CN111152900A - Underwater environment detection robot - Google Patents
Underwater environment detection robot Download PDFInfo
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- CN111152900A CN111152900A CN202010100505.0A CN202010100505A CN111152900A CN 111152900 A CN111152900 A CN 111152900A CN 202010100505 A CN202010100505 A CN 202010100505A CN 111152900 A CN111152900 A CN 111152900A
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- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
- G01K13/026—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow of moving liquids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L11/00—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Hydrology & Water Resources (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater environment detection robot which comprises a cylindrical machine body capable of reducing water flow resistance, wherein a detection cavity is arranged in the lower end face of the machine body, and a detection device capable of detecting different water layers is arranged in the detection cavity. The robot is internally provided with the control system device which can be remotely controlled, so that the robot can be driven to reach a water area which can not be reached by a common survey ship, and the robot is internally provided with the detection device which is connected through a cable and can freely contract underwater, so that the complex underwater environment can be accurately detected, and a survey worker can be helped to accurately know the underwater construction environment.
Description
Technical Field
The invention relates to the technical field of hydraulic engineering, in particular to an underwater environment detection robot.
Background
The underwater construction is faced with a complex underwater environment, which has great dangerousness and uncertainty, general detection personnel cannot go to the underwater construction, and the detection on the underwater environment is very important due to the danger degree and the complexity degree which are hard to imagine when the detection personnel faces to the ground.
Disclosure of Invention
The invention aims to provide an underwater environment detection robot which is used for overcoming the defects in the prior art.
The underwater environment detection robot comprises a cylindrical machine body capable of reducing water flow resistance, wherein a detection cavity is arranged in the lower end face of the machine body, a detection device capable of detecting different water layers is arranged in the detection cavity, the detection device comprises a support frame fixedly arranged between the left wall and the right wall of the detection cavity, a motor fixedly arranged on the left wall of the detection cavity is arranged on the left side of the support frame, a cable shaft is rotatably arranged on the right side of the motor, the cable shaft is rotatably arranged in the support frame through bearings which are arranged in a bilateral symmetry manner, a cable is arranged on the cable shaft, the cable is connected with a probe bottom plate capable of being submerged into a water bottom, a temperature detection probe capable of detecting water temperature, a pressure detection probe capable of detecting strong water pressure and a flow speed detection probe capable of detecting water flow speed are respectively arranged on the bottom end face of the probe bottom plate, the utility model discloses a marine structure, including organism, support frame, detection chamber bottom wall, cabin door device, lateral wing, the last topography of organism bottom side end face still is equipped with the topography and surveys the probe that can survey the topography under water on the organism bottom side end face, the right side of topography is surveyed the probe and is equipped with the distance test probe that can detect the depth of water, the support frame up end is equipped with the data processing device that can carry out analysis processes to the data that detect by leaning on the right position, be equipped with in the detection chamber bottom wall and make the probe bottom plate advances out the hatch door device in detection chamber, set firmly on the both ends face around the organism and can stabilize the organism lateral wing that does not rotate, be equipped with in the lateral wing right-hand member.
On the basis of the technical scheme, the cabin door device comprises a cabin door which is arranged between the bottom wall of the detection cavity and the bottom side end face of the machine body in a communicating manner, a cabin door plate which can be opened or closed in a matched manner is arranged in the cabin door, a rotary connecting plate is fixedly arranged at the position, close to the right, of the outer side end face of the cabin door plate far away from the detection cavity, a rotating base which is rotatably arranged with the rotating connecting plate through a first rotating pin is fixedly arranged on the bottom side end surface of the machine body, a sealing plate which can not leak water under the closing state of the cabin door device is arranged on the end surface of the inner side of the cabin door plate close to the detection cavity, a rubber sealing ring capable of isolating moisture is arranged on the matching surface of the sealing plate and the cabin door, a rotary connecting block is fixedly arranged at the position, close to the right, of the end surface of the inner side of the detection cavity of the sealing plate, the rotary connecting block is rotatably connected to the air cylinder through a second rotary pin, and the air cylinder is rotatably installed between the front end face and the rear end face of the detection cavity through a third rotary pin.
