partition board, exhaust solenoid valve is equipped on forward and backward chamber, into drain solenoid valve and air inlet electromagnetic valve, air inlet electromagnetic valve is connected by compressed air hose and electrical umbilical cord with land air compressor.There are left and right retrogressing spiral propeller, front left, front right flat spin propeller and preceding vertical spin propeller in main frame front, there are left and right advance spiral propeller, rear left, rear right flat spin propeller and rear vertical spin propeller at main frame rear portion, sealing electric control box on middle horizontal beam is connected by electrical umbilical cord with terrestrial base station and air compression, and sealing electric control box is connect by cable with all spiral propellers and solenoid valve.This programme will be widely used in underwater various field of operation of creeping.
Description
Technical field：
According to the present invention is to provide a kind of universal suspension workbench of creeping for underwater various equipment.
Background technology：
Currently, the workbench of underwater carrying equipment is all mobile, this move mode that suspended using spiral propeller
Cause the stability of work on hand platform in water very poor, inspection error is brought to some inspections or imaging device.Although having
It is also all directional wheel that movable pulley or crawler belt are housed below existing underwater operation platform, and not only turning radius is all very big but also motor-driven
Property is also very poor, and encountering the bottom and having can not also walk when mud.Workbench involved by prior art not only cannot achieve
360 ° of original place is freely turned movement, and it is even more impossible to realize on vertical plane under water and other underwater various concrete structural surfaces
On the operation technique requirement creeped, so submarine inspection, maintenance and exploring equipment be badly in need of one kind can 360 ° of pivot turns under water
It creeps and can suspend, and various concrete surfaces can arbitrarily creep operation walking or the mobile workbench that suspends under water.
Invention content：
The present invention is directed to propose a kind of prior art cannot achieve the technical side of this field underwater operation technology requirement
Case is mainly technically characterized by, and is symmetrically fixed with right retrogressing spiral propeller in main frame upper front end and left back spiral of moving back pushes away
Into device, right advance spiral propeller is symmetrically fixed with and left front into spiral propeller in main frame upper rear end, with electrical
The sealing electric control box of umbilical cord is fixed in main frame on horizontal beam, and front right level is symmetrically fixed with below main frame front end
Spiral propeller and front left flat spin propeller, vertical spin propeller before being fixed on vertical beam in main frame front end,
Main frame behind and below is symmetrically fixed with rear right flat spin propeller and rear left flat spin propeller, behind the main frame in
Be fixed with rear vertical spin propeller on vertical beam, right retrogressing spiral propeller and it is left back move back spiral propeller, right advance spiral pushes away
It left front pushes away into device and into spiral propeller, front right flat spin propeller and front left flat spin propeller, rear right flat spin
All pass through cable and sealing electricity into device and rear left flat spin propeller, preceding vertical spin propeller and rear vertical spin propeller
Gas control cabinet connects；It is 4~8 universal wheels to be equipped with two groups and every group in main frame bottom symmetrical, is passed through in the middle part of main frame
Floating drum fixed plate is symmetrically fixed with right gravity force float bowl and left buoyant weight power cylinder, and right gravity force float bowl inside is divided into front chamber with sealing partition board
And rear chamber, left gravity force float bowl inside are also divided into front chamber and rear chamber with sealing partition board, are filled above right gravity force float bowl front chamber
There are exhaust solenoid valve and air inlet electromagnetic valve, is equipped with into drain solenoid valve, right gravity force float bowl back cavity below right gravity force float bowl front chamber
Room is fitted with exhaust solenoid valve and air inlet electromagnetic valve, is equipped with into drain solenoid valve, left gravity below right gravity force float bowl rear chamber
Floating drum front chamber is fitted with exhaust solenoid valve and air inlet electromagnetic valve, is equipped with below left gravity force float bowl front chamber into draining electromagnetism
