CN110667807B - Improved spherical roll-in underwater robot - Google Patents
Improved spherical roll-in underwater robot Download PDFInfo
- Publication number
- CN110667807B CN110667807B CN201910982495.5A CN201910982495A CN110667807B CN 110667807 B CN110667807 B CN 110667807B CN 201910982495 A CN201910982495 A CN 201910982495A CN 110667807 B CN110667807 B CN 110667807B
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- spherical
- shell
- axis
- spherical shell
- 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.)
- Active
Links
- 238000009434 installation Methods 0.000 claims abstract description 10
- 230000005484 gravity Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000005086 pumping Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Images
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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种改进型球形滚进水下机器人，包括：球形壳体和偏心驱动装置，偏心驱动装置能够绕轴线I转动地设于球形壳体内，其重心与轴线I之间具有一定距离从而能够产生使水下机器人移动的偏心力矩，轴线I与球形壳体的中心共线；球形壳体包括两个半球壳体和两个半圆环箍，半球壳体的开口处连接法兰，半球壳体的外壁设有至少一圈靠近连接法兰的安装槽I，两个半球壳体通过连接法兰密封对接形成能够容纳偏心驱动装置的密封腔体；半圆环箍相互对接地设置在安装槽I中将两个半球壳体固定；半球壳体的外壁和半圆环箍的外壁接壤并组成完整的球面。本发明的壳体结构简单巧妙，易于安装。
The invention discloses an improved spherical rolling-in underwater robot, comprising: a spherical shell and an eccentric driving device, wherein the eccentric driving device is rotatably arranged in the spherical shell around an axis I, and there is a certain distance between its center of gravity and the axis I Thus, the eccentric moment that makes the underwater robot move can be generated, and the axis I is collinear with the center of the spherical shell; The outer wall of the hemispherical shell is provided with at least one installation groove I close to the connecting flange, and the two hemispherical shells are sealed and connected by the connecting flange to form a sealed cavity capable of accommodating the eccentric drive device; The two hemispherical shells are fixed in the installation groove I; the outer wall of the hemispherical shell and the outer wall of the semicircular hoop border and form a complete spherical surface. The casing of the present invention has a simple and ingenious structure and is easy to install.
Description
Technical Field
The invention belongs to the technical field of submersibles, and particularly relates to an improved spherical rolling underwater robot.
Background
The submersible is one of the main technical means for human beings to develop and utilize the ocean, and has become an important leading edge of the high and new ocean technology. A large number of submersibles are emerging in succession, including manned Submersibles (HOVs), cabled remotely operated unmanned Submersibles (ROVs), and untethered Autonomous Unmanned Submersibles (AUVs), among others. These vehicles, such as AUVs, are at most cruising offshore or standing on the bottom of a sea, and cannot be maneuvered freely on the sea floor, whereas crawler ROVs, which operate on the sea floor, require an umbilical surface to supply power.
Can roll to, the spherical submersible of perching that floats realize at present in the water has two-layer casing, and outer casing is non-pressure-bearing non-seal shell, mainly provides the supporting role when rolling, and inlayer casing is the pressure-bearing seal shell, mainly provides the effect of holding and protecting the core device. The disadvantages of this housing structure are the complexity of the structure and the high manufacturing and maintenance costs.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an improved spherical rolling-in underwater robot, which is simple and ingenious in shell structure and easy to install.
In order to solve the problems of the prior art, the invention discloses an improved spherical rolling-in underwater robot, which comprises: the underwater robot comprises a spherical shell and an eccentric driving device, wherein the eccentric driving device is rotatably arranged in the spherical shell around an axis I, the center of gravity of the eccentric driving device is at a certain distance from the axis I so as to generate an eccentric moment for moving the underwater robot, and the axis I is collinear with the center of the spherical shell;
the spherical shell comprises two hemispherical shells and two semicircular hoops, a connecting flange is arranged at an opening of each hemispherical shell, at least one circle of mounting groove I close to the connecting flange is arranged on the outer wall of each hemispherical shell, and the two hemispherical shells are in sealed butt joint through the connecting flanges to form a sealed cavity capable of accommodating the eccentric driving device; the semicircular hoops are arranged in the mounting groove I in a mutual opposite grounding manner to fix the two hemispherical shells; the outer wall of the semi-spherical shell and the outer wall of the semi-circular hoop are connected to form a complete spherical surface.
