CN111391995A - Robot device for cleaning underwater ship body - Google Patents
Robot device for cleaning underwater ship body Download PDFInfo
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- CN111391995A CN111391995A CN202010192732.0A CN202010192732A CN111391995A CN 111391995 A CN111391995 A CN 111391995A CN 202010192732 A CN202010192732 A CN 202010192732A CN 111391995 A CN111391995 A CN 111391995A
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- frame
- plate
- cleaning
- bearing plate
- underwater
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a robot device for cleaning an underwater ship body, which comprises a metal frame, a bearing plate, a buoyancy material, a propeller, an electronic bin, a cloud deck, a cleaning disc, a hoisting point, a fixing plate and wheels, wherein the metal frame is made of a metal material; the metal frame is formed by bending and welding an aluminum alloy thin-walled tube, a bearing plate is arranged on the upper layer of the frame, and a buoyancy material is fixed on the bearing plate; an adapter plate is arranged in the frame, a cleaning disc is fixed below the adapter plate, and a lifting point is arranged above the adapter plate; one end of the inside of the frame is provided with an electronic bin fixing plate, and the other end of the inside of the frame is provided with a holder fixing plate; the holder fixing plate is provided with a holder bracket; the electronic bin fixing plate is provided with an electronic bin; four vertical propellers and two horizontal propellers are arranged in the frame; the bottom of the frame is also provided with four wheels. The invention has the advantages of strength, beauty, portability and the like, ensures the strength of the whole machine and the whole quality of the whole machine not to be too heavy, has low manufacturing cost, simple structure, convenient and fast assembly and long service life of equipment, and can improve the working efficiency.
Description
Technical Field
The present invention relates to an underwater robot device, and particularly to a robot device for cleaning an underwater hull.
Background
At present, with the proposal of the strategy of 'ocean forcing states' of the national ocean, various oceans are equipped with the heteromilitary prominence and are rapidly popularized and applied, wherein an underwater Remote controlled Robot (ROV) is taken as an indispensable member and plays an irreplaceable role in various engineering applications. ROVs can be classified into light observation class, light operation class, medium operation class, and heavy operation class according to the depth and function of operation. The light observation level and the light operation level ROV are about 10Kg to 30Kg in weight, and the two robots mainly work in a water environment of 0m to 300m and are mainly used for inland river and lake surveying and mapping, hydropower stations, dam body detection of wharfs, pier detection of large bridges, urban sewage pipeline detection and the like.
The requirement blank of the robot for cleaning the underwater ship body is not filled up, and at present, a mature cleaning robot is not provided in China basically. The existing domestic underwater observation level robot mostly adopts an open frame type structure, the assembly is more complicated, the number of parts is more, and most of ROVs of the underwater open frame structure are made of engineering plastic materials such as nylon frames. When the cleaning robot cleans the boat body, the cleaning robot inevitably contacts and collides with the cleaning boat body frequently, the strength of the engineering plastic material is hard to deal with more frequent impacts, and the solid metal side plate is too heavy.
Disclosure of Invention
The invention aims to provide a robot cleaning device used under water, which solves the existing problems, adopts an aluminum pipe bending frame type structure, ensures the strength of the whole machine, also ensures that the whole quality of the whole machine is not too heavy, has low manufacturing cost, simple structure, convenient and fast assembly and long service life of equipment, and can improve the working efficiency.
In order to achieve the aim, the invention provides a robot device for cleaning an underwater ship body, wherein the device comprises a metal frame, a bearing plate, a buoyancy material, a propeller, an electronic bin, a holder, a cleaning disc, a hoisting point, a fixing plate and wheels; the metal frame is a double-layer flat frame formed by welding alloy pipes, a bearing plate is arranged on the upper layer of the frame, and a layer of buoyancy material is fixed on the upper surface of the bearing plate; an adapter plate is arranged in the middle of the lower portion of the bearing plate in the double-layer frame, a cleaning disc is fixed below the adapter plate, and a lifting point is arranged above the adapter plate; an electronic bin fixing plate is arranged at one end inside the frame along the longitudinal axis of the frame, and a holder fixing plate is arranged at the other end of the frame; the holder fixing plate is provided with a holder bracket to form a holder; the electronic bin fixing plate is provided with an electronic bin; four vertical propellers are arranged inside the frame and are respectively positioned at the four corners of the frame on the periphery above the cleaning disc; the frame is also internally provided with two horizontal propellers which are positioned at one end of the frame, which is provided with the electronic bin, and are respectively arranged at two sides of the electronic bin; the bottom of the lower layer of the frame is also provided with four wheels which are respectively positioned at four corners of the frame.