Valve, left gravity force float bowl rear chamber are fitted with exhaust solenoid valve and air inlet electromagnetic valve, below left gravity force float bowl rear chamber equipped with into
Drain solenoid valve, all air inlet electromagnetic valves are connected to by compressed air hose with electrical umbilical cord, exhaust solenoid valve, into draining electromagnetism
Valve and air inlet electromagnetic valve are connect by cable with sealing electric control box.When left and right gravity force float bowl inner filling water, entirely
This workbench sinks to the bottom under Gravitative Loads, and universal wheel is made fully to be contacted with bottom surface or underwater concrete surface.When
When compressed air is filled with left and right gravity force float bowl from air inlet electromagnetic valve internal water is made to pass through a certain amount of into drain solenoid valve discharge,
When keeping the buoyancy that left and right gravity force float bowl generates just equal with entire dead weight of platform, workbench just suspend in water,
This lower workbench of spiral propeller effect can be moved to all directions in water.Left and right gravity force float bowl is by sealing partition board point
At front chamber and rear chamber, front chamber and rear chamber are all sealings；Electrical umbilical cord is universal underwater crawling suspension workbench
Spiral propeller power supply, control instruction and compressed air are provided, the cable in electrical umbilical cord is connect with land active base station, so as to
Electrical source of power and control instruction are provided for this workbench；Compressed air hose one end in electrical umbilical cord is connected to air inlet electromagnetic valve
The other end is connected with the air compressor of land again.Operating personnel pass through terrestrial base station, electrical umbilical cord and sealing electric-controlled
Case processed sends out various operation technique requirement instructions to universal underwater crawling suspension workbench.Sealing electric control box has well
Underwater sealing.
What the technique effect that technical solution provided by the invention is reached was realized in：When universal underwater crawling suspension work
Make the left and right gravity force float bowl on platform receive sinking instruction when, sealing electric control box control the exhaust on left and right gravity force float bowl
It solenoid valve and is all opened into drain solenoid valve, so that water is injected in left and right gravity force float bowl, while the front/back cavity of left and right gravity force float bowl
Air in room is discharged from exhaust solenoid valve, and when injection water is a certain amount of, this workbench will sink down into the bottom, according to underwater
Operation needs, sealing electric-controlled of the operating personnel by electrical umbilical cord from the active base station of land on this underwater workbench
Control unit in case processed sends out instruction, so that this workbench is carried out various bottom surface carrying equipments by underwater operation requirement and climbs
Row operation, this reptile fashion keeps this workbench not only very steady under water, but also mobility is fabulous.
When instruction controls left and right advance spiral propeller work, the universal underwater crawling suspension work under hydraulic thrust effect
Make platform just to creep forward, two groups of universal wheels are rotated in place at the bottom and walked forward；When instruction controls left and right retrogressing screw propulsion
When device works, universal underwater crawling suspension workbench is just creeped backward under hydraulic thrust effect, and two groups of universal wheels rotate in place
It walks backward, is opposite reference direction with Fig. 1；It is universal under hydraulic thrust effect when front right, the work of rear right flat spin propeller
Underwater crawling suspension workbench is just creeped to the left, while universal wheel is rotated in place and creeped to the left；When instruction control front left, rear left
When flat spin propeller, universal underwater crawling suspension workbench is just creeped to the right under hydraulic thrust effect, while universal wheel
It rotates in place and walks to the right, be opposite reference direction with Fig. 2, Fig. 3.Underwater operation needs universal underwater crawling suspension work flat
Platform carry underwater equipment in vertical concrete surface creep, instruction control by below left and right gravity force float bowl front chamber into row
Water solenoid valve is opened, and closes the exhaust solenoid valve above front chamber, opens simultaneously air inlet electromagnetic valve above, makes to be higher than hydraulic pressure