Further, the air conditioner is provided with a fan,
the outer wall of hemisphere casing still is equipped with mounting groove II, mounting groove II is relative mounting groove I is close to flange, semicircle hoop with be equipped with the installation space that can permeate water between the mounting groove II, be equipped with water quality testing appearance in the installation space.
Further, the air conditioner is provided with a fan,
the inner wall of the hemispherical shell is provided with a pair of semi-ring tracks, and the two semi-ring tracks can form a complete annular track by butt joint of the two hemispherical shells; the axis of the semi-ring track is vertical to the axis of the connecting flange; the eccentric driving device comprises a frame, a driving motor, a battery and a roller; the number of the annular tracks is two, and the annular tracks are coaxially arranged in the spherical shell; at least two rollers are respectively arranged on two sides of the rack, and the rims of the rollers are in rolling contact with the rail surfaces of the corresponding annular rails; the driving motor and the battery are fixed on the rack, the driving motor drives the roller, and the battery is also used as a balance weight and supplies power to the driving motor.
Further, the air conditioner is provided with a fan,
the number of the rollers on each side of the rack is three, the rollers are uniformly distributed along the circumferential direction, and the rollers are driven by the driving motor.
Further, the air conditioner is provided with a fan,
the eccentric driving device also comprises a balancing weight, an adjusting motor, a lead screw and a transmission mechanism; the adjusting motor and the lead screw are arranged on the rack, the adjusting motor drives the lead screw to rotate through the transmission mechanism, and the balancing weight is in threaded connection with the lead screw and can move along the axial direction of the lead screw when the lead screw rotates.
Further, the air conditioner is provided with a fan,
the spherical shell is provided with at least one pair of jet flow channels which are symmetrically distributed, two ends of each jet flow channel are communicated with the outer wall of the spherical shell respectively, and the jet flow channels are sprayed outwards through a jet device to provide water flow for driving the underwater robot to move.
Further, the air conditioner is provided with a fan,
the number of the jet flow channels is two pairs, wherein the axes of one pair of the jet flow channels are perpendicular to the axes of the other pair of the jet flow channels.
Further, the air conditioner is provided with a fan,
the fluidic device comprises a watertight motor and a pumping blade, the pumping blade is arranged in the fluidic channel, the watertight motor drives the pumping blade to rotate, and the battery supplies power to the watertight motor.
Further, the air conditioner is provided with a fan,
at least one part of the spherical shell is transparent, and a visual device is arranged in the spherical shell corresponding to the transparent part.
Further, the air conditioner is provided with a fan,
and a buoyancy adjusting device is further arranged in the spherical shell and can adjust the buoyancy of the underwater robot.
The invention has the following beneficial effects:
1. in the invention, the shell has only one layer and adopts a split structure to realize sealing connection, thereby not only ensuring higher sphericity and pressure-bearing capacity, but also being easy to accommodate and mount other components.
2. In the invention, the eccentric driving device adopts a shaftless structure to form rotary connection with the shell track, so that the normal supporting force between the roller and the track surface is increased, and the friction driving force can effectively drive the whole body to move.
3. According to the invention, the underwater robot can not only roll forward on the seabed and land and float in the water body, but also roll forward on the bottom surface of the ice cover, so that the detection application in polar regions is realized.
4. In the invention, the detection equipment is arranged in the shell, so that the whole underwater robot is spherical, and the movement capability in a rolling mode is improved.
Drawings
FIG. 1 is a perspective view of a preferred embodiment of the present invention;
FIG. 2 is a perspective exploded view of the embodiment of FIG. 1;
FIG. 3 is a front view of the structure of the embodiment shown in FIG. 1;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a perspective view of the eccentric drive of the embodiment of FIG. 1;
FIG. 6 is a front view of the eccentric drive of the embodiment of FIG. 1;
FIG. 7 is a rear view of the construction of the eccentric drive of the embodiment of FIG. 1;
FIG. 8 is a perspective view of the configuration of the hemispherical shell of the embodiment of FIG. 1;
FIG. 9 is a front view of the configuration of the hemispherical shell of the embodiment of FIG. 1;
FIG. 10 is a bottom view of the configuration of the hemispherical shell of the embodiment of FIG. 1;
FIG. 11 is a perspective view of the configuration of a semi-circular hoop in the embodiment of FIG. 1;
FIG. 12 is a front elevational view of the configuration of a semi-circular hoop in the embodiment of FIG. 1;
FIG. 13 is a top view of the semi-circular hoop configuration of the embodiment of FIG. 1;
fig. 14 is a schematic diagram of the eccentric rolling of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 14, an improved spherical roll-in underwater robot comprises: a spherical shell and an eccentric drive 3, said eccentric drive 3 being rotatably arranged within said spherical shell about an axis I100, the centre of gravity thereof being at a distance from said axis I100 so as to be able to generate an eccentric moment for moving the underwater robot, said axis I100 being collinear with the centre of said spherical shell. When the underwater robot moves forwards or backwards in the rolling mode, the moving direction is perpendicular to the axis I100.