On the basis of the technical scheme, the steering device comprises a front motor and a rear motor which are symmetrical front and back and are fixedly arranged at the front position and the rear position in the driving cavity, a front wall and a rear wall of the driving cavity are communicated with the side wings to form a steering cavity, the second motor is provided with a first rotating shaft which is rotatably installed in the steering cavity through a second bearing, the first rotating shaft is far away from one end of the driving cavity, a bevel gear is fixedly installed at the right side of the driving cavity, the right side of the bevel gear is meshed with a second bevel gear, the second bevel gear is fixedly installed on a second rotating shaft at the right side, the second rotating shaft is rotatably installed through a third bearing, the steering cavity is located in an outlet of the right end face of the side wings, a waterproof cover is arranged at an opening of the steering cavity, and a rotating fan.
On the basis of the technical scheme, the driving device comprises a motor which is fixedly arranged on the bottom wall of the driving cavity and is close to the right position, the left end of the motor is located on the right side of the motor, the outer three rotating shafts of the machine body are arranged on the right side of the motor, the shaft body of the three rotating shafts is rotatably arranged in the machine body through four bearings and is located outside the machine body, driving fan blades are fixedly arranged on the three rotating shafts, and a waterproof cover of two numbers is arranged between the end faces of the right side of the machine body.
On the basis of the technical scheme, a battery cavity is arranged above the detection cavity in the machine body, a storage battery is arranged in the battery cavity, a rotary camera capable of monitoring the water surface is fixedly arranged at the left position of the upper side end surface of the machine body, the head position of the left side in the machine body is provided with an obstacle avoidance cavity, the left wall of the obstacle avoidance cavity is communicated with the right end face of the machine body and is provided with an obstacle avoidance probe capable of sensing obstacles, the right side of the obstacle avoidance probe is connected with an obstacle avoidance device, the tail part of the upper side end surface of the machine body close to the right side is provided with a communication antenna, a control cavity is arranged at the right side of the battery cavity in the machine body, a control system device which can be remotely operated by an operator is arranged in the control cavity, the control system device is electrically connected with the obstacle avoidance device, the rotating camera, the communication antenna, the steering device, the detection device, the cabin door device and the driving device.
The invention has the beneficial effects that: the robot is internally provided with the control system device which can be remotely controlled, so that the robot can be driven to reach a water area which can not be reached by a common survey ship, and the robot is internally provided with the detection device which is connected through a cable and can freely contract underwater, so that the complex underwater environment can be accurately detected, and a survey worker can be helped to accurately know the underwater construction environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is an overall structural schematic diagram of an underwater environment detection robot of the present invention;
FIG. 2 is a schematic view of the structure in the direction A-A in FIG. 1;
FIG. 3 is an enlarged schematic view of the detection device and hatch arrangement of FIG. 1;
fig. 4 is an enlarged schematic view of the steering apparatus of fig. 1.
Detailed Description
The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
Referring to fig. 1 to 4, an underwater environment detection robot according to an embodiment of the present invention includes a cylindrical body 1 capable of reducing water flow resistance, a detection cavity 47 is disposed inside a lower end surface of the body 1, a detection device 001 capable of detecting different water layers is disposed inside the detection cavity 47, the detection device 001 includes a support 45 fixedly disposed between left and right walls of the detection cavity 47, a first motor 29 fixedly disposed on a left side wall of the detection cavity 47 is disposed on a left side of the support 45, a cable shaft 48 is rotatably disposed on a right side of the first motor 29, the cable shaft 48 is rotatably disposed in the support 45 by a first bearing 50 disposed in a left-right symmetry manner, a cable 49 is disposed on the cable shaft 48, the cable 49 is connected to a probe base plate 30 capable of diving into a water bottom, and temperature detection probes 31 capable of detecting water temperature are respectively disposed on the end surfaces of the probe base plate 30, A pressure detecting probe 32 capable of detecting water pressure, a flow rate detecting probe 34 capable of detecting water flow rate, the body 1 is also provided with a topography probe 17 on the bottom end face thereof for surveying the underwater topography, the right side of the topographic probe 17 is provided with a distance measuring probe 16 capable of measuring the depth of water, a data processing device 46 capable of analyzing and processing the detected data is arranged close to the right position of the upper end surface of the supporting frame 45, a hatch door device 002 capable of enabling the probe bottom plate 30 to enter and exit the detection cavity 47 is arranged in the bottom wall of the detection cavity 47, a side wing 28 capable of stabilizing the machine body 1 against rotation is fixedly arranged on the front end face and the rear end face of the machine body 1, a steering device 003 is arranged in the right end face of the side wing 28, a driving cavity 11 is formed in the machine body 1 and close to the tail of the right machine body, and a driving device 004 capable of driving the machine body 1 to move on the water surface is arranged in the driving cavity 11.
In addition, in one embodiment, the cabin door device 002 includes a cabin door 33 disposed between the bottom wall of the detection cavity 47 and the bottom end surface of the machine body 1 in a communicating manner, a cabin door plate 37 capable of opening or closing in cooperation with the cabin door 33 is disposed in the cabin door 33, a rotary connecting plate 40 is fixedly disposed on the cabin door plate 37 far from the outer end surface of the detection cavity 47 and close to the right, a rotary base 42 rotatably mounted on the bottom end surface of the machine body 1 through a first rotary pin 41 and the rotary connecting plate 40 is fixedly disposed on the cabin door plate 37, a sealing plate 36 capable of preventing water leakage when the cabin door device 002 is closed is disposed on the inner end surface of the cabin door plate 37 close to the detection cavity 47, a rubber sealing ring 35 capable of isolating water is disposed on the cooperation surface of the sealing plate 36 and the cabin door 33, a rotary connecting block 39 is fixedly disposed on the inner end surface of the sealing plate 36 close to the detection cavity 47 and close, the air cylinder 43 is rotatably arranged between the front end surface and the rear end surface of the detection cavity 47 through a third rotating pin 44; thus, the rotary connecting block 39 can be pushed by the actuating cylinder 43, and the door plate 37 fixedly connected to the rotary connecting block 39 is rotated around the rotary base 42, so that the door 33 is opened or closed.
In addition, in one embodiment, the steering device 003 comprises a second motor 19 which is arranged in the driving cavity 11 and is symmetrical in the front and back direction, the front wall and the rear wall of the driving cavity 11 are communicated with the side wings 28 to form a steering cavity 21, the second motor 19 is provided with a first rotating shaft 20 which is rotatably arranged in the steering cavity 21 through a second bearing 51, a first bevel gear 27 is fixedly arranged at one end of the first rotating shaft 20 far away from the driving cavity 11, the right side of the first bevel gear 27 is engaged with the second bevel gear 26, the second bevel gear 26 is fixedly arranged on the second rotating shaft 22 on the right side, the second rotating shaft 22 is rotatably mounted in an outlet of the steering cavity 21 on the right end face of the side wing 28 through a third bearing 25, a first waterproof cover 24 is arranged at an opening of the steering cavity 21, and a rotating fan blade 23 is fixedly arranged at one end, located at the waterproof cover 24, of the second rotating shaft 22; so that the second motor 19 can be started to drive the first bevel gear 27 to rotate, and the second bevel gear 26 meshed with the first bevel gear drives the rotating fan blades to rotate through the second rotating shaft 22.
In addition, in one embodiment, the driving device 004 includes a third motor 15 fixedly arranged on the bottom wall of the driving cavity 11 and close to the right, a third rotating shaft 12 with the left end located outside the machine body 1 is installed on the right side of the third motor 15, the shaft body of the third rotating shaft 12 is rotatably installed in the machine body 1 through a fourth bearing 14, driving fan blades 13 are fixedly installed on the third rotating shaft located outside the machine body 1, and a second waterproof cover 18 is arranged between the third rotating shaft 12 and the right end face of the machine body 1; therefore, the third motor can be started to drive the driving fan blades 13 to rotate, so that the machine body 1 can move on the water surface.
In addition, in one embodiment, a battery cavity 7 is arranged in the machine body 1 above the detection cavity 47, a storage battery 6 is arranged in the battery cavity 7, a rotary camera 5 capable of monitoring the water surface is fixedly arranged on the upper side end surface of the machine body 1 close to the left, an obstacle avoidance cavity 3 is arranged on the head position on the left side in the machine body 1, an obstacle avoidance probe 2 capable of sensing an obstacle is arranged on the left wall of the obstacle avoidance cavity 3 and communicated with the right end surface of the machine body 1, an obstacle avoidance device 4 is connected to the right side of the obstacle avoidance probe, a communication antenna 8 is arranged on the tail position on the upper side end surface of the machine body 1 close to the right side, a control cavity 9 is arranged on the right side of the battery cavity 7 in the machine body 1, a control system device 10 capable of being remotely operated by an operator is arranged in the control cavity 9, and the control system device 10, the obstacle avoidance device 4, The detection device 001, the cabin door device 002 and the driving device 004 are electrically connected; so that the operator can remotely control the robot by means of the control system device 10.
When different water layers need to be detected, the cylinder 43 is started, and the door plate 37 is opened under the thrust of the cylinder 43;
then, the first motor 29 is started, the cable 49 arranged on the cable shaft 48 is downwards unreeled, the probe base 30 connected with the cable is separated from the cabin door 33 and is submerged deeply under water, and the temperature detection probe 31, the pressure detection probe 32 and the flow speed detection probe 34 on the probe base can detect water layers with different depths.
The invention has the beneficial effects that: the robot is internally provided with the control system device which can be remotely controlled, so that the robot can be driven to reach a water area which can not be reached by a common survey ship, and the robot is internally provided with the detection device which is connected through a cable and can freely contract underwater, so that the complex underwater environment can be accurately detected, and a survey worker can be helped to accurately know the underwater construction environment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The utility model provides an environment detection robot under water, includes the cylindrical organism that can alleviate water resistance, its characterized in that: a detection cavity is arranged in the lower end face of the machine body, a detection device capable of detecting different water layers is arranged in the detection cavity, the detection device comprises a support frame fixedly arranged between the left wall and the right wall of the detection cavity, a motor fixedly arranged on the left wall of the detection cavity is arranged on the left side of the support frame, a cable shaft is rotatably arranged on the right side of the motor, bearings are rotatably arranged in the support frame through bilateral symmetry, a cable is arranged on the cable shaft and connected with a probe bottom plate capable of diving into the water bottom, the bottom end face of the probe bottom plate is respectively provided with a temperature detection probe capable of detecting water temperature, a pressure detection probe capable of detecting strong water pressure and a flow velocity detection probe capable of detecting water flow velocity, the bottom end face of the machine body is also provided with a terrain probe capable of surveying underwater terrain, and the right side of the terrain survey probe is provided with a distance detection probe capable of detecting water depth, the utility model discloses a portable electronic device, including support frame, detection chamber, cabin door, lateral wing, drive chamber, camera, sensor, support frame up end is equipped with the data processing device that can carry out analysis processes to the data that detect by right position, it can make to be equipped with in the detection chamber bottom wall the probe bottom plate advances out the hatch door device in detection chamber, set firmly on the both ends face around the organism and can stabilize the non-pivoted lateral wing of organism, be equipped with in the lateral wing right-hand member face and turn to the device, it.
2. An underwater environment detection robot as claimed in claim 1, wherein: the hatch door device comprises a hatch door which is arranged between the bottom wall of the detection cavity and the bottom end surface of the machine body in a communicating way, a cabin door plate which can be opened or closed in a matched manner is arranged in the cabin door, a rotary connecting plate is fixedly arranged at the position, close to the right, of the outer side end face of the cabin door plate far away from the detection cavity, a rotating base which is rotatably arranged with the rotating connecting plate through a first rotating pin is fixedly arranged on the bottom side end surface of the machine body, a sealing plate which can not leak water under the closing state of the cabin door device is arranged on the end surface of the inner side of the cabin door plate close to the detection cavity, a rubber sealing ring capable of isolating moisture is arranged on the matching surface of the sealing plate and the cabin door, a rotary connecting block is fixedly arranged at the position, close to the right, of the end surface of the inner side of the detection cavity of the sealing plate, the rotary connecting block is rotatably connected to the air cylinder through a second rotary pin, and the air cylinder is rotatably installed between the front end face and the rear end face of the detection cavity through a third rotary pin.