Compressed air enter left and right gravity force float bowl front chamber in and the water in front chamber is discharged, close front chamber into drain electromagnetism
Valve and air inlet electromagnetic valve, instruct simultaneously in the process control open under left and right gravity force float bowl rear chamber into drain solenoid valve and
Exhaust solenoid valve above, passes water through and enters in rear chamber into drain solenoid valve, while air being made to be discharged from exhaust solenoid valve,
The dead weight of the buoyancy of left and right gravity force float bowl front chamber and left and right gravity force float bowl rear chamber and the dead weight of this entire workbench are just
Universal underwater crawling suspension workbench can be made to rotate clockwise appearance with horizontal plane and parallel with vertical concrete surface
State, instruction control forward and backward vertical spin propeller work, so that two groups of universal wheels is pressed in vertical concrete table under hydraulic thrust effect
On face, needed to send out the other spiral propellers work of instruction control by base station according to underwater operation, this workbench can be in water
It arbitrarily creeps on vertical concrete surface down operation.This workbench under water vertical concrete surface creep when, must pass through
The water in rear chamber is discharged in compressed air, increases buoyancy to mitigate the weight of this entire workbench, avoids making to electrical umbilical cord
It is excessive at pulling force and damage, but buoyancy is not greater than this entire workbench and is mounted in the gross weight of equipment above.It such as will be left heavy
The forward and backward chamber of power floating drum is filled with compressed air, is full of water in the front/back cavity room of right gravity force float bowl, if Fig. 3 is opposite reference side
To this workbench can rotate clockwise, and left gravity force float bowl is upper, and right gravity force float bowl is under, entire workbench weight in addition
The heart will not make the plane residing for left and right gravity force float bowl axis form an angle for being less than 90 ° with horizontal plane in center,
When this workbench is in this posture, compressed air is filled with from row to following right gravity force float bowl by air inlet electromagnetic valve again
The indoor water of front/back cavity is discharged in pneumoelectric magnet valve, this workbench is turned over, with the overturning of this workbench, two group ten thousand
It is turned to come above to wheel, this workbench is under this posture, and the buoyancy for making left and right gravity force float bowl generate is more than this work
Make platform and carrying equipment gross weight, so that it may with operation of creeping on underwater dome surface.Such as encounter underwater mud it is excessive or
It is too deep, make this workbench can not creep operation when, base station send out instruction control air compressor pass through the pressure in electrical umbilical cord
The forward and backward chamber of gravity force float bowl is filled with compressed air appropriate to contracting air hose to left and right, and a certain amount of water in front/back cavity room is discharged,
Keep buoyancy equal with the dead weight of this workbench, to make this workbench be in zero-g state in water, then has controlled not
The spiral propeller of same-action works, to make this workbench that can cross mud under water.This workbench is under water
It realizes and arbitrarily turns the work mobile technology purpose for creeping or suspending comprehensive in 360 ° of original places, can also realize that carrying is underwater
The operations such as underwater culvert are creeped and detected to various equipment on vertical plane under water.
The exhaust solenoid valve of universal underwater crawling suspension workbench, into drain solenoid valve and air inlet electromagnetic valve by sealing
Electric control box is controlled by cable, and all spiral propellers are also to provide power supply by sealing electric control box by cable
With control instruction signal.
Technical solution of the present invention is simple in structure and ingenious, and the mobile maneuverability of suspension of creeping adapts to various underwater
The requirement of culture's surface creep operation technique, ideally solves the insurmountable technical problem of the prior art, therefore, this work
Make platform has novelty, creativeness and practicability compared with prior art, is that the indispensable work that underwater various equipment are carried is flat
Platform, universal underwater crawling suspension workbench will be widely used in underwater operation field.