As shown in fig. 2 and fig. 8 to 13, the spherical shell includes two hemispherical shells 1 and two semicircular hoop bands 2, a connecting flange 1.1 is arranged at an opening of the hemispherical shell 1, the two hemispherical shells 1 are assembled through the connecting flange 1.1, and the connecting flange 1.1 is connected by bolts. The outer wall of the hemispherical shell 1 is provided with at least one circle of mounting groove I1.2 close to the connecting flange 1.1, and the two hemispherical shells 1 are in sealed butt joint through the connecting flange 1.1 to form a sealed cavity capable of accommodating the eccentric driving device 3; the semicircular hoop bands 2 are arranged in the mounting groove I1.2 in a mutual butt-grounding manner to fix the two semicircular shells 1; the outer wall of the semi-spherical shell 1 and the outer wall of the semi-circular hoop 2 are bordered to form a complete spherical surface.
In one embodiment, the mounting groove I1.2 is parallel to the connecting flange 1.1, and the inner side of the semicircular hoop 2 is provided with a plurality of protrusions 2.3 capable of matching with the mounting groove I1.2, thereby realizing the limit mounting of the hemispherical shell 1. Two ends of the two semicircular hoop bands 2 are connected through bolts. In this way, the four housing components form a complete spherical structure.
In one embodiment, the outer wall of the hemispherical shell 1 is further provided with a mounting groove II1.5, the mounting groove II1.5 is close to the connecting flange 1.1 relative to the mounting groove I1.2, the mounting groove II1.5 is parallel to the mounting groove I1.2 to form a concentric circle structure, a permeable mounting space is arranged between the semicircular hoop 2 and the mounting groove II1.5, and a water quality detector is arranged in the mounting space.
As shown in fig. 2 and fig. 4 to 7, in one embodiment, the inner wall of the hemispherical shell 1 is provided with a pair of symmetrically arranged semi-circular tracks 1.3, and the two semi-circular tracks 1.3 can form a complete circular track after the two hemispherical shells 1 are butted; the axis of the semi-ring track 1.3 is perpendicular to the axis of the connecting flange 1.1, which facilitates the installation of the eccentric drive 3. The eccentric driving device 3 comprises a frame 4, a driving motor 5, a battery 6 and a roller 7; the number of the annular tracks is two, and the annular tracks are coaxially arranged in the spherical shell; at least two rollers 7 are respectively installed on two sides of the rack 4, and the wheel rims of the rollers 7 are in rolling contact with the track surfaces 1.4 of the corresponding annular tracks; the driving motor 5 and the battery 6 are fixed on the frame 4, the driving motor 5 drives the roller 7, and the battery 6 is also used as a balance weight and supplies power to the driving motor 5. The roller 7 has a certain elasticity, for example, the tread thereof is a rubber tread, which can ensure that the roller is in a pressing state with the track surface 1.4.
As shown in fig. 4 to 7, in one embodiment, the rollers 7 on each side of the frame 4 are three in number and are uniformly distributed along the circumferential direction, and the rollers 7 are driven by the driving motor 5. The specific way of driving the roller 7 by the driving motor 5 is as follows:
of the three rollers 7 on one side of the frame 4, the two lowermost rollers 7 provide the driving force, and the uppermost roller 7 is used only for rolling support. Of the two rollers 7 at the lowest part of one side of the frame 4, one roller 7 is a driving wheel I, and the other roller 7 is a driven wheel I. Similarly, one roller 7 of the two lowermost rollers 7 on the other side of the frame 4 is a driving roller II, and the other roller 7 is a driven roller II. The roller 7 as the driving wheel II is coaxially and fixedly connected with the roller 7 as the driving wheel I, and the roller 7 as the driven wheel I is coaxially and fixedly connected with the roller 7 as the driven wheel II.