3. An underwater environment detection robot as claimed in claim 1, wherein: turn to the device and include position around the drive intracavity sets firmly the No. two motors of symmetry, drive chamber front and back wall with the flank intercommunication is equipped with turns to the chamber, No. two motors are equipped with and rotate through No. two bearings and install turn to an axis of rotation of intracavity, an axis of rotation is kept away from the one end fixed mounting in drive chamber has a bevel gear, No. two bevel gear right side meshing No. two bevel gears, No. two bevel gear fixed mounting is in No. two axes of rotation on right side, No. two axes of rotation rotate through No. three bearings and install turn to the chamber and be located in the export of flank right-hand end face, it is equipped with the waterproof cover No. one to turn to the chamber opening part, No. two axes of rotation are located the one end fixed mounting of waterproof cover has the rotating fan blade.
4. An underwater environment detection robot as claimed in claim 1, wherein: drive arrangement including set firmly in drive chamber diapire in lean on No. three motors of right position, No. three motor right sides are installed the left end and are located No. three axis of rotation outside the organism, the axle body of No. three axis of rotation rotates through No. four bearings and installs in the organism, be located the organism is external No. three epaxial fixed mounting of rotation has the drive flabellum, No. three axis of rotation with be equipped with the waterproof cover No. two between the right side terminal surface of organism.
5. An underwater environment detection robot as claimed in claim 1, wherein: the internal position of organism detect the chamber top and be equipped with the battery chamber, the battery intracavity is equipped with the battery, organism upside terminal surface leans on left position to set firmly the rotation camera that can keep watch on the surface of water, left head position is equipped with keeps away the barrier chamber in the organism, the left wall of keeping away the barrier chamber is equipped with the probe of keeping away that can respond to the barrier with the right-hand member face intercommunication of organism, it is connected with on the right side of keeping away the barrier probe and keeps away the barrier device, the afterbody position that organism upside terminal surface is close to the right side is equipped with communication antenna, in the organism battery chamber right side is equipped with the control chamber, the control intracavity is equipped with operating personnel can remote operation's control system device, control system device with keep away barrier device, rotate camera, communication antenna, turn to device, detection device, hatch door device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010100505.0A CN111152900A (en) | 2020-02-19 | 2020-02-19 | Underwater environment detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010100505.0A CN111152900A (en) | 2020-02-19 | 2020-02-19 | Underwater environment detection robot |
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| CN111152900A true CN111152900A (en) | 2020-05-15 |
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| CN202010100505.0A Withdrawn CN111152900A (en) | 2020-02-19 | 2020-02-19 | Underwater environment detection robot |
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| CN101693464A (en) * | 2009-09-28 | 2010-04-14 | 中交广州航道局有限公司 | Underwater measurement system |
| CN201761634U (en) * | 2010-03-30 | 2011-03-16 | 中国船舶重工集团公司第七〇二研究所 | High-speed remote fish detection robot |
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| CN202285856U (en) * | 2011-10-26 | 2012-07-04 | 威海祥宇电子有限公司 | Wireless intelligent underwater detectoscope |
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| CN204895769U (en) * | 2015-07-31 | 2015-12-23 | 浙江方圆造船有限公司 | Close door gear of hydraulic pressure bow |
| CN105438405A (en) * | 2015-12-02 | 2016-03-30 | 李柳晶 | Hatch door mechanism of ship |
| CN105775068A (en) * | 2016-03-15 | 2016-07-20 | 中国船舶重工集团公司第七0四研究所 | Unilaterally driven horizontal hinge type non-threshold watertight landing gate |
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Application publication date: 20200515 |