Description of the drawings：
The universal underwater crawling suspension workbench front views of Fig. 1
The universal underwater crawling suspension workbench vertical views of Fig. 2
The universal underwater crawling suspension workbench right views of Fig. 3
Wherein：
1, right retrogressing spiral propeller 2, propeller fixed frame 3, cable
4, electric control box 5, electrical umbilical cord 6, compressed air hose are sealed
7, exhaust solenoid valve 8, right advance spiral propeller 9, right gravity force float bowl
10, rear chamber 11, rear vertical spin propeller 12, rear right flat spin propeller
13, main frame 14, universal wheel 15, floating drum fixed plate
16, into drain solenoid valve 17, air inlet electromagnetic valve 18, sealing partition board
19, front chamber 20, front right flat spin propeller 21, preceding vertical spin propeller
22, left back to move back spiral propeller 23, front left flat spin propeller 24, left gravity force float bowl
25, rear left flat spin propeller 26, left front into spiral propeller 27, middle horizontal beam
28, middle vertical beam
Specific implementation mode：
Left gravity force float bowl 24 and right gravity force float bowl 9 are all divided into front chamber 19 and rear chamber 10 with sealing partition board 18, each
Front chamber 19 is installed above to be had exhaust solenoid valve 7, air inlet electromagnetic valve 17 and is mounted below into drain solenoid valve 16；Each back cavity
Room 10 is fitted with exhaust solenoid valve 7, air inlet electromagnetic valve 17 and is mounted below into drain solenoid valve 16, air inlet electromagnetic valve above
17 are connected to by compressed air hose 6, sealing electric control box 4 and electrical umbilical cord 5 with the air compressor of land；All exhausts
Solenoid valve 7 is all connect by cable 3 with sealing electric control box 4 into drain solenoid valve 16 and air inlet electromagnetic valve 17, and sealing is electrical
Control cabinet 4 is connect by electrical umbilical cord 5 with the active base station of land and air compressor.Left gravity force float bowl 24 and right gravity are floating
Cylinder 9 is fixed on main frame 13 in the following, there is middle horizontal beam 27 above main frame 13, before and after main frame 13 all by floating drum fixed plate 15
There is middle vertical beam 28, fixing seal electric control box 4, main frame 13 fix two groups of symmetrical universal wheels to middle horizontal beam 27 below above
14.Vertical spin propeller 21 hangs down with rear before the forward and backward middle vertical beam 28 of main frame 13 is fixed with propeller fixed frame 2 respectively above
Straight spiral propeller 11 is symmetrically fixed with propeller fixed frame 2 on 13 front end of main frame and left back moves back 22 He of spiral propeller
Right retrogressing spiral propeller 1 is symmetrically fixed with propeller fixed frame 2 left front into spiral propeller 26 on 13 rear end of main frame
With right advance spiral propeller 8.It symmetrically uses propeller fixed frame 2 to fix front left flat spin below 13 front end of main frame to promote
Device 23 and front right flat spin propeller 20 symmetrically use propeller fixed frame 2 to fix rear left level below 13 rear end of main frame
Spiral propeller 25 and rear right flat spin propeller 12.The left back spiral propeller 22, right retrogressing spiral propeller 1, left front of moving back
Into spiral propeller 26, right advance spiral propeller 8, front left flat spin propeller 23, front right flat spin propeller 20, after
Left flat spin propeller 25, rear right flat spin propeller 12, preceding vertical spin propeller 21 and rear vertical spin propeller
11 are all connect by cable 3 with sealing electric control box 4.It is finished.