As shown in fig. 7, a belt pulley 14 is provided on the main shaft of the driving motor 5, and the roller 7 as the driving wheel I is in transmission connection with the belt pulley 14 through a belt I15. The roller 7 as the driving wheel II is in transmission connection with the roller 7 as the driven wheel II through a belt II 8. This enables the four rollers 7 to rotate at the same speed to provide driving force.
In one embodiment, the eccentric driving device 3 further comprises a balancing weight 13, an adjusting motor 10, a lead screw 12 and a transmission mechanism 11; adjusting motor 10 with lead screw 12 locates on frame 4, adjusting motor 10 passes through drive mechanism 11 drives lead screw 12 rotates, balancing weight 13 with lead screw 12 threaded connection can be in lead screw 12 moves along its axial when rotating. The transmission mechanism 11 is a bevel gear transmission mechanism. The transverse position of the balancing weight 13 can be changed by adjusting the motor 10, so that the center of the whole eccentric driving device 3 is changed, the underwater robot generates steering bending moment when rolling, and steering is finished.
It should be noted that the eccentric driving device 3 further includes a driving circuit board 9 to realize the control of the driving motor 5 and the adjusting motor 10, but neither the control principle nor the process is the improvement point of the present invention, and the technical solution disclosed in the present invention only relates to the optimization of the structure, i.e. the purpose of the present invention is realized by the improvement of the structure, so the control part is not described again. Similarly, the control processes of other devices in the present invention are not described in detail.
As shown in fig. 1 and 3, in one embodiment, the spherical shell is provided with at least one pair of symmetrically distributed jet flow channels 2.4, two ends of each jet flow channel 2.4 respectively penetrate through the outer wall of the spherical shell, and the jet flow channels 2.4 are sprayed outwards through a jet device to provide water flow for driving the underwater robot to move.
In one embodiment, as shown in fig. 3, the number of fluidic channels 2.4 is two pairs, wherein the axis of one pair of fluidic channels 2.4 is perpendicular to the axis of the other pair of fluidic channels 2.4. So that the former is used for horizontal propulsion and steering and the latter is used for lifting. Both ends of the fluidic channel 2.4 for horizontal propulsion and steering form openings 2.2 in the spherical shell, and both ends of the fluidic channel 2.4 for lifting form openings 2.1 in the spherical shell.
The fluidic device comprises a watertight motor 16 and a pumping blade 9, a notch 2.5 is formed in a fluidic channel 2.4, the pumping blade 9 is installed in the fluidic channel, the watertight motor 16 drives the pumping blade 9 to rotate, and the battery 6 supplies power to the watertight motor 16. The fluidic channels 2.4 for lifting can be driven by one fluidic device or each by one fluidic device. The other set of jet channels 2.4, because of the diversion involved, needs to be driven by one jet device each, and the principle of diversion driving is as follows: when the flow directions of the water flows ejected by the two jet flow channels 2.4 are opposite, the whole underwater robot is subjected to the action of torque to steer. When the flow directions of the water flows ejected by the two jet flow channels 2.4 are the same, the whole underwater robot can move forwards or backwards. The steering is carried out through the jet flow channel 2.4, so that the steering requirement during rolling can be met, and the steering requirement during floating can also be met.
As shown in fig. 12, the jet channels 2.4 are all arranged on the semicircular hoop 2, so that the semispherical shell 1 can be processed and punched as few as possible, thereby ensuring the sealing and pressure-bearing effects. And the semicircle hoop 2 is positioned near the equator, so the jet flow channel 2.4 is arranged on the semicircle hoop 2 to ensure the balanced distribution of the driving force and facilitate the adjustment and control.
In one embodiment, at least one part of the spherical shell is transparent, and a visual device is arranged in the spherical shell corresponding to the transparent part. Specifically, semicircle hoop 2 is made for transparent material, and the vision device is installed in mounting groove II 1.5.
In one embodiment, a buoyancy adjusting device is further arranged in the spherical shell and can adjust the buoyancy of the underwater robot.