The robot device for cleaning the underwater ship body is characterized in that the metal frame is an integrated double-layer frame formed by bending and welding aluminum alloy thin-walled tubes, and the upper-layer frame and the lower-layer frame are polygonal frames with the same shape and size; a plurality of vertical rods perpendicular to the upper layer frame and the lower layer frame are arranged between the two layers of frames.
The robot device for cleaning the underwater ship body is characterized in that a polygonal frame of the metal frame is symmetrically provided with two long sides and two short sides respectively, a bevel edge is further arranged between each long side and the adjacent short side, and a fillet is arranged at the joint of the sides; the length of the bevel edge is less than that of the short edge; the length of the vertical rod between the two layers of frames is also smaller than that of the short edge.
In the robot device for cleaning the underwater ship body, the metal frame is provided with the vertical propeller fixing plates on the periphery inside the metal frame, and the four vertical propeller fixing plates are respectively fixed with the vertical propeller.
The robot device for cleaning the underwater ship body is characterized in that the metal frame is provided with one end with the electronic bin inside and horizontal propeller fixing plates respectively arranged on two sides of the electronic bin, and the two horizontal propeller fixing plates are respectively fixed with a horizontal propeller.
The robot device for cleaning the underwater ship body is characterized in that the buoyancy material is in a horizontally arranged thick plate shape and is fixed with the bearing plate through the buoyancy material gasket, and the thickness of the buoyancy material is smaller than the distance between the two layers of frames.
The robot device for cleaning the underwater ship body is characterized in that the bearing plate is a flat-plate-shaped nylon supporting plate which is horizontally arranged, and a plurality of circular holes are correspondingly formed in the bearing plate and the buoyancy material.
The robot device for cleaning the underwater ship body is characterized in that the bearing plate and the buoyancy material are respectively provided with 5 circular holes which are respectively positioned at corresponding positions above the lifting point and the four vertical propellers.
The robot device for cleaning the underwater ship body is characterized in that the adapter plate is an annular flat plate for adapting the cleaning equipment, and the cleaning disc of the cleaning equipment is fixed below the adapter plate.
The robot device for cleaning the underwater ship body is characterized in that a lifting point is arranged above the cleaning disc, an annular flat plate-shaped lifting point position reinforcing plate is arranged above and below the cleaning disc, the lifting point position reinforcing plate is respectively fixed with the bearing plate and the cleaning disc, the bottom of the lifting point is fixed with the lifting point position reinforcing plate, and the top of the lifting point extends out of the bearing plate and the buoyancy material.
The robot device for cleaning the underwater ship body provided by the invention has the following advantages:
the device adopts aluminum alloy thin-walled tube bending special process to make integral type aluminum alloy frame design, and four perpendicular propellers produce moment distribution the most and realize equipment function of reversing under water, and inside washing dish device can manually be adjusted apart from wasing the surperficial distance, and two horizontal propellers control the robot and remove on the hull surface.
The aluminum pipe welding integrated frame structure has the advantages of strength, attractiveness, light weight and the like, and not only can the strength of the whole machine be ensured, but also the integral quality of the whole machine is not too heavy. The flat structure guarantees littleer area of meeting the current, possesses the required speciality of cleaning the robot under water, and the cost is low, and the structure is succinct, and the equipment is convenient, and equipment is longe-lived, can improve work efficiency.
Drawings
Fig. 1 is a schematic view of the exterior of the frame of the robotic device for underwater hull cleaning of the present invention.
Fig. 2 is an exploded view of the robot apparatus for underwater hull cleaning of the present invention.
Wherein: 1. a metal frame; 2. a bearing plate; 3. a buoyant material; 4. an electronic bin; 5. an adapter plate; 6. hoisting points; 7. a wheel; 8. an electronic bin fixing plate; 9. a holder fixing plate; 10. a holder bracket; 11. a vertical thruster; 12. a horizontal thruster; 13. a vertical thruster fixing plate; 14. a horizontal thruster fixing plate; 15. a buoyant material spacer; 16. a hoisting point position reinforcing plate; 17. and (5) cleaning the disc.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-2, the robot device for cleaning underwater hulls provided by the invention comprises a metal frame 1, a bearing plate 2, a buoyancy material 3, a propeller, an electronic bin 4, a holder, a cleaning disc, a lifting point 6, a fixing plate and wheels 7; the metal frame 1 is a double-layer flat frame formed by welding alloy pipes, a bearing plate 2 is arranged on the upper layer of the frame, and a layer of buoyancy material 3 is fixed on the upper surface of the bearing plate 2; an adapter plate 5 is arranged in the middle of the lower portion of the bearing plate 2 in the double-layer frame, a cleaning disc 17 is fixed below the adapter plate 5, and a lifting point 6 is arranged above the adapter plate 5; an electronic bin fixing plate 8 is arranged at one end of the interior of the frame along the longitudinal axis of the frame, and a holder fixing plate 9 is arranged at the other end of the interior of the frame; a holder bracket 10 is arranged on the holder fixing plate 9 to form a holder; the electronic bin 4 is arranged on the electronic bin fixing plate 8; four vertical propellers 11 are arranged inside the frame and are respectively positioned at the four corners of the frame on the periphery above the cleaning disc 17; two horizontal propellers 12 are arranged inside the frame, are positioned at one end of the frame, which is provided with the electronic bin 4, and are respectively arranged at two sides of the electronic bin 4; the bottom of the lower layer of the frame is also provided with four wheels 7 which are respectively positioned at four corners of the frame.
Preferably, the metal frame 1 is an integrated double-layer frame formed by bending and welding aluminum alloy thin-wall pipes, and the upper-layer frame and the lower-layer frame are polygonal frames with the same shape and size; a plurality of vertical rods perpendicular to the upper layer frame and the lower layer frame are arranged between the two layers of frames.
The polygonal frame of the metal frame 1 is symmetrically provided with two long sides and two short sides respectively, a bevel edge is further arranged between each long side and the adjacent short side, and a fillet is arranged at the joint of the sides; the length of the bevel edge is less than that of the short edge; the length of the vertical rod between the two layers of frames is also smaller than that of the short edge.
The periphery of the inside of the metal frame 1 is respectively provided with a vertical propeller fixing plate 13, and the four vertical propeller fixing plates 13 are respectively fixed with a vertical propeller 11.
One end of the metal frame 1, which is provided with the electronic cabin 4, is arranged inside the metal frame, horizontal propeller fixing plates 14 are respectively arranged on two sides of the electronic cabin 4, and a horizontal propeller 12 is respectively fixed on each of the two horizontal propeller fixing plates 14.
The buoyancy material 3 is in a thick plate shape which is horizontally arranged, and is fixed with the bearing plate 2 through a buoyancy material gasket 15, and the thickness of the buoyancy material 3 is smaller than the distance between two layers of frames.
The bearing plate 2 is a flat nylon supporting plate which is horizontally arranged, and a plurality of round holes are correspondingly arranged on the bearing plate 2 and the buoyancy material 3.
Preferably, the bearing plate 2 and the buoyant material 3 are provided with 5 circular openings, respectively, at corresponding positions above the lifting point 6 and the four vertical thrusters 11, respectively.
The adapter plate 5 is an annular flat plate for adapting the cleaning equipment, and a cleaning disc 17 of the cleaning equipment is fixed below the adapter plate 5. An annular flat-plate-shaped hoisting point position reinforcing plate 16 is arranged above the adapter plate 5, the hoisting point position reinforcing plate 16 is respectively fixed with the bearing plate 2 and the adapter plate 5 at the upper side and the lower side of the hoisting point position reinforcing plate 16, the bottom of the hoisting point 6 is fixed with the hoisting point position reinforcing plate 16, and the top of the hoisting point 6 extends out of the bearing plate 2 and the buoyancy material 3 from a circular opening in the middle.
The robot device for cleaning underwater ship provided by the invention is further described with reference to the following embodiments.
Example 1
A robot device for cleaning underwater ship bodies comprises a metal frame 1, a bearing plate 2, a buoyancy material 3, a propeller, an electronic bin 4, a cloud deck, a cleaning disc 17, a lifting point 6, a fixing plate and wheels 7.
The metal frame 1 is a double-layer flat frame formed by welding alloy pipes. Preferably, the frame is an integrated double-layer frame formed by bending and welding aluminum alloy thin-walled tubes, and the upper-layer frame and the lower-layer frame are polygonal frames with the same shape and size; a plurality of vertical rods perpendicular to the upper layer frame and the lower layer frame are arranged between the two layers of frames to form a fence. The polygonal frame of the metal frame 1 is symmetrically provided with two long sides and two short sides respectively, a bevel edge is further arranged between each long side and the adjacent short side, and a fillet is arranged at the joint of the sides; the length of the bevel edge is less than that of the short edge; the length of the vertical rod between the two layers of frames is also smaller than that of the short edge. Two vertical rods are arranged in the middle between the long edges of the upper-layer frame and the lower-layer frame, and a transverse rod parallel to the long edge of the frame is arranged between the two vertical rods and used for reinforcing the frame. The aluminum alloy thin-wall tube is preferably made of 6061 aluminum alloy.
The upper layer of the frame is provided with a bearing plate 2, and the upper surface of the bearing plate 2 is fixed with a layer of buoyancy material 3. The shape and size of the edges of the bearing plate 2 and the buoyant material 3 are adapted to the polygonal frame of the frame. The buoyancy material 3 is in a thick plate shape which is horizontally arranged, and is fixed with the bearing plate 2 through bolts and a buoyancy material gasket 15, and the thickness of the buoyancy material 3 is smaller than the distance between two layers of frames. The bearing plate 2 is a flat nylon supporting plate which is horizontally arranged, the periphery of the bearing plate is fixed with the frame through screws, and a plurality of round holes are correspondingly formed in the bearing plate 2 and the buoyancy material 3. The bearing plate 2 is preferably made of nylon.
Preferably, the bearing plate 2 and the buoyant material 3 are each provided with 5 circular openings at respective positions above the lifting point 6 and the four vertical thrusters 11 for partially exposing the lifting point 6 and the vertical thrusters 11.
The adapter plate 5 is arranged in the middle of the lower portion of the bearing plate 2 inside the double-layer frame, the cleaning disc 17 is fixed below the adapter plate 5, the adapter plate 5 is an annular flat plate used for being connected with cleaning equipment, and the cleaning disc 17 of the cleaning equipment is fixed below the adapter plate 5. The adapter plate 5 is used for carrying cavitation jet flow cleaning equipment to carry out underwater cleaning on the ship body. A lifting point 6 is arranged above the adapter plate 5, an annular flat plate-shaped lifting point position reinforcing plate 16 is also arranged, and the lifting point position reinforcing plate 16 is respectively fixed with the bearing plate 2 and the adapter plate 5 at the upper side and the lower side of the lifting point position reinforcing plate 16. The lifting point 6 is formed by vertically crossing two arched metal bent rods, the bottom of the lifting point 6 is fixed with a lifting point position reinforcing plate 16, and the top of the lifting point 6 extends out of the bearing plate 2 and the buoyancy material 3 from a middle circular opening. The lifting point 6 is preferably made of stainless steel.
An electronic bin fixing plate 8 is arranged at one end of the interior of the frame along the longitudinal axis of the frame, and a holder fixing plate 9 is arranged at the other end of the interior of the frame; a holder bracket 10 for fixing camera sensing equipment and the like is arranged on the holder fixing plate 9 to form a holder; an electronic cabin 4 for controlling the robot device is arranged on the electronic cabin fixing plate 8. The electronic bin 4 is hollow cylindrical, and the end surfaces of two sides are respectively provided with a propeller end shell cover and a cable end shell cover. Preferably, the electronic cabin fixing plate 8 is a three-folded plate with an "Jiong" shaped cross section, and is fixed with the bearing plate 2 at the top, and the electronic cabin 4 is fixed below the electronic cabin fixing plate 8. The holder fixing plate 9 is vertically arranged in a flat plate shape, the side surface of the holder fixing plate is fixed with the upper layer of the frame, the top of the holder fixing plate is fixed with the bearing plate 2, and the bottom of the holder fixing plate is fixed with the holder support 10.
Four vertical propellers 11 are arranged inside the frame and are respectively positioned at the four corners of the frame on the periphery above the cleaning disc 17; two horizontal propellers 12 are arranged inside the frame, are positioned at one end of the frame, which is provided with the electronic cabin 4, and are respectively arranged at two sides of the electronic cabin 4.
Preferably, vertical thruster fixing plates 13 are respectively arranged on the periphery of the inside of the metal frame 1, and a vertical thruster 11 is respectively fixed on each of the four vertical thruster fixing plates 13. The vertical thruster fixing plate 13 is fixed with the bearing plate 2 at the top, and the vertical thruster 11 is fixed with the frame at the outer side. The metal frame 1 is provided with a horizontal propeller fixing plate 14 at one end of the electronic bin 4 and at two sides of the electronic bin 4, and the two horizontal propeller fixing plates 14 are respectively fixed with a horizontal propeller 12. The horizontal thruster fixing plate 14 is fixed with the bearing plate 2 at the top, and the horizontal thruster 12 is fixed with the frame at the outer side.
The bottom of the lower layer of the frame is also provided with four wheels 7 which are respectively positioned at four corners of the frame.
The robot device for cleaning the underwater ship body adopts an aluminum pipe bending frame type structure, and an integrated aluminum alloy frame design is manufactured through a special bending process of an aluminum alloy thin-walled pipe, so that an aluminum pipe welding integrated appearance is formed. The bearing plate is carried on a frame formed by bending and welding the thin-wall aluminum pipe, all sensors are fixed below the bearing plate and comprise a propeller, a control cabin, namely an electronic cabin, a cloud deck, a cleaning disc, a hanging point and the like, and four wheels are arranged below the aluminum alloy frame. The four vertical propellers generate moment distribution to the maximum extent to realize the underwater reversing function of the equipment, the distance between the internal cleaning disc device and the cleaning surface can be adjusted manually, and the two horizontal propellers control the robot to move on the surface of the ship body. The device has taken into account a plurality of advantages such as intensity, pleasing to the eye, light, has both guaranteed complete machine intensity and has guaranteed that complete machine overall quality is not too heavy. The flat structure guarantees littleer area of meeting the current, possesses the required speciality of cleaning the robot under water, and the cost is low, and the structure is succinct, and the equipment is convenient, and equipment is longe-lived, can improve work efficiency.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A robot device for cleaning an underwater ship body is characterized by comprising a metal frame, a bearing plate, a buoyancy material, a propeller, an electronic cabin, a cloud deck, a cleaning disc, a hoisting point, a fixing plate and wheels;
the metal frame is a double-layer flat frame formed by welding alloy pipes, a bearing plate is arranged on the upper layer of the frame, and a layer of buoyancy material is fixed on the upper surface of the bearing plate; an adapter plate is arranged in the middle of the lower portion of the bearing plate in the double-layer frame, a cleaning disc is fixed below the adapter plate, and a lifting point is arranged above the adapter plate; an electronic bin fixing plate is arranged at one end inside the frame along the longitudinal axis of the frame, and a holder fixing plate is arranged at the other end of the frame; the holder fixing plate is provided with a holder bracket to form a holder; the electronic bin fixing plate is provided with an electronic bin; four vertical propellers are arranged inside the frame and are respectively positioned at the four corners of the frame on the periphery above the cleaning disc; the frame is also internally provided with two horizontal propellers which are positioned at one end of the frame, which is provided with the electronic bin, and are respectively arranged at two sides of the electronic bin; the bottom of the lower layer of the frame is also provided with four wheels which are respectively positioned at four corners of the frame.
2. A robot device for underwater cleaning ship hull according to claim 1, wherein said metal frame is an integral double-layer frame formed by bending and welding aluminum alloy thin-walled tubes, and the upper frame and the lower frame are polygonal frames with the same shape and size; a plurality of vertical rods perpendicular to the upper layer frame and the lower layer frame are arranged between the two layers of frames.
3. A robot device for underwater cleaning ship hull according to claim 2, characterized in that the polygonal frame of the metal frame is symmetrically provided with two long sides and two short sides respectively, a bevel edge is further provided between each long side and the adjacent short side, and the joint of the sides is provided with a fillet; the length of the bevel edge is less than that of the short edge; the length of the vertical rod between the two layers of frames is also smaller than that of the short edge.
4. A robot device for underwater cleaning of ship's hull as claimed in claim 1, wherein said metal frame is provided with vertical propeller fixing plates at its inner periphery, and a vertical propeller is fixed to each of four vertical propeller fixing plates.
5. A robot device for underwater cleaning ship hulls according to claim 4, wherein the metal frame is provided with horizontal propeller fixing plates at one end of the metal frame, which is provided with the electronic cabin therein, and at both sides of the electronic cabin, and a horizontal propeller is fixed to each of the two horizontal propeller fixing plates.
6. A robotic device for underwater hull cleaning according to claim 1, in which the buoyant material is in the form of a horizontally disposed slab secured to the load bearing plate by buoyant spacers, the buoyant material having a thickness less than the distance between the two frames.
7. A robot device for cleaning underwater ship hull according to claim 6, characterized in that said bearing plate is a flat nylon supporting plate horizontally arranged, and a plurality of circular openings are correspondingly arranged on the bearing plate and the buoyancy material.
8. A robotic device for underwater hull cleaning according to claim 7, in which the bearing plate and the buoyant material are provided with 5 circular openings respectively at respective locations above the suspension point and the four vertical thrusters.
9. A robotic device for underwater hull cleaning according to claim 1, in which said adaptor plate is an annular plate for adapting the cleaning apparatus, the cleaning disc of the cleaning apparatus being secured beneath the adaptor plate.
10. A robot device for underwater cleaning of ship hulls according to claim 9, wherein the adapter plate is provided with a ring-shaped flat plate-shaped reinforcing plate for the location of the lifting point above it, the reinforcing plate for the location of the lifting point is fixed to the bearing plate and the adapter plate at its upper and lower sides, respectively, the bottom of the lifting point is fixed to the reinforcing plate for the location of the lifting point, and the top of the lifting point extends above the bearing plate and the buoyant material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010192732.0A CN111391995A (en) | 2020-03-18 | 2020-03-18 | Robot device for cleaning underwater ship body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010192732.0A CN111391995A (en) | 2020-03-18 | 2020-03-18 | Robot device for cleaning underwater ship body |
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| Publication Number | Publication Date |
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| CN111391995A true CN111391995A (en) | 2020-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010192732.0A Pending CN111391995A (en) | 2020-03-18 | 2020-03-18 | Robot device for cleaning underwater ship body |
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| Country | Link |
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| CN (1) | CN111391995A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141289A (en) * | 2020-09-16 | 2020-12-29 | 哈尔滨工程大学 | Be used for clean full-automatic underwater robot of open posture of hull bottom attachment |
| CN114669933A (en) * | 2022-03-29 | 2022-06-28 | 河海大学 | Underwater welding robot and operation process thereof |
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| JPH08216980A (en) * | 1995-02-10 | 1996-08-27 | Mitsubishi Heavy Ind Ltd | Reaction force generating device for submerged cleaning robot |
| KR20150045291A (en) * | 2013-10-18 | 2015-04-28 | 삼성중공업 주식회사 | Underwater cleaning robot |
| KR20160067305A (en) * | 2014-12-03 | 2016-06-14 | 삼성중공업 주식회사 | Shackle device for hull surface cleaning robot |
| CN205891183U (en) * | 2016-05-19 | 2017-01-18 | 西安天和海防智能科技有限公司 | Clean hull robot of cavitation jet |
| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
| CN208484811U (en) * | 2018-07-05 | 2019-02-12 | 上海查湃智能科技有限公司 | Underwater reconnaissance robot |
| CN109591981A (en) * | 2018-11-30 | 2019-04-09 | 邓宜新 | A kind of ocean engineering underwater detection robot |
| CN110282092A (en) * | 2019-08-08 | 2019-09-27 | 天津瀚海蓝帆海洋科技有限公司 | A kind of under-water body cleaning robot |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08216980A (en) * | 1995-02-10 | 1996-08-27 | Mitsubishi Heavy Ind Ltd | Reaction force generating device for submerged cleaning robot |
| KR20150045291A (en) * | 2013-10-18 | 2015-04-28 | 삼성중공업 주식회사 | Underwater cleaning robot |
| KR20160067305A (en) * | 2014-12-03 | 2016-06-14 | 삼성중공업 주식회사 | Shackle device for hull surface cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141289A (en) * | 2020-09-16 | 2020-12-29 | 哈尔滨工程大学 | Be used for clean full-automatic underwater robot of open posture of hull bottom attachment |
| CN112141289B (en) * | 2020-09-16 | 2022-04-05 | 哈尔滨工程大学 | Be used for clean full-automatic underwater robot of open posture of hull bottom attachment |
| CN114669933A (en) * | 2022-03-29 | 2022-06-28 | 河海大学 | Underwater welding robot and operation process thereof |
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Application publication date: 20200710 |
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