Claims (1)
1. a kind of universal underwater crawling suspension workbench, characterized in that be symmetrically fixed with right retrogressing in main frame upper front end
Spiral propeller and it is left back move back spiral propeller, be symmetrically fixed with right advance spiral propeller and left front in main frame upper rear end
Into spiral propeller, the sealing electric control box with electrical umbilical cord is fixed in main frame on horizontal beam, before main frame
End lower section is symmetrically fixed with front right flat spin propeller and front left flat spin propeller, solid on vertical beam in main frame front end
Surely there is preceding vertical spin propeller, rear right flat spin propeller and the horizontal spiral shell of rear left are symmetrically fixed in main frame behind and below
Propeller is revolved, vertical spin propeller after being fixed on middle vertical beam behind the main frame and left back moves back at right retrogressing spiral propeller
Spiral propeller, right advance spiral propeller and left front into spiral propeller, front right flat spin propeller and the horizontal spiral shell of front left
Revolve propeller, rear right flat spin propeller and rear left flat spin propeller, preceding vertical spin propeller and rear vertical spin
Propeller is all connect by cable with sealing electric control box；It is 4~8 to be equipped with two groups and every group in main frame bottom symmetrical
Universal wheel is symmetrically fixed with right gravity force float bowl and left buoyant weight power cylinder, right gravity force float bowl in the middle part of main frame by floating drum fixed plate
Inside is divided into front chamber and rear chamber with sealing partition board, and left gravity force float bowl inside is also divided into front chamber and back cavity with sealing partition board
Room, right gravity force float bowl front chamber are fitted with exhaust solenoid valve and air inlet electromagnetic valve, below right gravity force float bowl front chamber equipped with into
Drain solenoid valve, right gravity force float bowl rear chamber are fitted with exhaust solenoid valve and air inlet electromagnetic valve, under right gravity force float bowl rear chamber
Face is equipped with into drain solenoid valve, and left gravity force float bowl front chamber is fitted with exhaust solenoid valve and air inlet electromagnetic valve, left gravity force float bowl
Equipped with into drain solenoid valve below front chamber, left gravity force float bowl rear chamber is fitted with exhaust solenoid valve and air inlet electromagnetic valve, left
Equipped with into drain solenoid valve below gravity force float bowl rear chamber, all air inlet electromagnetic valves are connected by compressed air hose and electrical umbilical cord
Logical, exhaust solenoid valve is connect by cable with sealing electric control box into drain solenoid valve and air inlet electromagnetic valve.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810052439 | 2018-01-12 | ||
| CN2018100524397 | 2018-01-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108341039A true CN108341039A (en) | 2018-07-31 |
Family
ID=62957517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810227134.5A Withdrawn CN108341039A (en) | 2018-01-12 | 2018-03-11 | Universal underwater crawling suspension workbench |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108341039A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020199841A1 (en) * | 2019-04-04 | 2020-10-08 | 南京涵铭置智能科技有限公司 | Robot for underwater observation and observation method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002234490A (en) * | 2001-02-08 | 2002-08-20 | Ishikawajima Harima Heavy Ind Co Ltd | Underwater moving device |
| CN2541322Y (en) * | 2002-04-15 | 2003-03-26 | 孙滨生 | Creeping underwater sightseeing yacht |
| CN203555053U (en) * | 2013-11-04 | 2014-04-23 | 钟定胜 | Sinking and floating control device and multi-working condition sinkable and floatable sea cucumber searching and catching device |
| 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 |
| US20140230713A1 (en) * | 2011-09-26 | 2014-08-21 | Kawasaki Jukogyo Kabushiki Kaisha | Underwater mobile inspection apparatus and underwater inspection equipment |
| CN204568029U (en) * | 2014-12-25 | 2015-08-19 | 青岛海山海洋装备有限公司 | One is unmanned cable man-controlled mobile robot under water |
| CN204659998U (en) * | 2015-04-02 | 2015-09-23 | 浙江海洋学院 | A kind of under-water operation robot device |
| CN105383652A (en) * | 2015-10-16 | 2016-03-09 | 上海路远电气科技有限公司 | Motion platform for underwater steep slope and underwater detection robot |
| CN106891073A (en) * | 2015-12-18 | 2017-06-27 | 上海航士海洋装备有限公司 | Mobile platform in six degree of freedom water |
| CN206664902U (en) * | 2017-03-24 | 2017-11-24 | 赛维航电科技有限公司 | Underwater detection robot |
| CN208069986U (en) * | 2018-01-12 | 2018-11-09 | 吴博恩 | Universal underwater crawling suspension workbench |
-
2018
- 2018-03-11 CN CN201810227134.5A patent/CN108341039A/en not_active Withdrawn
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002234490A (en) * | 2001-02-08 | 2002-08-20 | Ishikawajima Harima Heavy Ind Co Ltd | Underwater moving device |
| CN2541322Y (en) * | 2002-04-15 | 2003-03-26 | 孙滨生 | Creeping underwater sightseeing yacht |
| US20140230713A1 (en) * | 2011-09-26 | 2014-08-21 | Kawasaki Jukogyo Kabushiki Kaisha | Underwater mobile inspection apparatus and underwater inspection equipment |
| 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 |
| CN203555053U (en) * | 2013-11-04 | 2014-04-23 | 钟定胜 | Sinking and floating control device and multi-working condition sinkable and floatable sea cucumber searching and catching device |
| CN204568029U (en) * | 2014-12-25 | 2015-08-19 | 青岛海山海洋装备有限公司 | One is unmanned cable man-controlled mobile robot under water |
| CN204659998U (en) * | 2015-04-02 | 2015-09-23 | 浙江海洋学院 | A kind of under-water operation robot device |
| CN105383652A (en) * | 2015-10-16 | 2016-03-09 | 上海路远电气科技有限公司 | Motion platform for underwater steep slope and underwater detection robot |
| CN106891073A (en) * | 2015-12-18 | 2017-06-27 | 上海航士海洋装备有限公司 | Mobile platform in six degree of freedom water |
| CN206664902U (en) * | 2017-03-24 | 2017-11-24 | 赛维航电科技有限公司 | Underwater detection robot |
| CN208069986U (en) * | 2018-01-12 | 2018-11-09 | 吴博恩 | Universal underwater crawling suspension workbench |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020199841A1 (en) * | 2019-04-04 | 2020-10-08 | 南京涵铭置智能科技有限公司 | Robot for underwater observation and observation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203555053U (en) | Sinking and floating control device and multi-working condition sinkable and floatable sea cucumber searching and catching device | |
| US3165899A (en) | Underwater manipulator with suction support device | |
| CN103535330B (en) | A kind of sink-float control device and multi-state can rise and fall sea cucumber search catching device | |
| CN208069986U (en) | Universal underwater crawling suspension workbench | |
| CN207089614U (en) | Underwater robot and amphibious robot | |
| CN105715446A (en) | Sea wave energy power generation robot device with combination of suspension and floating and working method thereof | |
| CN105775077B (en) | There is cable distance type underwater installation to transport and mounting robot | |
| CN110899190B (en) | Method for cleaning attachment on underwater surface of pier and underwater operation robot | |
| CN206520734U (en) | A kind of nuclear power plant's sucked type float assembly | |
| CN104374598A (en) | Underwater collection robot | |
| CN104443278B (en) | Virtual anchoring profile buoy | |
| CN108341039A (en) | Universal underwater crawling suspension workbench | |
| CN202193198U (en) | Water spraying propulsion remote-control underwater robot with cables | |
| CN204197097U (en) | A kind of modular reconfigurable climbing robot | |
| CN213384667U (en) | Underwater robot moving bearing platform | |
| CN105667621A (en) | Modularized reconfigurable wall-climbing robot and wall-climbing method thereof | |
| CN110316338B (en) | Posture-adjustable water-spraying vector propulsion circular-disk underwater robot and control method thereof | |
| CN205574244U (en) | Magnetic drive combined type track is running gear under water | |
| CN108678139B (en) | Combined type double-drive underwater culvert overhauling device | |
| CN208430620U (en) | Culvert apparatus for examination and repair under the double expelling waters of combined type | |
| CN111112190B (en) | Pier underwater surface attachment cleaning system and robot with improved structure | |
| CN209686492U (en) | A kind of visual mating Accrete clearing device of deep water | |
| CN219586805U (en) | Omnidirectional movement vertical direct-suction underwater dredging robot and dredging system | |
| CN113464374B (en) | Dry-type cabin sled piece structure and pipe-line system suitable for many bases are sunk | |
| CN219840023U (en) | Intelligent equipment for submarine shield bottom dry chamber cabin for underwater concrete overhaul |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180731 |