In the present invention, the related components are provided with corresponding holes according to the actual installation requirements, which is a conventional means, and therefore, the details are not repeated.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910982495.5A CN110667807B (en) | 2019-10-16 | 2019-10-16 | Improved spherical roll-in underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910982495.5A CN110667807B (en) | 2019-10-16 | 2019-10-16 | Improved spherical roll-in underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110667807A CN110667807A (en) | 2020-01-10 |
| CN110667807B true CN110667807B (en) | 2021-04-09 |
Family
ID=69082588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910982495.5A Active CN110667807B (en) | 2019-10-16 | 2019-10-16 | Improved spherical roll-in underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110667807B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3661894B2 (en) * | 1996-03-19 | 2005-06-22 | ソニー株式会社 | Sphere moving device |
| JP3794130B2 (en) * | 1997-10-15 | 2006-07-05 | ソニー株式会社 | Spherical shell moving device |
| CN201313307Y (en) * | 2008-11-10 | 2009-09-23 | 战强 | Spherical environment detection robot |
| DE102010053443B4 (en) * | 2010-12-06 | 2016-03-31 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Mobile robot with external rolling surface and gyroscope device and method for operating such |
| CN102152311B (en) * | 2011-03-14 | 2012-08-01 | 哈尔滨工业大学 | Spherical robot driven by double eccentric mass blocks |
| CN102179812B (en) * | 2011-04-01 | 2013-09-11 | 北京邮电大学 | Ball-shaped robot used for detection |
| CN104015827B (en) * | 2014-06-10 | 2016-06-29 | 上海大学 | A kind of can the structure changes ball shape robot of obstacle detouring |
| CN106828831B (en) * | 2017-01-19 | 2018-01-16 | 河海大学 | A kind of rolling into based on built-in driving principle is swum hybrid submersible of dwelling more |
| CN207550460U (en) * | 2017-12-07 | 2018-06-29 | 青岛爱智鱼智能装备有限责任公司 | A kind of underwater robot |
| CN208007134U (en) * | 2018-03-26 | 2018-10-26 | 张梦杰 | Robot differential driving structure |
| CN108583177A (en) * | 2018-04-25 | 2018-09-28 | 丁云广 | A kind of aeroamphibious three based on gravity's center control are dwelt ball shape robot |
-
2019
- 2019-10-16 CN CN201910982495.5A patent/CN110667807B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110667807A (en) | 2020-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6484387B2 (en) | Rollover floating multihabitat diving device with built-in drive | |
| CN103600821B (en) | Omnidirectional swims and climbs wall under-water robot | |
| CN110077562B (en) | Walking combined with underwater monitoring robot | |
| EP3415412B1 (en) | A surface cleaning device | |
| CN201511768U (en) | An amphibious robot driven by integrated wheels, paddles and legs | |
| CN108859637B (en) | A spherical amphibious robot | |
| CN111605676A (en) | A kind of ship cleaning robot and cleaning method | |
| CN101016081A (en) | Bionic machinery chelonian with two-stage freedom degree flipper mechanism | |
| KR101337656B1 (en) | Driving Apparatus | |
| CN102059927B (en) | Paddle-pedal plate hybrid driving-based amphibious robot | |
| CN110816795B (en) | An unmanned submersible with multiple degrees of freedom | |
| CN111532393A (en) | Running gear and hull bottom cleaning machines people for hull bottom cleaning machines people | |
| JPH08179079A (en) | Underwater vehicle | |
| CN110667807B (en) | Improved spherical roll-in underwater robot | |
| CN113189670A (en) | Benthic floating mixed type underwater mobile detection platform and detection method thereof | |
| CN114132470A (en) | Control vertical vector propulsion device of underwater robot and propulsion method thereof | |
| CN110422307B (en) | Control method of deep sea multi-joint submersible vehicle | |
| CN216580947U (en) | A floating rolling spherical underwater robot | |
| CN204149158U (en) | Underwater gliding snake-shaped robot | |
| CN111301650A (en) | A full-rotation rudder propeller unmanned ship | |
| CN213921435U (en) | Bionic manta ray robot | |
| CN213409575U (en) | Pontoon underwater detection and paint repair system | |
| CN214669668U (en) | A benthic-plankton hybrid underwater mobile detection platform | |
| CN216507765U (en) | Compound drive type underwater robot | |
| CN115071921A (en) | A floating wall-climbing mechanism for in-service detection of ships |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |